CN110829378A - Motor overcurrent locked-rotor protection method and device, electronic speed regulator and unmanned aerial vehicle - Google Patents
Motor overcurrent locked-rotor protection method and device, electronic speed regulator and unmanned aerial vehicle Download PDFInfo
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- 238000011217 control strategy Methods 0.000 description 6
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/006—Calibration or setting of parameters
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- Control Of Electric Motors In General (AREA)
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Abstract
The embodiment of the invention relates to a motor overcurrent locked-rotor protection method, a motor overcurrent locked-rotor protection device, an electronic speed regulator and an unmanned aerial vehicle, wherein the method comprises the following steps: determining a current gear of the electronic speed regulator, determining a current threshold according to the current gear, acquiring current motor current, and judging that the motor is locked if the current motor current is greater than the current threshold, wherein the electronic speed regulator comprises at least two gears, each gear has a corresponding current threshold, and/or acquiring the current motor rotating speed, and judging that the motor is locked if the current motor rotating speed is less than a minimum rotating speed threshold; and if the time of the motor stalling exceeds a preset first time threshold value, starting a motor protection measure. According to the embodiment of the invention, the motor protection measures are started when the motor is locked, so that the motor can be prevented from being burnt when locked.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a motor overcurrent locked-rotor protection method and device, an electronic speed regulator and an unmanned aerial vehicle.
Background
With the development of the unmanned aircraft technology, the unmanned aircraft is widely applied to the military and civil fields. Unmanned aerial vehicles typically include a plurality of blades, and the rotation of the plurality of blades is used to generate upward lift and forward power, and the power for the rotation of the blades is typically provided by a motor connected thereto.
In the use process of the existing unmanned aerial vehicle, the unmanned aerial vehicle sometimes turns over due to the problems of self design of the unmanned aerial vehicle or improper operation of a user, and if the motor still rotates at the moment when the unmanned aerial vehicle turns over, the motor is blocked, so that the motor is easily burnt.
Disclosure of Invention
The embodiment of the invention aims to provide a motor overcurrent locked-rotor protection method, a motor overcurrent locked-rotor protection device, an electronic speed regulator and an unmanned aerial vehicle, which can prevent a motor from being burnt when the motor is locked-rotor.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides a motor overcurrent locked-rotor protection method, where the method is used for an electronic speed regulator, and the motor overcurrent locked-rotor protection method includes:
determining the current gear of the electronic speed regulator, determining a current threshold value according to the current gear, acquiring the current of a motor, if the current of the motor is larger than the current threshold value, judging that the motor is locked, wherein the electronic speed regulator comprises at least two gears, each gear has a corresponding current threshold value,
and/or the presence of a gas in the gas,
acquiring the current motor rotating speed, and if the current motor rotating speed is less than the minimum rotating speed threshold value, judging that the motor is locked;
and if the time of the motor stalling exceeds a preset first time threshold value, starting a motor protection measure.
In some embodiments, the determining a current gear of the electronic governor, the determining a current threshold based on the current gear, includes:
the method comprises the steps of obtaining a current throttle value of the electronic speed regulator, confirming a throttle interval which the current throttle value accords with, and taking a current threshold value corresponding to the throttle interval as a current threshold value, wherein at least two gears of the electronic speed regulator are obtained in advance according to a throttle range of the electronic speed regulator, the throttle range is divided into a plurality of continuous throttle intervals, and each throttle interval corresponds to one gear.
In some embodiments, the current threshold corresponding to each throttle interval is greater than the current peak value when the battery voltage is highest in the throttle interval and is less than the current peak value when the battery voltage is lowest and the motor is locked.
In some embodiments, the activating a motor protection measure if the motor stalling time exceeds a preset first time threshold includes:
restarting the motor if the duration of the locked rotor of the motor exceeds a preset first time threshold;
and if the motor is continuously restarted for more than three times and the time interval between every two adjacent restarts is smaller than a preset second time threshold, turning off the motor.
In some embodiments, the minimum rotation speed threshold is obtained from a minimum rotation speed value at which the battery voltage is lowest and the throttle value of the electronic governor is the lower limit value of the throttle range.
In a second aspect, an embodiment of the present invention further provides a motor overcurrent locked-rotor protection device, where the device is used for an electronic speed regulator, and the motor overcurrent locked-rotor protection device includes:
the first motor locked-rotor determining module is used for determining the current gear of the electronic speed regulator, determining the current threshold value according to the current gear, acquiring the current motor current, and judging that the motor is locked-rotor if the current motor current is greater than the current threshold value, wherein the electronic speed regulator comprises at least two gears, each gear has a corresponding current threshold value,
and/or the presence of a gas in the gas,
the second motor locked-rotor determining module is used for acquiring the current motor rotating speed, and if the current motor rotating speed is smaller than the minimum rotating speed threshold value, the motor is judged to be locked-rotor;
and the motor protection module is used for starting motor protection measures if the locked-rotor time of the motor exceeds a preset first time threshold.
In some embodiments, the first motor stall determination module is specifically configured to:
the method comprises the steps of obtaining a current throttle value of the electronic speed regulator, confirming a throttle interval which the current throttle value accords with, and taking a current threshold value corresponding to the throttle interval as a current threshold value, wherein at least two gears of the electronic speed regulator are obtained in advance according to a throttle range of the electronic speed regulator, the throttle range is divided into a plurality of continuous throttle intervals, and each throttle interval corresponds to one gear.
In some embodiments, the current threshold corresponding to each throttle interval is greater than the current peak value when the battery voltage is highest in the throttle interval and is less than the current peak value when the battery voltage is lowest and the motor is locked.
In some embodiments, the motor protection module is specifically configured to:
restarting the motor if the duration of the locked rotor of the motor exceeds a preset first time threshold;
and if the motor is continuously restarted for more than three times and the time interval between every two adjacent restarts is smaller than a preset second time threshold, turning off the motor.
In some embodiments, the minimum rotation speed threshold is obtained from a minimum rotation speed value at which the battery voltage is lowest and the throttle value of the electronic governor is the lower limit value of the throttle range.
In a third aspect, an embodiment of the present invention further provides an electronic governor for controlling an operation of a motor, where the electronic governor includes a motor controller and a motor driver that are electrically connected, and both the motor controller and the motor driver are electrically connected to the motor, and the motor controller includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method described above.
In a fourth aspect, an embodiment of the present invention further provides an unmanned aerial vehicle, including:
a body;
the flight control device comprises a flight controller, a motor and an electronic speed regulator, wherein the flight controller, the motor and the electronic speed regulator are arranged on the machine body, and the electronic speed regulator is used for controlling the motor to operate.
In a fifth aspect, the embodiments of the present invention also provide a non-volatile computer-readable storage medium, which stores computer-executable instructions that, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform the above-mentioned method.
The method comprises the steps of judging whether the motor is locked by obtaining the current motor current and judging whether the current motor current is larger than a current threshold value and/or judging whether the current motor rotating speed is smaller than a minimum rotating speed threshold value or not by obtaining the current motor rotating speed; when the motor is blocked and exceeds a preset first time threshold value, a motor protection measure is started, so that the motor can be prevented from being burnt when the motor is blocked and rotated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 is a schematic view of an application scenario of the method and apparatus for protecting the motor from overcurrent stalling of the present invention;
FIG. 2 is a flow chart of one embodiment of the motor overcurrent locked-rotor protection method of the present invention;
fig. 3 is a schematic structural diagram of an embodiment of the overcurrent locked-rotor protection device of the motor of the invention;
fig. 4 is a schematic diagram of a hardware structure of an electronic governor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings in conjunction with specific embodiments.
It should be noted that all expressions using "first" and "second" in the embodiments of the present invention are used for distinguishing two entities with the same name but different names or different parameters, and it should be noted that "first" and "second" are merely for convenience of description and should not be construed as limitations of the embodiments of the present invention, and they are not described in any more detail in the following embodiments.
The method and the device for protecting the motor overcurrent locked-rotor of the unmanned aerial vehicle, provided by the embodiment of the invention, are suitable for the application scene shown in fig. 1, wherein the application scene comprises the unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 comprises a motor 10, an electronic speed regulator 20 and a flight controller 30. The flight controller 30 is a control system of the unmanned aerial vehicle 100, and is configured to send an accelerator control signal and other control signals to the electronic governor 20, the electronic governor 20 is configured to adjust a rotation speed of the motor 10 according to the control signal sent by the flight controller 30, and the motor 10 is configured to drive blades (not shown in the figure) of the unmanned aerial vehicle 100 to rotate so as to provide power for flight of the unmanned aerial vehicle 100.
The electronic governor 20 includes a motor driver 21 and a motor controller 22, and the motor controller 22 detects a two-phase or three-phase current signal from the motor 10 through a current sensor (not shown in the drawings), and outputs a control signal to the motor 10 through the motor driver 21 to control the operation of the motor 10. The electronic governor 20 can judge whether the motor 10 is locked according to the current of the motor 10, and if the locked rotation exceeds a certain time, the electronic governor starts the motor to restart or shuts down the motor and other protective measures so as to avoid the motor from being burnt.
The unmanned aerial vehicle 100 may be, among other things, any suitable type of high or low altitude aircraft, including typical quadcopters, hovering remote controlled helicopters, and the like. The motor 10 may be a permanent magnet synchronous motor or an asynchronous ac motor, or any other suitable type of motor.
Fig. 2 is a schematic flow chart of an embodiment of a motor overcurrent locked-rotor protection method according to an embodiment of the present invention, which may be executed by the motor controller 22 in the electronic governor 20 in fig. 1, as shown in fig. 2, and the motor overcurrent locked-rotor protection method includes:
101: determining the current gear of the electronic speed regulator, determining a current threshold value according to the current gear, acquiring the current of the motor, and judging that the motor is locked if the current of the motor is larger than the current threshold value, wherein the electronic speed regulator comprises at least two gears, and each gear has a corresponding current threshold value.
And determining whether the motor is locked, detecting the current motor current through a current sensor in real time, then determining whether the current motor current is greater than a current threshold, and if so, determining that the motor is locked.
The current threshold value can be obtained through calculation, or the electronic speed regulator can be divided into a plurality of gears, and then a fixed current threshold value is set for each gear. When judging whether the motor is locked, the current gear of the electronic speed regulator needs to be determined first, the current threshold value of the current gear is obtained, and then the current of the current motor is compared with the current threshold value. Relatively speaking, the method for setting the fixed current threshold value in each gear is divided into a plurality of gears, the calculation amount is small, the CPU resource can be saved, and the execution speed is high.
In particular, in some embodiments, the motor is electrically poweredThe relationship between the throttle value of the flow and the throttle value of the electronic speed regulator is large, and the electronic speed regulator can be divided into a plurality of grades according to the throttle range of the electronic speed regulator. Taking the throttle range of the electronic speed regulator as 1200-1900us as an example, the electronic speed regulator can be divided into 8 grades on average, and the size of the throttle interval of each grade is 87.5 us. That is, the throttle interval of 1200-1287.5 is the first gear, the throttle interval of 1287.5-1375 is the second gear, and so on, the third, fourth, fifth, sixth, seventh, eighth gear, etc. are defined, and the current threshold value I is set for each gear respectively1ref、I2ref...I8ref. When determining whether the motor is locked, the current throttle value of the electronic speed regulator needs to be obtained first to determine the current gear of the electronic speed regulator. For example, if the current throttle value of the electronic speed regulator is 1550us, and the throttle interval 1550-1637.5 is met, it can be determined that the current gear of the electronic speed regulator is the fifth gear, and the current threshold is I5ref. Of course, the embodiment of the present invention is not limited to be divided into 8 levels, and may be divided into more or fewer levels.
Wherein the current threshold (e.g. I) is also a large function of the motor current and the battery charge1ref、I2ref...I8ref) The values of (a) can be obtained by measuring at different battery capacities and different throttle values. For example, with I5refTaking a plurality of throttle values (for example, 10 throttle values) in the throttle interval 1550-1637.5 as an example, the measurement is carried out at the highest battery voltage (V)max) Current value at time I5maxAnd the locked-rotor current value at the lowest battery voltage is taken as I5。I5refCan be at I5max-I5Within the range, i.e. I5max<I5ref<I5。
In some embodiments, the motor current may be a motor phase current (e.g., any one of three phase currents or a multi-phase current), and the battery is a power supply battery of the motor drive 21 (e.g., an inverter).
And/or the presence of a gas in the gas,
102: and acquiring the current motor rotating speed, and if the current motor rotating speed is less than the minimum rotating speed threshold value, judging that the motor is locked.
And determining whether the motor is locked, acquiring the current motor rotating speed, determining whether the current motor rotating speed meets a rotating speed threshold value, and if not, determining that the motor is locked. Considering that the battery level of the unmanned aerial vehicle changes during the flight, the battery voltage fluctuates to some extent. Can be determined according to the rotating speed (n) when the battery voltage is highestmax) Obtaining a maximum speed threshold (e.g. 1.2 n)max) According to the rotation speed (n) at which the battery voltage is lowestmin) Obtaining a minimum rotational speed threshold (e.g. 0.8 n)min). If the current motor rotating speed is monitored to be greater than 1.2n in the flying processmaxOr less than 0.8nminAnd determining that the motor has the locked-rotor condition. However, considering that the maximum rotation speed of the motor may increase by more than 20% when the motor does not have the blades, the protection setting is performed only by the minimum rotation speed threshold in the embodiment of the present invention.
Wherein n isminAnd nmaxThe value of (a) is illustrated by taking the throttle range of the electronic speed regulator as 1200-1900us as an example, when the voltage of the battery is lowest, the rotating speed with the throttle value of the throttle range lower limit value of 1200us is measured as nminWhen the voltage of the battery is highest, the rotation speed with the throttle value being 1900us below the upper limit value of the throttle range is measured as nmax。
In practical application, whether the motor is locked or not can be judged only according to the current motor rotating speed, and whether the motor is locked or not can also be judged only according to the current motor current. The determination may also be performed according to the current motor speed and the current motor current, for example, the current motor speed and the current motor current may be obtained, and if the current motor speed is less than the minimum speed threshold or the current motor current is greater than the current threshold, it is determined that the motor is locked.
103: and if the time of the motor stalling exceeds a preset first time threshold value, starting a motor protection measure.
In some embodiments, the motor protection measure may be to restart the motor if the duration of the motor stalling exceeds a preset first time threshold (e.g., 0.8 s). If more than three consecutive restarts of the motor occur and the time interval between each adjacent restart is less than a preset second time threshold (e.g. 2s), the motor is turned off. In practical application, the failure frequency (for example, the initial value is 0) may be set, when the motor is restarted, the failure frequency is increased by 1, when the restart is performed again, if the time interval between the two restarts is smaller than a preset second time threshold, the failure frequency is increased by 1, otherwise, the failure frequency is cleared. When the number of faults reaches a preset number threshold (e.g., 3), the motor is stopped.
The method comprises the steps of judging whether the motor is locked by obtaining the current motor current and judging whether the current motor current is larger than a current threshold value and/or judging whether the current motor rotating speed is smaller than a minimum rotating speed threshold value or not by obtaining the current motor rotating speed; when the motor is blocked and exceeds a preset first time threshold value, a motor protection measure is started, so that the motor can be prevented from being burnt when the motor is blocked and rotated.
The method provided by the embodiment of the invention is suitable for various control strategies of the motor, such as a control strategy that reactive voltage is output in a closed loop mode through a PI regulator through reactive current, active voltage is directly given, a non-inductive strategy adopts sliding film observation to estimate the position of a speedometer, and is also suitable for other control strategies, such as a current loop control strategy, a speed loop control strategy and a current loop control strategy.
Correspondingly, the embodiment of the present invention further provides a motor overcurrent locked-rotor protection device, which can be used in the electronic governor 20 in fig. 1, as shown in fig. 3, the motor overcurrent locked-rotor protection device 300 includes a first motor locked-rotor determination module 301 and/or a second motor locked-rotor determination module 302, and a motor protection module 303. The first motor locked-rotor determining module 301 is configured to determine a current gear of the electronic speed regulator, determine a current threshold according to the current gear, obtain a current motor current, and determine that a locked-rotor occurs in the motor if the current motor current is greater than the current threshold, where the electronic speed regulator includes at least two gears, and each gear has a corresponding current threshold. And a second motor stalling determination module 302, configured to obtain a current motor rotation speed, and determine that a motor stalls if the current motor rotation speed is less than a minimum rotation speed threshold. And the motor protection module 303 is configured to start a motor protection measure if the time for the motor to stall exceeds a preset first time threshold.
The method comprises the steps of judging whether the motor is locked by obtaining the current motor current and judging whether the current motor current is larger than a current threshold value and/or judging whether the current motor rotating speed is smaller than a minimum rotating speed threshold value or not by obtaining the current motor rotating speed; when the motor is blocked and exceeds a preset first time threshold value, a motor protection measure is started, so that the motor can be prevented from being burnt when the motor is blocked and rotated.
Specifically, in some embodiments, the first motor stall determination module 301 is specifically configured to:
the method comprises the steps of obtaining a current throttle value of the electronic speed regulator, confirming a throttle interval which the current throttle value accords with, and taking a current threshold value corresponding to the throttle interval as a current threshold value, wherein at least two gears of the electronic speed regulator are obtained in advance according to a throttle range of the electronic speed regulator, the throttle range is divided into a plurality of continuous throttle intervals, and each throttle interval corresponds to one gear.
In some embodiments, the current threshold corresponding to each throttle interval is greater than the current peak value when the battery voltage is highest in the throttle interval and is less than the current peak value when the battery voltage is lowest and the motor is locked.
Specifically, in some embodiments, the motor protection module 303 is specifically configured to:
restarting the motor if the duration of the locked rotor of the motor exceeds a preset first time threshold;
and if the motor is continuously restarted for more than three times and the time interval between every two adjacent restarts is smaller than a preset second time threshold, turning off the motor.
In some embodiments, the minimum rotation speed threshold is obtained according to a minimum rotation speed value, where the minimum rotation speed value is a rotation speed value at which the battery voltage is lowest and the throttle value of the electronic speed regulator is the lower limit value of the throttle range.
It should be noted that the motor overcurrent locked-rotor protection device can execute the motor overcurrent locked-rotor protection method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the motor overcurrent locked-rotor protection method. For technical details that are not described in detail in the embodiment of the apparatus, reference may be made to the method for protecting the overcurrent locked-rotor of the motor provided by the embodiment of the present invention.
As shown in fig. 4, an embodiment of the present invention further provides an electronic governor 20, where the electronic governor 20 includes a motor controller 22 and a motor driver 21 that are electrically connected, the motor controller 22 and the motor driver 21 are both used to be electrically connected to the motor 10, and the motor controller 22 includes:
one or more processors 221 and memory 222, with one processor 221 being an example in fig. 4. The processor 221 and the memory 222 may be connected by a bus or other means, such as the bus connection shown in fig. 4.
The memory 222 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/units corresponding to the motor overcurrent locked rotor protection method in the embodiment of the present invention (for example, the first motor locked rotor determining module 301, the second motor locked rotor determining module 302, and the motor protection module 303 shown in fig. 3). The processor 221 executes various functional applications and data processing of the electronic governor by running a nonvolatile software program, instructions and units stored in the memory 222, that is, implements the motor overcurrent stalling protection method of the above-described method embodiment.
The memory 222 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the stored data area may store data created from the use of the electronic governor, and the like. Further, the memory 222 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, memory 222 optionally includes memory located remotely from processor 221, which may be connected to the electronic governor over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more units are stored in the memory 222, and when executed by the one or more processors 221, execute the motor overcurrent stall protection method in any of the above-described method embodiments, for example, execute the above-described method steps 101 and 103 in fig. 2, and implement the functions of the module 301 and 303 in fig. 3.
The electronic speed regulator can execute the motor overcurrent locked-rotor protection method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the electronic governor, reference is made to the method provided by the embodiment of the present invention.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more processors, for example, one processor 221 in fig. 4, so that the one or more processors may execute the motor overcurrent stalling protection method in any method embodiment described above, for example, execute the method steps 101 and 103 in fig. 2 described above, and implement the functions of the module 301 and 303 in fig. 3.
As shown in fig. 1, an embodiment of the present invention further provides an unmanned aerial vehicle 100, where the unmanned aerial vehicle 100 includes:
a body;
the flight control device comprises a flight controller 30 mounted on the body, a motor 10 and an electronic speed regulator 20 for controlling the operation of the motor 10, wherein the electronic speed regulator 20 is the electronic speed regulator.
The unmanned aerial vehicle 100 comprises the electronic speed regulator provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects. Technical details that are not elaborated in the embodiments of the unmanned aerial vehicle can be seen in the electronic governor provided by the embodiments of the present invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (13)
1. The motor overcurrent locked-rotor protection method is used for an electronic speed regulator and is characterized by comprising the following steps:
determining the current gear of the electronic speed regulator, determining a current threshold value according to the current gear, acquiring the current of a motor, if the current of the motor is larger than the current threshold value, judging that the motor is locked, wherein the electronic speed regulator comprises at least two gears, each gear has a corresponding current threshold value,
and/or the presence of a gas in the gas,
acquiring the current motor rotating speed, and if the current motor rotating speed is less than the minimum rotating speed threshold value, judging that the motor is locked;
and if the time of the motor stalling exceeds a preset first time threshold value, starting a motor protection measure.
2. The method of claim 1, wherein said determining a current gear of the electronic governor, determining a current threshold based on the current gear, comprises:
the method comprises the steps of obtaining a current throttle value of the electronic speed regulator, confirming a throttle interval which the current throttle value accords with, and taking a current threshold value corresponding to the throttle interval as a current threshold value, wherein at least two gears of the electronic speed regulator are obtained in advance according to a throttle range of the electronic speed regulator, the throttle range is divided into a plurality of continuous throttle intervals, and each throttle interval corresponds to one gear.
3. The method of claim 2, wherein the current threshold value corresponding to each throttle interval is greater than the current peak value when the battery voltage is highest in the throttle interval and less than the current peak value when the battery voltage is lowest in the throttle interval and the motor is locked.
4. A method according to any one of claims 1-3, wherein said initiating motor protection measures if the motor stalls for more than a preset first time threshold comprises:
restarting the motor if the duration of the locked rotor of the motor exceeds a preset first time threshold;
and if the motor is continuously restarted for more than three times and the time interval between every two adjacent restarts is smaller than a preset second time threshold, turning off the motor.
5. The method of claim 2, wherein the minimum rotation speed threshold is obtained from a minimum rotation speed value at which a battery voltage is lowest and a throttle value of the electronic governor is the lower limit value of the throttle range.
6. The utility model provides a motor overflows stifled protection device that changes, the device is used for electronic governor, its characterized in that, motor overflows stifled protection device that changes and includes:
the first motor locked-rotor determining module is used for determining the current gear of the electronic speed regulator, determining the current threshold value according to the current gear, acquiring the current motor current, and judging that the motor is locked-rotor if the current motor current is greater than the current threshold value, wherein the electronic speed regulator comprises at least two gears, each gear has a corresponding current threshold value,
and/or the presence of a gas in the gas,
the second motor locked-rotor determining module is used for acquiring the current motor rotating speed, and if the current motor rotating speed is smaller than the minimum rotating speed threshold value, the motor is judged to be locked-rotor;
and the motor protection module is used for starting motor protection measures if the locked-rotor time of the motor exceeds a preset first time threshold.
7. The apparatus of claim 6, wherein the first motor stall determination module is specifically configured to:
the method comprises the steps of obtaining a current throttle value of the electronic speed regulator, confirming a throttle interval which the current throttle value accords with, and taking a current threshold value corresponding to the throttle interval as a current threshold value, wherein at least two gears of the electronic speed regulator are obtained in advance according to a throttle range of the electronic speed regulator, the throttle range is divided into a plurality of continuous throttle intervals, and each throttle interval corresponds to one gear.
8. The device of claim 7, wherein the current threshold value corresponding to each throttle interval is larger than the current peak value when the battery voltage is the highest in the throttle interval and smaller than the current peak value when the battery voltage is the lowest in the throttle interval and the motor is locked.
9. The device according to any one of claims 6 to 8, wherein the motor protection module is specifically configured to:
restarting the motor if the duration of the locked rotor of the motor exceeds a preset first time threshold;
and if the motor is continuously restarted for more than three times and the time interval between every two adjacent restarts is smaller than a preset second time threshold, turning off the motor.
10. The apparatus of claim 7, wherein the minimum rotation speed threshold is obtained from a minimum rotation speed value at which a battery voltage is lowest and a throttle value of the electronic governor is a lower limit value of the throttle range.
11. An electronic governor for controlling the operation of a motor, the electronic governor comprising an electrically connected motor controller and motor driver, both the motor controller and the motor driver being for electrical connection with the motor, the motor controller comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-5.
12. An unmanned aerial vehicle, comprising:
a body;
the flight control ware, motor and the electron governor that is used for controlling the operation of motor that set up on the fuselage, the electron governor is the electron governor of claim 11.
13. A non-transitory computer-readable storage medium having stored thereon computer-executable instructions that, when executed by an unmanned aerial vehicle, cause the unmanned aerial vehicle to perform the method of any of claims 1-5.
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| CN201810573498.9A CN108711831B (en) | 2018-06-06 | 2018-06-06 | Motor overcurrent locked-rotor protection method and device, electronic speed regulator and unmanned aerial vehicle |
| CN201911224560.4A CN110829378B (en) | 2018-06-06 | 2018-06-06 | Motor overcurrent locked-rotor protection method and device, electronic speed regulator and unmanned aerial vehicle |
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| CN110829378B (en) | 2022-12-20 |
| CN108711831A (en) | 2018-10-26 |
| WO2019233001A1 (en) | 2019-12-12 |
| CN108711831B (en) | 2019-12-31 |
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