CN114208019A - 马达控制装置、移动体、马达控制方法以及程序 - Google Patents

马达控制装置、移动体、马达控制方法以及程序 Download PDF

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Publication number
CN114208019A
CN114208019A CN202080055199.1A CN202080055199A CN114208019A CN 114208019 A CN114208019 A CN 114208019A CN 202080055199 A CN202080055199 A CN 202080055199A CN 114208019 A CN114208019 A CN 114208019A
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CN
China
Prior art keywords
detection values
motor control
thrust
motors
motor
Prior art date
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Pending
Application number
CN202080055199.1A
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English (en)
Chinese (zh)
Inventor
久保井悠辅
藤原弘
田泽徹
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Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of CN114208019A publication Critical patent/CN114208019A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
CN202080055199.1A 2019-08-02 2020-06-01 马达控制装置、移动体、马达控制方法以及程序 Pending CN114208019A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019-143247 2019-08-02
JP2019143247 2019-08-02
PCT/JP2020/021557 WO2021024591A1 (ja) 2019-08-02 2020-06-01 モータ制御装置、移動体、モータ制御方法及びプログラム

Publications (1)

Publication Number Publication Date
CN114208019A true CN114208019A (zh) 2022-03-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080055199.1A Pending CN114208019A (zh) 2019-08-02 2020-06-01 马达控制装置、移动体、马达控制方法以及程序

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Country Link
US (1) US20220261011A1 (https=)
EP (1) EP4009510A4 (https=)
JP (1) JPWO2021024591A1 (https=)
CN (1) CN114208019A (https=)
WO (1) WO2021024591A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113306728A (zh) * 2021-07-09 2021-08-27 深圳市好盈科技有限公司 电子调速器控制方法及系统
JP7345529B2 (ja) * 2021-10-07 2023-09-15 株式会社安川電機 モータ制御システム、モータ制御装置、モータ制御方法

Citations (10)

* Cited by examiner, † Cited by third party
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JP2007034969A (ja) * 2005-07-29 2007-02-08 Yaskawa Electric Corp 位置決め制御装置および位置決め制御方法
US20160107751A1 (en) * 2013-06-09 2016-04-21 Eth Zurich Controlled flight of a multicopter experiencing a failure affecting an effector
CN106462167A (zh) * 2014-05-30 2017-02-22 深圳市大疆创新科技有限公司 飞行器姿态控制方法
JP2018010671A (ja) * 2017-09-05 2018-01-18 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 航空機姿勢制御方法
US20180081353A1 (en) * 2016-09-16 2018-03-22 Gopro, Inc. Synchronized Pipeline Flight Controller
US20180081351A1 (en) * 2016-09-16 2018-03-22 Gopro, Inc. Adaptive rate gain controller
CN108494292A (zh) * 2018-05-02 2018-09-04 深圳市道通智能航空技术有限公司 电机控制方法和装置
CN108614573A (zh) * 2018-05-15 2018-10-02 上海扩博智能技术有限公司 六旋翼无人机的自动容错姿态控制方法
KR101952790B1 (ko) * 2017-10-27 2019-02-27 한국항공우주연구원 Db를 이용한 멀티콥터 개념설계 방법 및 이를 수행하는 프로그램을 기록한 컴퓨터로 읽을 수 있는 기록매체
US20190081584A1 (en) * 2017-09-14 2019-03-14 Kabushiki Kaisha Toshiba Motor drive control device for a multicopter

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58177252U (ja) * 1982-05-22 1983-11-26 東芝機械株式会社 加工ユニツトの駆動制御装置
JPH05336792A (ja) * 1992-05-29 1993-12-17 Toshiba Corp 連続圧延機の張力制御装置
FR2988868B1 (fr) * 2012-03-30 2015-04-24 Parrot Procede de pilotage d'un drone a voilure tournante a rotors multiples avec estimation et compensation du vent lateral
JP6999290B2 (ja) * 2017-05-23 2022-01-18 イームズロボティクス株式会社 飛行装置、飛行方法及び飛行プログラム
CN207157513U (zh) * 2017-07-20 2018-03-30 安徽工程大学 一种带升力自反馈的四旋翼无人机
US11455336B2 (en) * 2019-03-21 2022-09-27 Performance Drone Works Llc Quadcopter hardware characterization and simulation

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007034969A (ja) * 2005-07-29 2007-02-08 Yaskawa Electric Corp 位置決め制御装置および位置決め制御方法
US20160107751A1 (en) * 2013-06-09 2016-04-21 Eth Zurich Controlled flight of a multicopter experiencing a failure affecting an effector
CN106462167A (zh) * 2014-05-30 2017-02-22 深圳市大疆创新科技有限公司 飞行器姿态控制方法
US20180081353A1 (en) * 2016-09-16 2018-03-22 Gopro, Inc. Synchronized Pipeline Flight Controller
US20180081351A1 (en) * 2016-09-16 2018-03-22 Gopro, Inc. Adaptive rate gain controller
JP2018010671A (ja) * 2017-09-05 2018-01-18 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 航空機姿勢制御方法
US20190081584A1 (en) * 2017-09-14 2019-03-14 Kabushiki Kaisha Toshiba Motor drive control device for a multicopter
KR101952790B1 (ko) * 2017-10-27 2019-02-27 한국항공우주연구원 Db를 이용한 멀티콥터 개념설계 방법 및 이를 수행하는 프로그램을 기록한 컴퓨터로 읽을 수 있는 기록매체
CN108494292A (zh) * 2018-05-02 2018-09-04 深圳市道通智能航空技术有限公司 电机控制方法和装置
CN108614573A (zh) * 2018-05-15 2018-10-02 上海扩博智能技术有限公司 六旋翼无人机的自动容错姿态控制方法

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Publication number Publication date
US20220261011A1 (en) 2022-08-18
JPWO2021024591A1 (https=) 2021-02-11
EP4009510A4 (en) 2022-11-02
WO2021024591A1 (ja) 2021-02-11
EP4009510A1 (en) 2022-06-08

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