CN114400933A - Multi-rotor unmanned aerial vehicle motor control method and system - Google Patents

Multi-rotor unmanned aerial vehicle motor control method and system Download PDF

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Publication number
CN114400933A
CN114400933A CN202111607335.6A CN202111607335A CN114400933A CN 114400933 A CN114400933 A CN 114400933A CN 202111607335 A CN202111607335 A CN 202111607335A CN 114400933 A CN114400933 A CN 114400933A
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phase
unmanned aerial
aerial vehicle
rotor unmanned
motor
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Inventor
黄立
王龙
林家民
宋帅
张原艺
薛源
刘华斌
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Puzhou Technology Shenzhen Co ltd
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Puzhou Technology Shenzhen Co ltd
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    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0007—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using sliding mode control
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The embodiment of the invention belongs to the field of unmanned aerial vehicles, and particularly provides a motor control method and a motor control system of a multi-rotor unmanned aerial vehicle, wherein the control method comprises the following steps: the rotating speed of the motor of the multi-rotor unmanned aerial vehicle is obtained in real time, and the real-time rotating speed of the motor of the multi-rotor unmanned aerial vehicle is sent to a speed loop PID controller by adopting a PLL observer so as to obtain a difference value between a target rotating speed and a feedback rotating speed
Figure 853920DEST_PATH_IMAGE001
Generated control quantity
Figure 651981DEST_PATH_IMAGE002
(ii) a The control quantity is
Figure 146547DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 148001DEST_PATH_IMAGE003
And
Figure 533852DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 874835DEST_PATH_IMAGE003
the moment in the tangential direction on the circle is shown,
Figure 851887DEST_PATH_IMAGE004
means of being perpendicular
Figure 278320DEST_PATH_IMAGE003
Directed outward with no useful moment; will be provided with
Figure 15332DEST_PATH_IMAGE003
And
Figure 725668DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 562037DEST_PATH_IMAGE005
And
Figure 787351DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees; by using
Figure 157DEST_PATH_IMAGE005
And
Figure 846891DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result; and controlling the motor according to the SVPWM modulation result. The embodiment of the invention realizes non-inductive double-resistor sampling; and the motor can be controlled according to the SVPWM modulation result, the flying stability is provided, and meanwhile, the electric energy conversion efficiency is high and the energy consumption is low.

Description

Multi-rotor unmanned aerial vehicle motor control method and system
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a motor control method and system for a multi-rotor unmanned aerial vehicle.
Background
In recent years, the world unmanned aerial vehicle technology is rapidly developed, and the multi-rotor aircraft with vertical take-off and landing, stable hovering, wireless transmission, remote aerial photography and autonomous cruise capabilities has wide application prospects in the military and civil fields.
The multi-rotor unmanned aerial vehicle generally comprises a plurality of groups of propellers, each propeller is connected with one motor, each motor provides a direct power source for the corresponding propeller, and the stability of the propellers in the flight process is ensured by the simultaneous working of the plurality of groups of propellers.
At present, square wave control is adopted for a motor driving mode of a multi-rotor unmanned aerial vehicle, namely a six-step control method, the motor rotation in one circle is divided into six steps, although the control process is simple, the control mode is rough, a horn and a fuselage can generate large vibration in the control process, the stability of flight is influenced, and meanwhile, the electric energy conversion efficiency is low, the energy consumption is high, and the cruising ability of the aircraft is greatly influenced.
Disclosure of Invention
The invention aims to provide a motor control method and a motor control system for a multi-rotor unmanned aerial vehicle, which aim to solve the problems that in the prior art, the motor driving mode of the multi-rotor unmanned aerial vehicle is rough, the arms and the body of the multi-rotor unmanned aerial vehicle generate large vibration in the control process, the stability of flight is influenced, and meanwhile, the electric energy conversion efficiency is low, the energy consumption is high, and the cruising ability of the multi-rotor unmanned aerial vehicle is greatly influenced.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions.
In a first aspect, an embodiment of the present invention provides a method for controlling motors of a multi-rotor unmanned aerial vehicle, where the method includes the following steps:
the rotating speed of the motor of the multi-rotor unmanned aerial vehicle is obtained in real time, and the real-time rotating speed of the motor of the multi-rotor unmanned aerial vehicle is sent to a speed loop PID controller by adopting a PLL observer so as to obtain a difference value between a target rotating speed and a feedback rotating speed
Figure 101011DEST_PATH_IMAGE001
Generated control quantity
Figure 436177DEST_PATH_IMAGE002
；
The control quantity is
Figure 571623DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 634126DEST_PATH_IMAGE003
And
Figure 600945DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 44696DEST_PATH_IMAGE003
the moment in the tangential direction on the circle is shown,
Figure 182285DEST_PATH_IMAGE004
means of being perpendicular
Figure 799211DEST_PATH_IMAGE003
Directed outward with no useful moment;
will be provided with
Figure 73066DEST_PATH_IMAGE003
And
Figure 484456DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 860074DEST_PATH_IMAGE005
And
Figure 529958DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees;
by using
Figure 409053DEST_PATH_IMAGE005
And
Figure 256923DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result;
and controlling the motor according to the SVPWM modulation result.
In some embodiments of the invention, said utilizing is performed
Figure 103525DEST_PATH_IMAGE007
And
Figure 62254DEST_PATH_IMAGE006
the step of carrying out space voltage vector pulse width modulation to generate the SVPWM modulation result comprises the following steps: sine wave with phase difference of 90 DEG
Figure 588000DEST_PATH_IMAGE005
And
Figure 278875DEST_PATH_IMAGE006
synthesizing the target vector to a circle, synthesizing the target vector by using the fixed vectors a, b and c, and solving the target vector
Figure 425823DEST_PATH_IMAGE008
、
Figure 375193DEST_PATH_IMAGE009
、
Figure 291196DEST_PATH_IMAGE010
And inputting the data into an SVPWM module, modulating and outputting the state coding values of the three half-bridges at the moment.
In some embodiments of the present invention, before the step of obtaining the rotation speed of the electric motor of the multi-rotor unmanned aerial vehicle in real time, the control method further includes the steps of:
obtaining a-phase current value in three-phase current of motor of multi-rotor unmanned aerial vehicle
Figure 667820DEST_PATH_IMAGE011
Phase b current value
Figure 36484DEST_PATH_IMAGE012
C phase current value
Figure 274699DEST_PATH_IMAGE013
；
For a-phase current values according to Clark transformation
Figure 560055DEST_PATH_IMAGE011
Phase b current value
Figure 655050DEST_PATH_IMAGE012
C phase current value
Figure 448694DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 802184DEST_PATH_IMAGE014
、
Figure 630463DEST_PATH_IMAGE015
；
According to Park transformation, sine wave is aligned
Figure 161938DEST_PATH_IMAGE014
、
Figure 692145DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 334479DEST_PATH_IMAGE016
Direct axis current
Figure 266532DEST_PATH_IMAGE017
。
In some embodiments of the invention, the obtaining of the a-phase current value of the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is performed by using a method of the invention
Figure 968909DEST_PATH_IMAGE011
Phase b current value
Figure 737145DEST_PATH_IMAGE012
C phase current value
Figure 166858DEST_PATH_IMAGE013
Comprises the following steps:
the induced electromotive force on the feedback resistor is acquired through the MCU, and the phase a current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is obtained
Figure 766467DEST_PATH_IMAGE011
Phase b current value
Figure 577428DEST_PATH_IMAGE012
；
Calculating according to kirchhoff current law to obtain c-phase current value in three-phase current of motor of multi-rotor unmanned aerial vehicle
Figure 144544DEST_PATH_IMAGE013
And is and
Figure 331943DEST_PATH_IMAGE013
=-
Figure 786058DEST_PATH_IMAGE011
+
Figure 813926DEST_PATH_IMAGE012
。
in some embodiments of the inventionAccording to Clark transformation, the a-phase current value is corrected
Figure 556754DEST_PATH_IMAGE011
Phase b current value
Figure 344581DEST_PATH_IMAGE012
C phase current value
Figure 105733DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 320814DEST_PATH_IMAGE014
、
Figure 800205DEST_PATH_IMAGE015
The following formula is adopted:
Figure 126144DEST_PATH_IMAGE019
；
wherein the content of the first and second substances,
Figure 492535DEST_PATH_IMAGE020
is composed of
Figure 596626DEST_PATH_IMAGE021
。
In some embodiments of the invention, the aligning sine waves according to Park transformation
Figure 845205DEST_PATH_IMAGE014
、
Figure 974835DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 710578DEST_PATH_IMAGE016
Direct axis current
Figure 1882DEST_PATH_IMAGE017
Is prepared by the steps ofThe following equation:
Figure 3336DEST_PATH_IMAGE023
；
wherein the content of the first and second substances,
Figure 123608DEST_PATH_IMAGE024
is composed of
Figure 730170DEST_PATH_IMAGE025
，
Figure 707222DEST_PATH_IMAGE026
Is the current angle of the rotor.
In some embodiments of the invention, said controlling of said amount is performed by a computer
Figure 133655DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 605088DEST_PATH_IMAGE003
And
Figure 61563DEST_PATH_IMAGE004
comprises the following steps:
will be provided with
Figure 225829DEST_PATH_IMAGE001
Output torque current after input sliding mode speed controller regulation
Figure 936296DEST_PATH_IMAGE027
Applying the torque current
Figure 132791DEST_PATH_IMAGE027
With the quadrature axis current
Figure 510682DEST_PATH_IMAGE016
After the comparison difference value is input into the first PI regulator, the output voltage is output
Figure 767220DEST_PATH_IMAGE003
；
Will preset the current
Figure 230563DEST_PATH_IMAGE028
With the direct axis current
Figure 981481DEST_PATH_IMAGE017
After the comparison difference value is input into the second PI regulator, the output voltage is output
Figure 197567DEST_PATH_IMAGE004
。
In a second aspect, an embodiment of the present invention provides a multi-rotor unmanned aerial vehicle motor control system, where the control system includes:
the rotating speed acquisition device is used for acquiring the rotating speed of the motor of the multi-rotor unmanned aerial vehicle in real time;
the first calculation device is used for sending the real-time rotating speed of the motor of the multi-rotor unmanned aerial vehicle to the speed loop PID controller by adopting the PLL observer so as to obtain the difference value between the target rotating speed and the feedback rotating speed
Figure 703635DEST_PATH_IMAGE001
Generated control quantity
Figure 326377DEST_PATH_IMAGE002
；
Second calculation means for calculating the control amount
Figure 926992DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 13897DEST_PATH_IMAGE003
And
Figure 628549DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 784592DEST_PATH_IMAGE003
is shown on a circleThe moment in the tangential direction is generated,
Figure 939630DEST_PATH_IMAGE004
means of being perpendicular
Figure 84304DEST_PATH_IMAGE003
Directed outward with no useful moment;
first conversion means for converting
Figure 181442DEST_PATH_IMAGE003
And
Figure 778776DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 737505DEST_PATH_IMAGE005
And
Figure 517111DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees;
vector modulation apparatus for using
Figure 473566DEST_PATH_IMAGE005
And
Figure 620513DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result;
and the control device is used for controlling the motor according to the SVPWM modulation result.
In some embodiments of the present invention, the control system further comprises:
the current acquisition device is used for acquiring the a-phase current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle
Figure 569884DEST_PATH_IMAGE011
Phase b current value
Figure 485887DEST_PATH_IMAGE012
C phase current value
Figure 596931DEST_PATH_IMAGE013
；
Second conversion means for converting the a-phase current value according to Clark conversion
Figure 231175DEST_PATH_IMAGE011
Phase b current value
Figure 469389DEST_PATH_IMAGE012
C phase current value
Figure 754746DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 584162DEST_PATH_IMAGE014
、
Figure 643385DEST_PATH_IMAGE015
；
Third variation means for aligning sine waves according to Park transformation
Figure 996875DEST_PATH_IMAGE014
、
Figure 825153DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 809159DEST_PATH_IMAGE016
Direct axis current
Figure 90098DEST_PATH_IMAGE017
。
In some embodiments of the invention, the second computing device comprises:
a first calculation unit for calculating
Figure 998012DEST_PATH_IMAGE001
Output torque current after input sliding mode speed controller regulation
Figure 195644DEST_PATH_IMAGE027
Applying the torque current
Figure 632441DEST_PATH_IMAGE027
With the quadrature axis current
Figure 649945DEST_PATH_IMAGE016
After the comparison difference value is input into the first PI regulator, the output voltage is output
Figure 95969DEST_PATH_IMAGE003
；
A second calculating unit for calculating a preset current
Figure 898840DEST_PATH_IMAGE028
With the direct axis current
Figure 755807DEST_PATH_IMAGE017
After the comparison difference value is input into the second PI regulator, the output voltage is output
Figure 11339DEST_PATH_IMAGE004
。
Compared with the prior art, the multi-rotor unmanned aerial vehicle motor control method and the system provided by the embodiment of the invention have the technical advantages that: according to the embodiment of the invention, the induced electromotive force on the feedback resistor is acquired through the MCU to obtain the phase a current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle
Figure 995475DEST_PATH_IMAGE011
Phase b current value
Figure 179418DEST_PATH_IMAGE012
And then the c-phase current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is calculated according to Kirchhoff Current Law (KCL)
Figure 161281DEST_PATH_IMAGE013
The sampling current is obtained by sampling and calculating resistors with the same resistance and the same resistanceThe non-inductive double-resistor sampling is realized; the embodiment of the invention also synthesizes alpha and alpha by utilizing three-phase fixed vectors a, b and c through duty ratio control
Figure 950114DEST_PATH_IMAGE029
And vector, realize utilization
Figure 737942DEST_PATH_IMAGE005
And
Figure 249825DEST_PATH_IMAGE006
space voltage vector pulse width modulation is carried out to generate an SVPWM modulation result, and then a motor can be controlled according to the SVPWM modulation result, so that the problems that in the prior art, the motor driving mode is rough, the horn and the fuselage can generate large vibration in the control process, the flying stability is influenced, meanwhile, the electric energy conversion efficiency is low, the energy consumption is high, and the cruising ability of an aircraft is greatly influenced are solved.
Drawings
Fig. 1 is a flowchart illustrating an implementation of a motor control method for a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a block diagram of a multi-rotor UAV motor control system according to an embodiment of the present invention;
FIG. 3 is an ABC coordinate system and alpha provided by an embodiment of the present invention
Figure 714174DEST_PATH_IMAGE029
The vectors in the coordinate system represent schematic diagrams.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
It can be understood that at present, square wave control is adopted for the motor driving mode of the multi-rotor unmanned aerial vehicle, namely a six-step control method, the motor rotation in one circle is divided into six steps, the control process is simple, but the control mode is rough, the arms and the fuselage can generate large vibration in the control process, the stability of flight is influenced, and meanwhile, the electric energy conversion efficiency is low, the energy consumption is high, and the cruising ability of the aircraft is greatly influenced.
In order to solve the problems, the invention provides a method and a system for controlling a motor of a multi-rotor unmanned aerial vehicle
Figure 475456DEST_PATH_IMAGE011
Phase b current value
Figure 4658DEST_PATH_IMAGE012
And then the c-phase current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is calculated according to Kirchhoff Current Law (KCL)
Figure 682633DEST_PATH_IMAGE013
The sampling current is obtained by sampling through resistors and calculating, the resistors are the same, the resistance values are the same, and non-inductive double-resistor sampling is realized; the embodiment of the invention also synthesizes alpha and alpha by utilizing three-phase fixed vectors a, b and c through duty ratio control
Figure 6298DEST_PATH_IMAGE029
And vector, realize utilization
Figure 786035DEST_PATH_IMAGE005
And
Figure 102616DEST_PATH_IMAGE006
space voltage vector pulse width modulation is carried out to generate an SVPWM modulation result, and then a motor can be controlled according to the SVPWM modulation result, so that the problems that in the prior art, the motor driving mode is rough, the horn and the fuselage can generate large vibration in the control process, the flying stability is influenced, meanwhile, the electric energy conversion efficiency is low, the energy consumption is high, and the cruising ability of an aircraft is greatly influenced are solved.
Specifically, in order to achieve the above object, the embodiments of the present invention provide the following technical solutions.
Fig. 1 is a flow chart illustrating an implementation of a motor control method for a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention;
specifically, in a preferred embodiment of the present invention, a multi-rotor unmanned aerial vehicle motor control method is provided, where the control method includes the following steps:
step S100: the rotating speed of the motor of the multi-rotor unmanned aerial vehicle is obtained in real time, and the real-time rotating speed of the motor of the multi-rotor unmanned aerial vehicle is sent to a speed loop PID controller by adopting a PLL observer so as to obtain a difference value between a target rotating speed and a feedback rotating speed
Figure 120250DEST_PATH_IMAGE001
Generated control quantity
Figure 395243DEST_PATH_IMAGE002
；
Step S200: the control quantity is
Figure 599959DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 267701DEST_PATH_IMAGE003
And
Figure 654689DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 585735DEST_PATH_IMAGE003
the moment in the tangential direction on the circle is shown,
Figure 74486DEST_PATH_IMAGE004
means of being perpendicular
Figure 529607DEST_PATH_IMAGE003
Directed outward with no useful moment;
step S300: will be provided with
Figure 725096DEST_PATH_IMAGE003
And
Figure 889361DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 52358DEST_PATH_IMAGE005
And
Figure 61902DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees;
step S400: by using
Figure 626744DEST_PATH_IMAGE005
And
Figure 696332DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result;
step S500: and controlling the motor according to the SVPWM modulation result.
In the embodiment of the invention, the inverse Park transformation is used for transforming a two-axis rotating coordinate system to a two-axis static coordinate system; the space vector modulation is used for generating pulse width modulation signals of the three-phase motor voltage signals.
In some embodiments of the invention, said utilizing is performed by a computer
Figure 97357DEST_PATH_IMAGE005
And
Figure 159860DEST_PATH_IMAGE006
the step of carrying out space voltage vector pulse width modulation to generate the SVPWM modulation result comprises the following steps: sine wave with phase difference of 90 DEG
Figure 329941DEST_PATH_IMAGE005
And
Figure 570430DEST_PATH_IMAGE006
synthesizing the target vector to a circle, synthesizing the target vector by using the fixed vectors a, b and c, and solving the target vector
Figure 708019DEST_PATH_IMAGE008
、
Figure 324945DEST_PATH_IMAGE009
、
Figure 864380DEST_PATH_IMAGE010
And inputting the data into an SVPWM module, modulating and outputting the state coding values of the three half-bridges at the moment.
In some embodiments of the present invention, before the step of obtaining the rotation speed of the electric motor of the multi-rotor unmanned aerial vehicle in real time, the control method further includes the steps of:
obtaining a-phase current value in three-phase current of motor of multi-rotor unmanned aerial vehicle
Figure 479032DEST_PATH_IMAGE011
Phase b current value
Figure 651387DEST_PATH_IMAGE012
C phase current value
Figure 790113DEST_PATH_IMAGE013
；
For a-phase current values according to Clark transformation
Figure 934787DEST_PATH_IMAGE011
Phase b current value
Figure 517078DEST_PATH_IMAGE012
C phase current value
Figure 363680DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 322409DEST_PATH_IMAGE014
、
Figure 570856DEST_PATH_IMAGE015
；
According to Park transformation, sine wave is aligned
Figure 589628DEST_PATH_IMAGE014
、
Figure 674259DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 432085DEST_PATH_IMAGE016
Direct axis current
Figure 285772DEST_PATH_IMAGE017
。
In some embodiments of the invention, the obtaining of the a-phase current value of the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is performed by using a method of the invention
Figure 475445DEST_PATH_IMAGE011
Phase b current value
Figure 296639DEST_PATH_IMAGE012
C phase current value
Figure 597170DEST_PATH_IMAGE013
Comprises the following steps:
the induced electromotive force on the feedback resistor is acquired through the MCU, and the phase a current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is obtained
Figure 554631DEST_PATH_IMAGE011
Phase b current value
Figure 915205DEST_PATH_IMAGE012
；
Calculating according to kirchhoff current law to obtain c-phase current value in three-phase current of motor of multi-rotor unmanned aerial vehicle
Figure 240007DEST_PATH_IMAGE013
And is and
Figure 265601DEST_PATH_IMAGE013
=-
Figure 156197DEST_PATH_IMAGE011
+
Figure 874623DEST_PATH_IMAGE012
。
in some embodiments of the invention, the pair of a-phase current values according to a Clark transformation
Figure 421142DEST_PATH_IMAGE011
Phase b current value
Figure 329055DEST_PATH_IMAGE012
C phase current value
Figure 261108DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 963484DEST_PATH_IMAGE014
、
Figure 980988DEST_PATH_IMAGE015
The following formula is adopted:
Figure 161433DEST_PATH_IMAGE031
；
wherein the content of the first and second substances,
Figure 964304DEST_PATH_IMAGE020
is composed of
Figure 86850DEST_PATH_IMAGE021
。
As shown in FIG. 3, in the embodiment of the present invention, the Clark transformation is used to transform a three-axis, two-dimensional stator coordinate system into a two-axis stator coordinate system; in the embodiment of the invention, three-phase current is converted by Clark conversion
Figure 342382DEST_PATH_IMAGE011
、
Figure 326519DEST_PATH_IMAGE012
And
Figure 702005DEST_PATH_IMAGE013
from three-phase stationary frame to two-phase stationary frame, i.e. ABC-alpha
Figure 746184DEST_PATH_IMAGE029
Obtaining two-phase current under a static coordinate system
Figure 738280DEST_PATH_IMAGE014
And
Figure 526108DEST_PATH_IMAGE015
。
in some embodiments of the invention, the aligning sine waves according to Park transformation
Figure 552838DEST_PATH_IMAGE014
、
Figure 502340DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 466885DEST_PATH_IMAGE016
Direct axis current
Figure 510933DEST_PATH_IMAGE017
The following formula is adopted:
Figure 142903DEST_PATH_IMAGE033
；
wherein the content of the first and second substances,
Figure 778152DEST_PATH_IMAGE024
is composed of
Figure 495572DEST_PATH_IMAGE025
，
Figure 625202DEST_PATH_IMAGE026
Is the current angle of the rotor.
In the embodiment of the invention, the Park transformation is used for transforming a two-axis coordinate system of a stator into a two-axis coordinate system rotating along with the magnetic flux of the rotor; the embodiment of the invention converts two-phase current from a two-phase static coordinate system to a two-phase rotating coordinate system through Park conversion to obtain direct-axis current and quadrature-axis current under the two-phase rotating coordinate system
Figure 95367DEST_PATH_IMAGE017
And
Figure 917829DEST_PATH_IMAGE016
。
in some embodiments of the invention, said controlling of said amount is performed by a computer
Figure 106234DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 977238DEST_PATH_IMAGE003
And
Figure 380538DEST_PATH_IMAGE004
comprises the following steps:
will be provided with
Figure 357590DEST_PATH_IMAGE001
Output torque current after input sliding mode speed controller regulation
Figure 518444DEST_PATH_IMAGE027
Applying the torque current
Figure 255456DEST_PATH_IMAGE027
With the quadrature axis current
Figure 790010DEST_PATH_IMAGE016
After the comparison difference value is input into the first PI regulator, the output voltage is output
Figure 626379DEST_PATH_IMAGE003
；
Will preset the current
Figure 851693DEST_PATH_IMAGE028
With the direct axis current
Figure 64500DEST_PATH_IMAGE017
After the comparison difference value is input into the second PI regulator, the output voltage is output
Figure 176812DEST_PATH_IMAGE004
。
Fig. 2 is a block diagram schematically illustrating a motor control system of a multi-rotor unmanned aerial vehicle according to an embodiment of the present invention.
Specifically, as shown in fig. 3, in another preferred embodiment provided by the present invention, an embodiment of the present invention provides a motor control system for a multi-rotor unmanned aerial vehicle, where the control system 700 includes:
a rotating speed obtaining device 701, configured to obtain a rotating speed of a motor of the multi-rotor unmanned aerial vehicle in real time;
a first calculating means 702 for sending the real-time rotation speed of the multi-rotor unmanned aerial vehicle motor to the speed loop PID controller by using the PLL observer to obtain the difference between the target rotation speed and the feedback rotation speed
Figure 698929DEST_PATH_IMAGE001
Generated control quantity
Figure 896693DEST_PATH_IMAGE002
；
Second calculation means 703 for calculating the control amount
Figure 709928DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 129277DEST_PATH_IMAGE003
And
Figure 369765DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 507354DEST_PATH_IMAGE003
the moment in the tangential direction on the circle is shown,
Figure 124280DEST_PATH_IMAGE004
means of being perpendicular
Figure 148868DEST_PATH_IMAGE003
Directed outward with no useful moment;
first transformation means 704 for transforming
Figure 809526DEST_PATH_IMAGE003
And
Figure 919564DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 340181DEST_PATH_IMAGE005
And
Figure 468543DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees;
vector modulation means 705 for utilizing
Figure 316413DEST_PATH_IMAGE005
And
Figure 163015DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result;
and the control device 706 is used for controlling the motor according to the SVPWM modulation result.
In some embodiments of the present invention, the control system further comprises:
the current acquisition device is used for acquiring the a-phase current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle
Figure 121744DEST_PATH_IMAGE011
Phase b current value
Figure 120924DEST_PATH_IMAGE012
C phase current value
Figure 388963DEST_PATH_IMAGE013
；
Second conversion means for converting the a-phase current value according to Clark conversion
Figure 208015DEST_PATH_IMAGE011
Phase b current value
Figure 970434DEST_PATH_IMAGE012
C phase current value
Figure 73389DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 263061DEST_PATH_IMAGE014
、
Figure 84256DEST_PATH_IMAGE015
；
Third variation means for aligning sine waves according to Park transformation
Figure 384787DEST_PATH_IMAGE014
、
Figure 92980DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 702822DEST_PATH_IMAGE016
Direct axis current
Figure 496466DEST_PATH_IMAGE017
。
In some embodiments of the invention, the second computing device comprises:
a first calculation unit for calculating
Figure 318797DEST_PATH_IMAGE001
Output torque current after input sliding mode speed controller regulation
Figure 147076DEST_PATH_IMAGE027
Applying the torque current
Figure 678551DEST_PATH_IMAGE027
With the quadrature axis current
Figure 474338DEST_PATH_IMAGE016
After the comparison difference value is input into the first PI regulator, the output voltage is output
Figure 851092DEST_PATH_IMAGE003
；
A second calculating unit for calculating a preset current
Figure 783145DEST_PATH_IMAGE028
With the direct axis current
Figure 485522DEST_PATH_IMAGE017
After the comparison difference value is input into the second PI regulator, the output voltage is output
Figure 50495DEST_PATH_IMAGE004
。
Compared with the prior art, the multi-rotor unmanned aerial vehicle motor control method and the system provided by the embodiment of the invention have the technical advantages that:
on the first hand, the embodiment of the invention acquires the induced electromotive force on the feedback resistor through the MCU to obtain the phase a current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle
Figure 683471DEST_PATH_IMAGE011
Phase b current value
Figure 548659DEST_PATH_IMAGE012
And then the c-phase current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is calculated according to Kirchhoff Current Law (KCL)
Figure 359620DEST_PATH_IMAGE013
The sampling current is obtained by sampling through resistors and calculating, the resistors are the same, the resistance values are the same, and non-inductive double-resistor sampling is realized;
in a second aspect, the embodiment of the present invention further utilizes three-phase fixed vectors a, b, and c to synthesize α and β sum vectors through duty ratio control, thereby implementing utilization
Figure 672876DEST_PATH_IMAGE005
And
Figure 860275DEST_PATH_IMAGE006
space voltage vector pulse width modulation is carried out to generate an SVPWM modulation result, and then a motor can be controlled according to the SVPWM modulation result, so that the problems that in the prior art, the motor driving mode is rough, the horn and the fuselage can generate large vibration in the control process, the flying stability is influenced, meanwhile, the electric energy conversion efficiency is low, the energy consumption is high, and the cruising ability of an aircraft is greatly influenced are solved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A control method for motors of a multi-rotor unmanned aerial vehicle is characterized by comprising the following steps:
the rotating speed of the motor of the multi-rotor unmanned aerial vehicle is obtained in real time, and the real-time rotating speed of the motor of the multi-rotor unmanned aerial vehicle is sent to a speed loop PID controller by adopting a PLL observer so as to obtain a difference value between a target rotating speed and a feedback rotating speed
Figure 358603DEST_PATH_IMAGE001
Generated control quantity
Figure 393424DEST_PATH_IMAGE002
；
The control quantity is
Figure 256338DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 667597DEST_PATH_IMAGE003
And
Figure 666777DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 149797DEST_PATH_IMAGE003
the moment in the tangential direction on the circle is shown,
Figure 968849DEST_PATH_IMAGE004
means of being perpendicular
Figure 793585DEST_PATH_IMAGE003
Directed outward with no useful moment;
will be provided with
Figure 162118DEST_PATH_IMAGE003
And
Figure 289474DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 376248DEST_PATH_IMAGE005
And
Figure 614462DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees;
by using
Figure 571923DEST_PATH_IMAGE005
And
Figure 135759DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result;
and controlling the motor according to the SVPWM modulation result.
2. The multi-rotor unmanned aerial vehicle motor control method of claim 1, wherein the utilizing is performed by a motor controller of the multi-rotor unmanned aerial vehicle
Figure 54037DEST_PATH_IMAGE007
And
Figure 345210DEST_PATH_IMAGE006
the step of carrying out space voltage vector pulse width modulation to generate the SVPWM modulation result comprises the following steps: sine wave with phase difference of 90 DEG
Figure 173489DEST_PATH_IMAGE005
And
Figure 157494DEST_PATH_IMAGE006
synthesizing the target vector to a circle, synthesizing the target vector by using the fixed vectors a, b and c, and solving the target vector
Figure 438434DEST_PATH_IMAGE008
、
Figure 533298DEST_PATH_IMAGE009
、
Figure 481662DEST_PATH_IMAGE010
And inputting the data into an SVPWM module, modulating and outputting the state coding values of the three half-bridges at the moment.
3. The multi-rotor unmanned aerial vehicle motor control method according to claim 1 or 2, wherein prior to the step of obtaining the rotation speed of the multi-rotor unmanned aerial vehicle motor in real time, the control method further comprises the steps of:
obtaining a-phase current value in three-phase current of motor of multi-rotor unmanned aerial vehicle
Figure 902148DEST_PATH_IMAGE011
Phase b current value
Figure 670384DEST_PATH_IMAGE012
C phase current value
Figure 178725DEST_PATH_IMAGE013
；
For a-phase current values according to Clark transformation
Figure 230864DEST_PATH_IMAGE011
Phase b current value
Figure 307404DEST_PATH_IMAGE012
C phase current value
Figure 546625DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 999603DEST_PATH_IMAGE014
、
Figure 171827DEST_PATH_IMAGE015
；
According to Park transformation, sine wave is aligned
Figure 153690DEST_PATH_IMAGE014
、
Figure 145785DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 995929DEST_PATH_IMAGE016
Direct axis current
Figure 163606DEST_PATH_IMAGE017
。
4. The multi-rotor unmanned aerial vehicle motor control method according to claim 3, wherein the obtaining of a-phase current values of three-phase currents of the multi-rotor unmanned aerial vehicle motor
Figure 441003DEST_PATH_IMAGE011
Phase b current value
Figure 671127DEST_PATH_IMAGE012
C phase current value
Figure 449596DEST_PATH_IMAGE013
Comprises the following steps:
the induced electromotive force on the feedback resistor is acquired through the MCU, and the phase a current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle is obtained
Figure 347145DEST_PATH_IMAGE011
Phase b current value
Figure 920078DEST_PATH_IMAGE012
；
Calculating according to kirchhoff current law to obtain c-phase current value in three-phase current of motor of multi-rotor unmanned aerial vehicle
Figure 371919DEST_PATH_IMAGE013
And is and
Figure 485237DEST_PATH_IMAGE013
=-
Figure 971713DEST_PATH_IMAGE011
+
Figure 992845DEST_PATH_IMAGE012
。
5. the multi-rotor unmanned aerial vehicle motor control method of claim 4, wherein the a-phase current values are transformed according to Clark
Figure 931983DEST_PATH_IMAGE011
Phase b current value
Figure 317833DEST_PATH_IMAGE012
C phase current value
Figure 924395DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 714497DEST_PATH_IMAGE014
、
Figure 655777DEST_PATH_IMAGE015
The following formula is adopted:
Figure 330472DEST_PATH_IMAGE019
；
wherein the content of the first and second substances,
Figure 40808DEST_PATH_IMAGE020
is composed of
Figure 877177DEST_PATH_IMAGE021
。
6. The method of claim 5, wherein the tuning sine waves are aligned according to Park transformation
Figure 305753DEST_PATH_IMAGE014
、
Figure 784139DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 83402DEST_PATH_IMAGE016
Direct axis current
Figure 480885DEST_PATH_IMAGE017
The following formula is adopted:
Figure 881911DEST_PATH_IMAGE023
；
wherein the content of the first and second substances,
Figure 413255DEST_PATH_IMAGE024
is composed of
Figure 583336DEST_PATH_IMAGE025
，
Figure 276355DEST_PATH_IMAGE026
Is the current angle of the rotor.
7. The method of claim 6, wherein said applying said control variable is performed by a controller configured to control said rotor of said multi-rotor unmanned aerial vehicle
Figure 899097DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 968553DEST_PATH_IMAGE003
And
Figure 993141DEST_PATH_IMAGE004
comprises the following steps:
will be provided with
Figure 122640DEST_PATH_IMAGE001
Output torque current after input sliding mode speed controller regulation
Figure 357312DEST_PATH_IMAGE027
Applying the torque current
Figure 981191DEST_PATH_IMAGE027
With the quadrature axis current
Figure 109553DEST_PATH_IMAGE016
After the comparison difference value is input into the first PI regulator, the output voltage is output
Figure 160686DEST_PATH_IMAGE003
；
Will preset the current
Figure 7288DEST_PATH_IMAGE028
With the direct axis current
Figure 169279DEST_PATH_IMAGE017
After the comparison difference value is input into the second PI regulator, the output voltage is output
Figure 683306DEST_PATH_IMAGE004
。
8. A multi-rotor unmanned aerial vehicle motor control system, the control system comprising:
the rotating speed acquisition device is used for acquiring the rotating speed of the motor of the multi-rotor unmanned aerial vehicle in real time;
the first calculation device is used for sending the real-time rotating speed of the motor of the multi-rotor unmanned aerial vehicle to the speed loop PID controller by adopting the PLL observer so as to obtain the difference value between the target rotating speed and the feedback rotating speed
Figure 374181DEST_PATH_IMAGE001
Generated control quantity
Figure 973659DEST_PATH_IMAGE002
；
Second calculation means for calculating the control amount
Figure 798395DEST_PATH_IMAGE002
As expected value to be input to a torque loop PID controller to obtain output control voltage
Figure 917661DEST_PATH_IMAGE003
And
Figure 294285DEST_PATH_IMAGE004
wherein, in the step (A),
Figure 600632DEST_PATH_IMAGE003
the moment in the tangential direction on the circle is shown,
Figure 353693DEST_PATH_IMAGE004
means of being perpendicular
Figure 327466DEST_PATH_IMAGE003
Directed outward with no useful moment;
first conversion means for converting
Figure 750357DEST_PATH_IMAGE003
And
Figure 70566DEST_PATH_IMAGE004
carrying out inverse Park conversion to obtain
Figure 112471DEST_PATH_IMAGE005
And
Figure 455597DEST_PATH_IMAGE006
sine wave signals with the phase difference of 90 degrees;
vector modulation apparatus for using
Figure 924755DEST_PATH_IMAGE005
And
Figure 720542DEST_PATH_IMAGE006
performing space voltage vector pulse width modulation to generate an SVPWM modulation result;
and the control device is used for controlling the motor according to the SVPWM modulation result.
9. The multi-rotor unmanned aerial vehicle motor control system of claim 6, wherein the control system further comprises:
the current acquisition device is used for acquiring the a-phase current value in the three-phase current of the motor of the multi-rotor unmanned aerial vehicle
Figure 300559DEST_PATH_IMAGE011
Phase b current value
Figure 498191DEST_PATH_IMAGE012
C phase current value
Figure 403830DEST_PATH_IMAGE013
；
Second conversion means for converting the a-phase current value according to Clark conversion
Figure 296700DEST_PATH_IMAGE011
Phase b current value
Figure 195255DEST_PATH_IMAGE012
C phase current value
Figure 732546DEST_PATH_IMAGE013
Is converted to obtain sine waves with the phase difference of 90 DEG
Figure 58354DEST_PATH_IMAGE014
、
Figure 313886DEST_PATH_IMAGE015
；
Third variation means for aligning sine waves according to Park transformation
Figure 16132DEST_PATH_IMAGE014
、
Figure 407930DEST_PATH_IMAGE015
Performing conversion to obtain quadrature axis current under two-phase rotating coordinate system
Figure 904639DEST_PATH_IMAGE016
Direct axis current
Figure 772101DEST_PATH_IMAGE017
。
10. The multi-rotor unmanned aerial vehicle motor control system of claim 9, wherein the second computing device comprises:
a first calculation unit for calculating
Figure 497612DEST_PATH_IMAGE001
Output torque current after input sliding mode speed controller regulation
Figure 524342DEST_PATH_IMAGE027
Applying the torque current
Figure 677106DEST_PATH_IMAGE027
With the quadrature axis current
Figure 156498DEST_PATH_IMAGE016
After the comparison difference value is input into the first PI regulator, the output voltage is output
Figure 685699DEST_PATH_IMAGE003
；
A second calculating unit for calculating a preset current
Figure 176724DEST_PATH_IMAGE028
With the direct axis current
Figure 15236DEST_PATH_IMAGE017
After the comparison difference value is input into the second PI regulator, the output voltage is output
Figure 467077DEST_PATH_IMAGE004
。
CN202111607335.6A 2021-12-27 2021-12-27 Multi-rotor unmanned aerial vehicle motor control method and system Pending CN114400933A (en)

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