CN114510083A - Propeller position control system, unmanned aerial vehicle and control method - Google Patents
Propeller position control system, unmanned aerial vehicle and control method Download PDFInfo
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Abstract
The invention provides a propeller position control system, an unmanned aerial vehicle and a control method. The propeller position control system comprises a control device and a motor, wherein the control device is in signal connection with the motor, and the motor is connected with the propeller and can drive the propeller to rotate; the control device is used for acquiring flight mode requirements, determining the target stop position of the propeller according to the flight mode requirements, and sending a motor control signal according to the target stop position of the propeller; the motor is used for controlling the propeller to stop at a target stop position according to the motor control signal.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a propeller position control system, an unmanned aerial vehicle and a control method.
Background
The flight mission of a vertical take-off and landing drone generally comprises five phases: take-off hover (Takeoff hover), Climb (Climb), Cruise (Cruise), dive (desoent) and Landing hover (Landing hover), at the dive stage, only rely on the aerodynamic drag of aircraft wing to slow down unmanned aerial vehicle usually, and then lead to unmanned aerial vehicle's dive distance overlength. The composite wing unmanned aerial vehicle is an unmanned aerial vehicle combining a fixed wing and a rotor wing, is simultaneously provided with a suspension paddle and a tail propeller, and has the vertical landing function and the high-speed flying capability. In order to reduce unmanned aerial vehicle's dive distance, there is the solution that designs into the formula of verting rotor structure with many rotor crafts at present, and the formula of verting rotor structure is through the direction control resistance that changes the rotor in flight process, but its structure is complicated, and the cost is higher, can't use on compound wing unmanned aerial vehicle.
Disclosure of Invention
In view of the above, the present invention provides a propeller position control system, an unmanned aerial vehicle and a control method for adjusting the position of a propeller according to the flight mode requirement of the propeller to reduce or increase flight resistance.
The invention provides a propeller position control system, which comprises a control device and a motor, wherein the control device is in signal connection with the motor, and the motor is connected with a propeller and can drive the propeller to rotate; the control device is used for acquiring flight mode requirements, determining the target stop position of the propeller according to the flight mode requirements, and sending a motor control signal according to the target stop position of the propeller; the motor is used for controlling the propeller to stop at a target stop position according to the motor control signal.
Further, the flight mode requirements include a first flight mode requirement requiring a reduction in propeller drag and a second flight mode requirement requiring an increase in propeller drag, the control device controlling the propeller to be parallel to the flight direction at a target stop position when the control device acquires the first flight mode requirement; and when the control device acquires the second flight mode requirement, the propeller is controlled to be in a crossed state with the flight direction at the target stop position.
Further, the cross state comprises a homeotropic state.
Further, the flight mode requirement comprises a climbing mode requirement, a cruise mode requirement or a dive mode requirement, when the flight mode requirement is the climbing mode requirement or the cruise mode requirement, the propeller is parallel to the flight direction at the target stop position, and when the flight mode requirement is the dive mode requirement, the propeller is perpendicular to the flight direction at the target stop position.
Further, the propeller position control system further comprises a position sensor mounted on the motor, the position sensor is in signal connection with the control device and used for sensing the current position of the propeller and feeding back the current position of the propeller to the control device, and the control device can send a motor control signal according to the current position of the propeller and the target stop position of the propeller.
Further, the control device comprises a flight management computer and a speed regulator, wherein the flight management computer is used for acquiring the flight mode requirement, determining the target stop position of the propeller according to the flight mode requirement, and sending the motor control signal according to the target stop position of the propeller; the speed regulator is in signal connection with the flight management computer, the motor and the position sensor, and is used for processing the motor control signal, transmitting the processed motor control signal to the motor and feeding the current position of the propeller back to the flight management computer.
Further, the motor comprises a motor stator and a motor rotor, the position sensor comprises a sensor rotor and a sensor stator, the sensor rotor is fixedly connected with the motor rotor and synchronously rotates with the motor rotor, and the position of the sensor stator is relatively fixed with the position of the motor stator and is used for acquiring the position of the sensor rotor relative to the sensor stator in the rotating process.
Further, the motor has a motor base, motor stator is fixed in on the motor base, the sensor rotor includes along a plurality of magnetic poles that the circumference of sensor rotor evenly arranged, the sensor stator includes a plurality of position sensing component, position sensing component equidistance is evenly followed motor base's circumference install in on the motor base, be used for the sensing the position of magnetic pole in the rotation process.
The invention also provides an unmanned aerial vehicle which comprises the propeller position control system.
Further, the unmanned aerial vehicle is a compound-wing unmanned aerial vehicle, the unmanned aerial vehicle comprises a hovering propeller and a tail-pushing propeller, and the propeller position control system is used for controlling the hovering propeller to stop at the target stop position according to the flight mode requirement.
The invention also provides a propeller position control method, which comprises the following steps: acquiring flight mode requirements; determining a target stop position of the propeller according to the flight mode requirement; sending a motor control signal according to the target stop position of the propeller; and controlling the propeller to stop at a target stop position according to the motor control signal.
Further, in the step of determining the target stop position of the propeller according to the flight mode requirement, if the flight mode requirement is a cruise mode requirement or a climb mode requirement, the propeller is parallel to the flight direction at the target stop position, and when the flight mode requirement is a dive mode requirement, the propeller is perpendicular to the flight direction at the target stop position.
Further, the propeller position control method further includes: acquiring the current position of the propeller; the transmitting a motor control signal according to the target stop position of the propeller includes: and sending a motor control signal according to the target stop position of the propeller and the current position of the propeller.
According to the propeller position control system, the unmanned aerial vehicle and the control method, the target stop position of the propeller is determined according to flight mode requirements, the propeller is controlled to stop at the specified position according to the target stop position of the propeller, flight resistance can be effectively reduced when the unmanned aerial vehicle climbs or cruises, the endurance time of the unmanned aerial vehicle is prolonged, the flight resistance can be effectively increased when the unmanned aerial vehicle dives, and landing time is shortened.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described below with reference to the accompanying drawings.
Drawings
Fig. 1 is a system block diagram of a propeller position control system provided by the present invention.
Fig. 2 is a schematic view of a propeller in a feathered position in an embodiment of the invention.
Fig. 3 is a schematic view of a propeller in a feathered position in an embodiment of the invention.
Fig. 4 is an exploded view of the motor of the present invention.
Fig. 5 is a schematic diagram of a propeller position control method provided by the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the predetermined objects, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
As shown in fig. 1, the propeller position control system of the present invention includes a control device 10, a position sensor 30, and a motor 20.
The motor 20 is fixedly connected with a propeller of the airplane and can drive the propeller to rotate. The position sensor 30 is disposed on the motor 20 and in signal connection with the control device 10, and is configured to sense a current position of the propeller and feed back the current position of the propeller to the control device 10. The control device 10 is in signal connection with the motor 20 and is configured to obtain a flight mode requirement, determine a target stop position of the propeller based on the flight mode requirement, send a motor control signal based on the target stop position of the propeller, and further combine the current position of the propeller. The motor 20 is used for controlling the propeller to stop at the target stop position according to the motor control signal.
It should be noted that the flight mode requirement in the present invention is a flight mode requirement of a propeller using device, such as a flight mode requirement of an airplane or a flying car, which includes a first flight mode requirement that the propeller resistance needs to be reduced and a second flight mode requirement that the propeller resistance needs to be increased, specifically, the first flight mode requirement includes a cruise mode requirement and a climb mode requirement, and the second flight mode requirement includes a dive mode requirement, when the control device 10 obtains the first flight mode requirement, the target stop position of the propeller is a pitch position, as shown in fig. 2, when the propeller is in the target stop position, the direction of the propeller (i.e., the length direction of the propeller) is parallel to the flight direction, so as to reduce the resistance generated during flight and prolong the endurance time; when the control device 10 acquires the second flight mode request, the target stop position of the propeller is the feathering position, as shown in fig. 3, and when the propeller is located at the position, the direction of the propeller is crossed with the flight direction (for example, vertical state) so as to increase the resistance generated during flight, make the aircraft land rapidly and shorten the aircraft nose down distance.
In the present invention, the direction of the propeller parallel to the flight direction includes not only the case where the propeller is exactly parallel to the flight direction but also the case where the propeller is nearly parallel to the flight direction. The direction and the flight direction of screw are alternately not only including the screw just perpendicular with the flight direction, form 90 degrees contained angles between the two promptly, also include and form certain contained angle, the condition of for example +/- (3 ~ 5) degree contained angle between the screw and the vertical direction of flight direction.
Further, with continued reference to fig. 1, the control device 10 of the present invention includes a flight management computer 11 and a governor 12.
The flight management computer 11 can acquire a flight mode demand signal through interaction with a control device (e.g., a remote controller), determine a target stop position of the propeller according to the flight mode demand signal, acquire a current position signal of the propeller through interaction with the position sensor 30, and transmit a motor control signal according to the target stop position signal and the current position signal of the propeller. The speed regulator 12 is in signal connection with the flight management computer 11, the motor 20 and the position sensor 30, and is used for processing a motor control signal and then transmitting the motor control signal to the motor 20, and feeding back a current position signal of the propeller to the flight management computer 11.
In this embodiment, the speed governor 12 is an electronic speed governor, the speed governor 12 is connected to the flight management computer 11 through a CAN bus or PWM, and is capable of receiving a motor throttle signal sent by the flight management computer 11, analyzing the motor throttle signal, converting the analyzed motor throttle signal into a motor rotation speed signal, and sending the motor rotation speed signal to the motor 20, the motor 20 executes the received motor rotation speed signal and feeds back a current position signal of the propeller to the speed governor 12, and the speed governor 12 feeds back the current position signal of the propeller to the flight management computer 11 through the CAN bus or PWM.
As shown in fig. 4, the motor 20 in the present embodiment is a dc brushless motor, and includes a motor stator 22, a motor rotor 21, and a motor base 23. The motor stator 22 is fixed to a motor base 23, which includes a number of stator windings. The motor rotor 21 is inserted in the shaft hole in the middle of the motor stator 22, is rotatably connected with the motor stator 22, and can drive the propeller to rotate synchronously.
The position sensor 30 includes a sensor rotor 31 and a sensor stator 32, the sensor rotor 31 is fixedly connected to the motor rotor 21 and can rotate synchronously with the motor rotor 21, and the sensor stator 32 is relatively fixed to the motor stator 22 for obtaining a position of the sensor rotor 31 relative to the sensor stator 32 during rotation.
Specifically, the sensor rotor 31 includes a plurality of magnetic poles, these magnetic poles include a plurality of N-pole magnetic steels and S-pole magnetic steels that are evenly arranged along the circumference of the sensor rotor 31, the N-pole magnetic steels and S-pole magnetic steels are alternately arranged in the circumference of the sensor rotor 31, the N-pole magnetic steels and S-pole magnetic steels in this embodiment are both fan-shaped, and the widths of the N-pole magnetic steels and the S-pole magnetic steels are preferably equal, it can be understood that, in other embodiments of the present invention, the widths of the N-pole magnetic steels and the S-pole magnetic steels may also be different. The N-pole magnetic steel and the S-pole magnetic steel may be fixed to the inner ring of the motor rotor 21 by means of adhesion, or the motor rotor 21 may be directly processed into a rotor having the N-pole magnetic steel and the S-pole magnetic steel alternately arranged in the circumferential direction, so that the motor rotor 21 and the sensor rotor 31 are integrated into one.
The sensor stator 32 includes several sets of cores 321, coils 322, and position sensing elements 323 corresponding to each other. The coils 322 are wound on the iron cores 321, the position sensing elements 323 correspond to the iron cores 321 one by one, one position sensing element 323 is disposed beside each iron core 321, the iron cores 321 and the position sensing elements 323 are uniformly installed on the motor base 23 along the circumferential direction of the motor base 23 at a certain interval and at equal intervals, and are arranged around the periphery of the motor stator 22 in the circumferential direction of the motor stator 22. The position sensing element 323 is connected to the coil 322 through a line, and during the rotation of the sensor rotor 31, the position sensing element 323 can sense the change of the magnetic field during the rotation, and the change of the current or the voltage is reflected in the coil 322, so that the processing chip of the position sensor 30 can know the position change of the sensor rotor 31 according to the change of the current or the voltage in the coil 322.
It should be noted that the position sensor 30 in the present embodiment is a magnetic-sensing position sensor, for example, a hall sensor, and the corresponding position sensing element 323 is a hall element, but it is understood that other types of position sensors 30, for example, a photoelectric position sensor, an electromagnetic position sensor, or the like, may be used in the present invention.
It should be noted that, in the present embodiment, the control device 10 sends the motor control signal according to the target stop position of the propeller and further in combination with the current position of the propeller sensed by the position sensor 30, it is understood that, in other embodiments of the present invention, the position sensor 30 may not be provided, and the current position of the propeller may be sensed by directly using the counter electromotive force generated in the stator winding of the motor 20, and the current position signal of the propeller may be fed back to the flight management computer 11 by using the interaction of the motor 20 with the speed governor 12 and the flight management computer 11.
Further, the invention also comprises an unmanned aerial vehicle which comprises the propeller position control system.
Specifically, as shown in fig. 2 and 3, the drone is a compound wing drone, which includes four hovering propellers 40 and one tail-thrust propeller 50, and the propeller position control system of the present invention is used to control the hovering propellers 40 to stop at a target stop position according to flight mode requirements. It will be appreciated that the propeller position control system of the present invention may also be used to control the stopping of the tail thrust propeller 50 at the target stop position. Also, the present invention does not limit the number of the hovering propeller 40 and the tail pushing propeller 50.
Referring to fig. 5, the present invention further includes a propeller position control method, which includes:
acquiring the current position of the propeller;
acquiring flight mode requirements;
determining a target stop position of the propeller according to flight mode requirements;
sending a motor control signal according to the target stop position of the propeller and the current position of the propeller;
and controlling the propeller to stop at the target stop position according to the motor control signal.
Specifically, in an embodiment of the present invention, when the flight mode requirement is a dive mode requirement, it is necessary to increase the drag generated by the hovering propeller during flight as much as possible, so that the target stop position of the propeller at this time is selected as a feather position where the flight drag is large and the aircraft can be decelerated quickly, and in this position, the propeller intersects with the flight direction of the aircraft. In another embodiment of the invention, when the flight mode requirement is a cruise mode requirement or a climb mode requirement, the resistance generated by the hovering propeller during flight needs to be minimized, so that the target stop position of the propeller at this time is selected as a feathering position where the flight resistance is relatively small and energy can be saved, and in this position, the propeller is parallel to the flight direction of the aircraft.
In order to stop the propeller in the feathering position, the current position of the propeller, that is, the current position of the sensor rotor 31, is acquired. The propeller position control method of the present invention induces the magnetic field change in the rotation process of the sensor rotor 31 through the position sensing element 323, knows the position of the sensor rotor 31 by the current or voltage change in the coil 322 of the sensor stator 32, or directly senses the position of the motor rotor 21 by using the counter electromotive force in the stator winding of the motor 20, thereby obtaining the current position of the propeller and sending it to the speed governor 12. The speed regulator 12 obtains a current position signal of the propeller and then sends the current position signal to the flight management computer 11, the flight management computer 11 calculates a motor throttle signal for controlling the propeller to stop at the feathering position according to the current position signal of the propeller and the angle signal of the feathering position and sends the motor throttle signal to the speed regulator 12, the speed regulator 12 analyzes the motor throttle signal and then converts the motor throttle signal into a motor rotating speed signal and sends the motor rotating speed signal to the motor 20, and the motor 20 controls the propeller to stop at the feathering position according to the received motor rotating speed signal.
In summary, the propeller position control system, the unmanned aerial vehicle and the control method of the invention determine the target stop position of the propeller according to the flight mode requirement, further acquire the current position of the propeller by acquiring the current position of the sensor rotor through the position sensor in the motor, generate the motor control signal according to the relationship between the current position of the propeller and the target stop position, and control the propeller to stop at the target stop position according to the motor control signal, thereby realizing the control of the position of the hovering propeller on the premise of not adding additional unmanned aerial vehicle components, realizing accurate and effective control of the position of the propeller of the unmanned aerial vehicle, increasing the endurance time of the unmanned aerial vehicle with less cost, and reducing the time required for landing.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (13)
1. A propeller position control system characterized by: the propeller control device comprises a control device (10) and a motor (20), wherein the control device (10) is in signal connection with the motor (20), and the motor (20) is connected with a propeller and can drive the propeller to rotate;
the control device (10) is used for acquiring flight mode requirements, determining a target stop position of the propeller according to the flight mode requirements, and sending a motor control signal according to the target stop position of the propeller;
the motor (20) is used for controlling the propeller to stop at a target stop position according to the motor control signal.
2. The propeller position control system of claim 1, wherein: the flight mode requirements comprise a first flight mode requirement requiring a reduction in propeller drag and a second flight mode requirement requiring an increase in propeller drag, and the control device controls the propellers to be parallel to the flight direction at a target stop position when acquiring the first flight mode requirement; and when the control device acquires the second flight mode requirement, the propeller is controlled to be in a crossed state with the flight direction at a target stop position.
3. The propeller position control system of claim 2, wherein: the cross state comprises a homeotropic state.
4. The propeller position control system of claim 1, wherein: the flight mode requirement comprises a climbing mode requirement, a cruise mode requirement or a dive mode requirement, when the flight mode requirement is the climbing mode requirement or the cruise mode requirement, the propeller is parallel to the flight direction at a target stop position, and when the flight mode requirement is the dive mode requirement, the propeller is perpendicular to the flight direction at the target stop position.
5. The propeller position control system of claim 1, wherein: the propeller position control system further comprises a position sensor (30) mounted on the motor (20), the position sensor (30) is in signal connection with the control device (10) and is used for sensing the current position of the propeller and feeding back the current position of the propeller to the control device (10), and the control device (10) can send the motor control signal according to the current position of the propeller and the target stop position of the propeller.
6. The propeller position control system of claim 5, wherein: the control device (10) comprises a flight management computer (11) and a speed regulator (12), wherein the flight management computer (11) is used for acquiring the flight mode requirement, determining the target stop position of the propeller according to the flight mode requirement, and sending the motor control signal according to the target stop position of the propeller;
the speed regulator (12) is in signal connection with the flight management computer (11), the motor (20) and the position sensor (30), and is used for processing a motor control signal and then transmitting the processed motor control signal to the motor (20) and feeding back the current position of the propeller to the flight management computer (11).
7. The propeller position control system of claim 5, wherein: the motor (20) comprises a motor stator (22) and a motor rotor (21), the position sensor (30) comprises a sensor rotor (31) and a sensor stator (32), the sensor rotor (31) is fixedly connected with the motor rotor (21) and synchronously rotates with the motor rotor (21), and the sensor stator (32) is relatively fixed with the motor stator (22) and used for acquiring the position of the sensor rotor (31) relative to the sensor stator (32) in the rotating process.
8. The propeller position control system of claim 7, wherein: the motor (20) is provided with a motor base (23), the motor stator (22) is fixed on the motor base (23), the sensor rotor (31) comprises a plurality of magnetic poles which are uniformly distributed along the circumferential direction of the sensor rotor (31), the sensor stator (32) comprises a plurality of position sensing elements (323), the position sensing elements (323) are uniformly arranged along the circumferential direction of the motor base (23) on the motor base (23) in an equidistance mode and used for sensing the positions of the magnetic poles in the rotating process.
9. An unmanned aerial vehicle, its characterized in that: the drone comprises a propeller position control system as claimed in any one of claims 1 to 8.
10. A drone according to claim 9, characterized in that: the drone is a compound wing drone comprising a hovering propeller (40) and a tail-pushing propeller (50), the propeller position control system being configured to control the hovering propeller (40) to stop at the target stop position according to the flight mode demand.
11. A propeller position control method characterized by: it includes:
acquiring flight mode requirements;
determining a target stop position of the propeller according to the flight mode requirement;
sending a motor control signal according to the target stop position of the propeller;
and controlling the propeller to stop at a target stop position according to the motor control signal.
12. The propeller position control method according to claim 11, wherein: in the step of determining the target stop position of the propeller according to the flight mode requirement, if the flight mode requirement is a cruise mode requirement or a climb mode requirement, the propeller is parallel to the flight direction at the target stop position, and when the flight mode requirement is a dive mode requirement, the propeller is perpendicular to the flight direction at the target stop position.
13. The propeller position control method according to claim 12, wherein: the propeller position control method further includes: acquiring the current position of the propeller;
the transmitting a motor control signal according to the target stop position of the propeller includes: and sending a motor control signal according to the target stop position of the propeller and the current position of the propeller.
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Effective date of registration: 20230621 Address after: 6/F, Block A, Building 4, No. 200 Tianfu Fifth Street, Chengdu High tech Zone, Chengdu, Sichuan, 610045 Patentee after: Chengdu wofeitianyu Technology Co.,Ltd. Patentee after: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. Address before: 610045 No. 601 and 602, zone a, building 5, No. 200, Tianfu Fifth Street, Chengdu high tech Zone, Chengdu, Sichuan Patentee before: Wofei Changkong Technology (Chengdu) Co.,Ltd. Patentee before: ZHEJIANG GEELY HOLDING GROUP Co.,Ltd. |