CN109969409A - A kind of control method and device of unmanned plane - Google Patents
A kind of control method and device of unmanned plane Download PDFInfo
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- CN109969409A CN109969409A CN201910303744.3A CN201910303744A CN109969409A CN 109969409 A CN109969409 A CN 109969409A CN 201910303744 A CN201910303744 A CN 201910303744A CN 109969409 A CN109969409 A CN 109969409A
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- Prior art keywords
- unmanned plane
- rotor
- engine
- coil
- revolving speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D31/00—Power plant control; Arrangement thereof
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
This application provides a kind of control method and device of unmanned plane, it is applied to unmanned plane, the unmanned plane includes engine, rotor and battery, and the engine includes the rotor being set on engine shaft and the permanent magnet that is set on unmanned plane shell；The rotor is equipped with rotor coil, and the permanent magnet is equipped with stator coil；The rotor coil, stator coil are connect with the battery respectively, and the rotor is connect with the engine shaft；By the control information for obtaining engine；Based on the control information, changes the electric current being set in the rotor coil and/or its corresponding stator coil of engine shaft upper rotor part, adjust the revolving speed of engine shaft in the unmanned plane.Compared with prior art, the unmanned plane that the application can be such that fuel oil drives quickly changes the revolving speed of rotor, make unmanned plane need not the control rotor revolving speed such as the biggish pulp distance varying mechanism of carry weight, additional motor device, and then mitigate the weight of unmanned plane.
Description
Technical field
This application involves technical field of engine control, more particularly, to a kind of control method and device of unmanned plane.
Background technique
Currently, unmanned plane is widely used, since electric energy is power unmanned plane cruise duration is short, loading capacity
Low, a part of unmanned plane selects fuel oil for power.
In the prior art, it relied primarily on the unmanned plane that fuel oil drives in pulp distance varying mechanism, change engine throttle, setting
The means such as additional motor control to carry out the revolving speed of unmanned plane rotor, and pulp distance varying mechanism and additional motor will increase unmanned plane
Weight, change engine throttle control unmanned plane wing revolving speed by way of there is a problem that response speed is slower, nothing
The timely speed change of method.
Summary of the invention
In view of this, a kind of control method and device for being designed to provide unmanned plane of the application, so that fuel oil drives
Unmanned plane quickly change the revolving speed of rotor, make unmanned plane need not the control such as the biggish pulp distance varying mechanism of carry weight, additional motor
The device of rotor revolving speed processed, and then mitigate the weight of unmanned plane.
The embodiment of the present application provides a kind of control method of unmanned plane, is applied to unmanned plane, and the unmanned plane includes hair
Motivation, rotor and battery, the engine include the rotor being set on engine shaft and are set on unmanned plane shell
Permanent magnet；The rotor is equipped with rotor coil, and the permanent magnet is equipped with stator coil；The rotor coil, stator coil
It is connect respectively with the battery, the rotor is connect with the engine shaft；The control method includes:
Obtain the control information of engine；
Based on the control information, changes the rotor coil for being set to engine shaft upper rotor part and/or its is corresponding fixed
Electric current in subcoil adjusts the revolving speed of engine shaft in the unmanned plane.
Further, described to be based on the control information, change the rotor coil for being set to engine shaft upper rotor part,
And/or the electric current in its corresponding stator coil, adjust the revolving speed of engine shaft in the unmanned plane, comprising:
When the control information is that revolving speed adjusts, based on the rotating speed of target in the control information, change the stator
Electric current in coil, and the oil inlet quantity of the engine is adjusted, adjust the revolving speed of engine shaft in the unmanned plane；
When the revolving speed of the engine shaft reaches rotating speed of target, the big as low as pre- of electric current in the stator coil is adjusted
If threshold value.
Further, described to be based on the control information, change the rotor coil for being set to engine shaft upper rotor part,
And/or the electric current in its corresponding stator coil, adjust the revolving speed of engine shaft in the unmanned plane, further includes:
When the control information is starting engine, while being powered to the stator coil and rotor coil；
Based on the electric current in the stator coil and rotor coil, start the engine of the unmanned plane.
Further, the control method further include:
When the battery of the unmanned plane does not power to the rotor coil, controls the rotor coil and the battery is filled
Electricity.
The embodiment of the present application also provides a kind of control devices of unmanned plane, are applied to unmanned plane, and the unmanned plane includes
Engine, rotor and battery, the engine include the rotor being set on engine shaft and are set on unmanned plane shell
Permanent magnet；The rotor is equipped with rotor coil, and the permanent magnet is equipped with stator coil；The rotor coil, stator line
Circle is connect with the battery respectively, and the rotor is connect with the engine shaft；The control device includes:
Module is obtained, for obtaining the control information of engine；
Control module, for being based on the control information, change is set to the rotor coil of engine shaft upper rotor part,
And/or the electric current in its corresponding stator coil, adjust the revolving speed of engine shaft in the unmanned plane.
Further, the control module includes revolving speed adjustment unit, and the revolving speed adjustment unit is used for:
When the control information is that revolving speed adjusts, based on the rotating speed of target in the control information, change the stator
Electric current in coil, and the oil inlet quantity of the engine is adjusted, adjust the revolving speed of engine shaft in the unmanned plane；
When the revolving speed of the engine shaft reaches rotating speed of target, the big as low as pre- of electric current in the stator coil is adjusted
If threshold value.
Further, the control module further includes start unit, and the start unit is used for:
When the control information is starting engine, while being powered to the stator coil and rotor coil；
Based on the electric current in the stator coil and rotor coil, start the engine of the unmanned plane.
Further, the control device further includes charging module, and the charging module is used for:
When the battery of the unmanned plane does not power to the rotor coil, controls the rotor coil and the battery is filled
Electricity.
The embodiment of the present application also provides a kind of electronic equipment, comprising: processor, memory and bus, the memory are deposited
Contain the executable machine readable instructions of the processor, when electronic equipment operation, the processor and the memory it
Between by bus communication, the control method of such as above-mentioned unmanned plane is executed when the machine readable instructions are executed by the processor
The step of.
The embodiment of the present application also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program, when which is run by processor the step of the execution such as control method of above-mentioned unmanned plane.
The control method and device of unmanned plane provided by the embodiments of the present application, are applied to unmanned plane, and the unmanned plane includes
Engine, rotor and battery, the engine include the rotor being set on engine shaft and are set on unmanned plane shell
Permanent magnet；The rotor is equipped with rotor coil, and the permanent magnet is equipped with stator coil；The rotor coil, stator line
Circle is connect with the battery respectively, and the rotor is connect with the engine shaft；By the control information for obtaining engine；Base
In the control information, change is set in the rotor coil and/or its corresponding stator coil of engine shaft upper rotor part
Electric current adjusts the revolving speed of engine shaft in the unmanned plane.
Compared with the control method of unmanned plane in the prior art, the control method of unmanned plane provided by the present application can be with
The unmanned plane for driving fuel oil quickly changes the revolving speed of rotor, makes unmanned plane need not the biggish pulp distance varying mechanism of carry weight, volume
Outer motor etc. controls the device of rotor revolving speed, and then mitigates the weight of unmanned plane.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of structural schematic diagram for unmanned plane that the embodiment of the present application is applied to；
Fig. 2 shows a kind of flow charts of the control method of unmanned plane provided by the embodiment of the present application；
Fig. 3 shows the flow chart of the control method of another kind unmanned plane provided by the embodiment of the present application；
Fig. 4 shows a kind of one of structural schematic diagram of control device of unmanned plane provided by the embodiment of the present application；
Fig. 5 shows a kind of second structural representation of the control device of unmanned plane provided by the embodiment of the present application；
Fig. 6 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art are obtained every without making creative work
A other embodiments, shall fall in the protection scope of this application.
Firstly, the application application scenarios applicatory are introduced.Fig. 1 is a kind of nothing that the embodiment of the present application is applied to
Man-machine structure chart.As shown in Figure 1, the application can be applied to unmanned plane 100, the unmanned plane includes engine 110, rotor
120 and battery (not shown), the engine 110 includes the rotor 112 being set on engine shaft 111 and is set to
Permanent magnet 114 on unmanned plane shell 113；The rotor 112 is equipped with rotor coil 115, and the permanent magnet 114 is equipped with fixed
Subcoil 116；The rotor coil 115, stator coil 116 are connect with the battery respectively, and the rotor 120 starts with described
Machine shaft 111 connects.Wherein, the engine 110 of the unmanned plane 100 is fuel engines.
In the embodiment of the present application, the revolving speed of rotor coil, the electric current in stator coil and engine shaft, can be with
It is to be detected by one or more sensors, these available data of the control device of unmanned plane, and believed according to control
Breath and these data control unmanned plane.
It has been investigated that in the prior art, being relied primarily on the unmanned plane that fuel oil drives in pulp distance varying mechanism, changing and start
The means such as machine oil door, setting additional motor control to carry out the revolving speed of unmanned plane rotor, and pulp distance varying mechanism and additional motor
The weight that will increase unmanned plane, change engine throttle control unmanned plane wing revolving speed by way of there is response speed compared with
Slow problem, can not timely speed change.
Based on this, the embodiment of the present application provides a kind of control method of unmanned plane, so that the unmanned plane of fuel oil driving is fast
Speed changes the revolving speed of rotor, makes unmanned plane need not the control rotor revolving speed such as the biggish pulp distance varying mechanism of carry weight, additional motor
Device, and then mitigate unmanned plane weight.
Referring to Fig. 2, Fig. 2 is a kind of flow chart of the control method of unmanned plane provided by the embodiment of the present application.Institute is such as
Shown in Fig. 2, the control method of unmanned plane provided by the embodiments of the present application, comprising:
S201, the control information for obtaining engine.
In the step, the control device of unmanned plane can receive the control instruction that user assigns unmanned plane, and obtain control
The control information of engine in instruction.
Wherein, user can be through wireless transmission, Wi-Fi, satellite, honeycomb fashion the control instruction that unmanned plane is assigned
Network etc.；The control information of engine may include adjustment engine speed, starting engine etc..
In this way, the control device of unmanned plane can control unmanned plane according to the control information of engine.
S202, it is based on the control information, changes the rotor coil for being set to engine shaft upper rotor part and/or its is right
The electric current in stator coil answered, adjusts the revolving speed of engine shaft in the unmanned plane.
In the step, the adjustable throttle of the control device of unmanned plane controls the distributive value and solar term of the injection valve of throttle
The size of door, to adjust the revolving speed of engine shaft, however, can not quickly turn engine shaft to the adjustment of throttle
Velocity modulation is whole to rotating speed of target, while adjusting throttle, the control device of unmanned plane can particular content according to the control information,
Control battery changes the magnetic field strength of permanent magnet to the electric current of rotor coil and/or stator coil output, increases or decreases forever
Magnet quickly adjusts the revolving speed of engine shaft to the resistance of rotor.
Here, the control device of unmanned plane can control rotor coil, the electric current in stator coil simultaneously, and to throttle
It is adjusted, or only the electric current of at least one of rotor coil, stator coil is adjusted.
Specifically, stator can be adjusted simultaneously in the current rotating speed of engine shaft and the larger difference of rotating speed of target
Electric current in coil simultaneously adjusts throttle；When the difference of current rotating speed and rotating speed of target is smaller, can only adjust in stator coil
Electric current；When controlling information is starting engine, it can be powered to stator coil, rotor coil simultaneously, and control throttle pair
Engine send oil.
The control method of unmanned plane provided by the embodiments of the present application obtains the control information of engine；Based on the control
Information changes the electric current being set in the rotor coil and/or its corresponding stator coil of engine shaft upper rotor part, adjustment
The revolving speed of engine shaft in the unmanned plane.
Compared with the control method of unmanned plane in the prior art, the application is by adjusting engine shaft upper rotor part coil
The electric current of stator coil corresponding with its makes unmanned plane need not so that the unmanned plane of fuel oil driving quickly changes the revolving speed of rotor
The biggish pulp distance varying mechanism of carry weight, additional motor etc. control the device of rotor revolving speed, and then mitigate the weight of unmanned plane.
Referring to Fig. 3, Fig. 3 is the flow chart for the unmanned plane volume control method that another embodiment of the application provides.In Fig. 3
It is shown, the control method of unmanned plane provided by the embodiments of the present application, comprising:
S301, the control information for obtaining engine.
S302, when the control information is that revolving speed adjusts, based on the rotating speed of target in the control information, described in change
Electric current in stator coil, and the oil inlet quantity of the engine is adjusted, adjust the revolving speed of engine shaft in the unmanned plane.
In this step, the control device of unmanned plane can work as forward according to the size of rotating speed of target and engine shaft
Speed increases or reduces the electric current in stator coil, changes magnetic field strength, and then changes the stress of engine shaft, cooperation oil
The adjustment of door, adjusts the revolving speed of engine shaft.
Specifically, the control device of unmanned plane can calculate when rotating speed of target is greater than the current rotating speed of engine shaft
The angle that the increment of injection valve distributive value and air throttle need to adjust in throttle out, and reduce the size of electric current in stator coil, subtract
Small magnetic field is to the resistance of engine shaft, with fast lifting revolving speed to rotating speed of target.
Further, when rotating speed of target is less than the current rotating speed of engine shaft, the control device of unmanned plane can be counted
The angle that the decrement of injection valve distributive value and air throttle need to adjust in throttle is calculated, and increases the size of electric current in stator coil,
Increase magnetic field to the resistance of engine shaft, quickly to reduce the revolving speed of engine shaft to rotating speed of target.
S303, when the revolving speed of the engine shaft reaches rotating speed of target, adjust the big of electric current in the stator coil
As low as preset threshold.
In this step, as the revolving speed that engine fuel provides is continuously improved or reduces, the electric current of rotor coil is also right
That answers becomes larger or reduces, until the revolving speed of engine shaft can be maintained rotating speed of target by fuel oil, at this point, in stator coil
Size of current maintain unmanned plane normal operation preset threshold.
In this way, the electric current in stator coil with a certain size can be kept, magnetic field strength is enabled to be in the shape that can be controlled
State, and then change the stress of engine shaft, adjust the revolving speed of engine shaft.
Optionally, the control method further include:
When the control information is starting engine, while being powered to the stator coil and rotor coil；
Based on the electric current in the stator coil and rotor coil, start the engine of the unmanned plane.
In this step, the engine of unmanned plane is in inactive state, and the control device control battery of unmanned plane is simultaneously
A certain amount of electric current is passed through to stator coil and rotor coil, makes engine shaft by the power in cutting magnetic induction line direction, in turn
Engine shaft is rotated, provides initial speed required for starting engine for engine shaft, and control the oil of engine
Door and igniter start engine.
In this way, unmanned plane is being not provided with starting by the coil being set on the rotor and permanent magnet on engine shaft
In the case where motor and its rotating mechanism, engine also can star, substantially reduce the weight of unmanned plane.
Optionally, the control method further include:
When the battery of the unmanned plane does not power to the rotor coil, controls the rotor coil and the battery is filled
Electricity.
In this step, when unmanned plane normal operation, i.e., when battery does not power to rotor coil, the control device of unmanned plane
The form that battery and rotor coil can be charged connects, due to rotor coil in magnetic field continuous cutting magnetic induction line, rotor
Electric current can be generated in coil, can be used for charging to battery.
The control method of unmanned plane provided by the embodiments of the present application obtains the control information of engine；When the control is believed
When breath is revolving speed adjustment, based on the rotating speed of target in the control information, change the electric current in the stator coil, and adjust institute
The oil inlet quantity for stating engine adjusts the revolving speed of engine shaft in the unmanned plane；When the revolving speed of the engine shaft reaches
When rotating speed of target, the big as low as preset threshold of electric current in the stator coil is adjusted.
Compared with the control method of unmanned plane in the prior art, the application is by adjusting engine shaft upper rotor part coil
The electric current of stator coil corresponding with its makes unmanned plane need not so that the unmanned plane of fuel oil driving quickly changes the revolving speed of rotor
The biggish pulp distance varying mechanism of carry weight, additional motor etc. control the device of rotor revolving speed, and then mitigate the weight of unmanned plane.
Fig. 4, Fig. 5 are please referred to, Fig. 4 is a kind of structural representation of the control device of unmanned plane provided by the embodiment of the present application
One of figure, Fig. 5 are a kind of second structural representation of the control device of unmanned plane provided by the embodiment of the present application.In Fig. 4
Shown, the control device 400 of the unmanned plane includes:
Module 410 is obtained, for obtaining the control information of engine；
Control module 420 changes the rotor line for being set to engine shaft upper rotor part for being based on the control information
Electric current in circle and/or its corresponding stator coil, adjusts the revolving speed of engine shaft in the unmanned plane.
Further, as shown in figure 5, the control module 420 includes revolving speed adjustment unit 421, the revolving speed adjustment is single
Member 421 is used for:
When the control information is that revolving speed adjusts, based on the rotating speed of target in the control information, change the stator
Electric current in coil, and the oil inlet quantity of the engine is adjusted, adjust the revolving speed of engine shaft in the unmanned plane；
When the revolving speed of the engine shaft reaches rotating speed of target, the big as low as pre- of electric current in the stator coil is adjusted
If threshold value.
Further, the control module 420 further includes start unit 422, and the start unit 422 is used for:
When the control information is starting engine, while being powered to the stator coil and rotor coil；
Based on the electric current in the stator coil and rotor coil, start the engine of the unmanned plane.
Further, the control device 400 further includes charging module 430, and the charging module 430 is used for:
When the battery of the unmanned plane does not power to the rotor coil, controls the rotor coil and the battery is filled
Electricity.
The control device of unmanned plane provided by the embodiments of the present application, by the control information for obtaining engine；Based on described
Information is controlled, the electric current being set in the rotor coil and/or its corresponding stator coil of engine shaft upper rotor part is changed,
Adjust the revolving speed of engine shaft in the unmanned plane.
Compared with the control device of unmanned plane in the prior art, the control device of unmanned plane provided by the present application can be with
The unmanned plane for driving fuel oil quickly changes the revolving speed of rotor, makes unmanned plane need not the biggish pulp distance varying mechanism of carry weight, volume
Outer motor etc. controls the device of rotor revolving speed, and then mitigates the weight of unmanned plane.
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application.Such as institute in Fig. 6
Show, the electronic equipment 600 includes processor 610, memory 620 and bus 630.
The memory 620 is stored with the executable machine readable instructions of the processor 610, when electronic equipment 600 is transported
When row, communicated between the processor 610 and the memory 620 by bus 630, the machine readable instructions are by the place
When managing the execution of device 610, the step of the control method of the unmanned plane in the embodiment of the method as shown in above-mentioned Fig. 2 and Fig. 3 can be executed
Suddenly, specific implementation can be found in embodiment of the method, and details are not described herein.
The embodiment of the present application also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program can execute in the embodiment of the method as shown in above-mentioned Fig. 2 and Fig. 3 when the computer program is run by processor
Unmanned plane control method the step of, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.The apparatus embodiments described above are merely exemplary, for example, the division of the unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, in another example, multiple units or components can
To combine or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or beg for
The mutual coupling, direct-coupling or communication connection of opinion can be through some communication interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with software in other words
The form of product embodies, which is stored in a storage medium, including some instructions use so that
One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application
State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only
Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. is various to deposit
Store up the medium of program code.
Finally, it should be noted that embodiment described above, the only specific embodiment of the application, to illustrate the application
Technical solution, rather than its limitations, the protection scope of the application is not limited thereto, although with reference to the foregoing embodiments to this Shen
It please be described in detail, those skilled in the art should understand that: anyone skilled in the art
Within the technical scope of the present application, it can still modify to technical solution documented by previous embodiment or can be light
It is readily conceivable that variation or equivalent replacement of some of the technical features；And these modifications, variation or replacement, do not make
The essence of corresponding technical solution is detached from the spirit and scope of the embodiment of the present application technical solution, should all cover the protection in the application
Within the scope of.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of control method of unmanned plane, which is characterized in that be applied to unmanned plane, the unmanned plane includes engine, rotor
And battery, the engine include the rotor being set on engine shaft and the permanent magnet that is set on unmanned plane shell；Institute
Rotor is stated equipped with rotor coil, the permanent magnet is equipped with stator coil；The rotor coil, stator coil respectively with it is described
Battery connection, the rotor are connect with the engine shaft；The control method includes:
Obtain the control information of engine；
Based on the control information, change the rotor coil and/or its corresponding stator line for being set to engine shaft upper rotor part
Electric current in circle adjusts the revolving speed of engine shaft in the unmanned plane.
2. control method according to claim 1, which is characterized in that described to be based on the control information, change is set to
Electric current in the rotor coil of engine shaft upper rotor part and/or its corresponding stator coil, adjusts and starts in the unmanned plane
The revolving speed of machine shaft, comprising:
When the control information is that revolving speed adjusts, based on the rotating speed of target in the control information, change the stator coil
In electric current, and adjust the oil inlet quantity of the engine, adjust the revolving speed of engine shaft in the unmanned plane；
When the revolving speed of the engine shaft reaches rotating speed of target, the big as low as default threshold of electric current in the stator coil is adjusted
Value.
3. control method according to claim 1, which is characterized in that described to be based on the control information, change is set to
Electric current in the rotor coil of engine shaft upper rotor part and/or its corresponding stator coil, adjusts and starts in the unmanned plane
The revolving speed of machine shaft, further includes:
When the control information is starting engine, while being powered to the stator coil and rotor coil；
Based on the electric current in the stator coil and rotor coil, start the engine of the unmanned plane.
4. control method according to claim 1, which is characterized in that the control method further include:
When the battery of the unmanned plane does not power to the rotor coil, controls the rotor coil and charge to the battery.
5. a kind of control device of unmanned plane, which is characterized in that be applied to unmanned plane, the unmanned plane includes engine, rotor
And battery, the engine include the rotor being set on engine shaft and the permanent magnet that is set on unmanned plane shell；Institute
Rotor is stated equipped with rotor coil, the permanent magnet is equipped with stator coil；The rotor coil, stator coil respectively with it is described
Battery connection, the rotor are connect with the engine shaft；The control device includes:
Module is obtained, for obtaining the control information of engine；
Control module, for being based on the control information, change is set to the rotor coil of engine shaft upper rotor part, and/or
Electric current in its corresponding stator coil, adjusts the revolving speed of engine shaft in the unmanned plane.
6. control device according to claim 5, which is characterized in that the control module includes revolving speed adjustment unit, institute
Revolving speed adjustment unit is stated to be used for:
When the control information is that revolving speed adjusts, based on the rotating speed of target in the control information, change the stator coil
In electric current, and adjust the oil inlet quantity of the engine, adjust the revolving speed of engine shaft in the unmanned plane；
When the revolving speed of the engine shaft reaches rotating speed of target, the big as low as default threshold of electric current in the stator coil is adjusted
Value.
7. control device according to claim 5, which is characterized in that the control module further includes start unit, described
Start unit is used for:
When the control information is starting engine, while being powered to the stator coil and rotor coil；
Based on the electric current in the stator coil and rotor coil, start the engine of the unmanned plane.
8. control device according to claim 5, which is characterized in that the control device further includes charging module, described
Charging module is used for:
When the battery of the unmanned plane does not power to the rotor coil, controls the rotor coil and charge to the battery.
9. a kind of electronic equipment, which is characterized in that the electronic equipment includes: processor, memory and bus, the memory
The executable machine readable instructions of the processor are stored with, when electronic equipment operation, the processor and the memory
Between such as in Claims 1-4 is executed by the bus communication, when the machine readable instructions are executed by the processor
The control method of unmanned plane described in one.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer on the computer readable storage medium
Program, the computer program execute the control of unmanned plane according to any one of claims 1 to 4 when being run by processor
Method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910303744.3A CN109969409B (en) | 2019-04-16 | 2019-04-16 | Control method and device for unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910303744.3A CN109969409B (en) | 2019-04-16 | 2019-04-16 | Control method and device for unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109969409A true CN109969409A (en) | 2019-07-05 |
| CN109969409B CN109969409B (en) | 2021-02-02 |
Family
ID=67084769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201910303744.3A Active CN109969409B (en) | 2019-04-16 | 2019-04-16 | Control method and device for unmanned aerial vehicle |
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| CN111467711A (en) * | 2020-04-15 | 2020-07-31 | 东北电力大学 | Power transmission line cluster type mountain fire monitoring and extinguishing device and control method thereof |
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