CN115163318A - Multi-functional unmanned aerial vehicle air throttle drive circuit - Google Patents

Multi-functional unmanned aerial vehicle air throttle drive circuit Download PDF

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Publication number
CN115163318A
CN115163318A CN202211070149.8A CN202211070149A CN115163318A CN 115163318 A CN115163318 A CN 115163318A CN 202211070149 A CN202211070149 A CN 202211070149A CN 115163318 A CN115163318 A CN 115163318A
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signal
driving
voltage
microcontroller
pulse width
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CN115163318B (en
Inventor
季昊成
刘锐
苏小平
翟步云
李松鸿
钟翎丰
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Nanjing Tech University
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Nanjing Tech University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D11/107—Safety-related aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/22—Safety or indicating devices for abnormal conditions
    • F02D41/221—Safety or indicating devices for abnormal conditions relating to the failure of actuators or electrically driven elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
    • F02D9/08—Throttle valves specially adapted therefor; Arrangements of such valves in conduits
    • F02D9/10—Throttle valves specially adapted therefor; Arrangements of such valves in conduits having pivotally-mounted flaps
    • F02D9/1065—Mechanical control linkage between an actuator and the flap, e.g. including levers, gears, springs, clutches, limit stops of the like
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F02D2041/001—Controlling intake air for engines with variable valve actuation

Abstract

The invention discloses a throttle valve driving circuit of a multifunctional unmanned aerial vehicle.A throttle valve position sensor acquires a current throttle valve position signal in real time, the current throttle valve position signal is converted into a throttle valve position conditioning signal by a throttle valve position signal conditioning circuit, a power supply module reduces input voltage to voltage output required by driving a throttle valve, and output voltage is regulated according to a voltage control signal of a microcontroller; the intelligent high-side switch detects the driving current of the steering engine in real time; if the steering engine is locked, the driving current of the steering engine exceeds a set threshold value, and the intelligent high-side switch sends an overcurrent warning signal to the microcontroller; the microcontroller judges the type of the throttle valve and automatically marks the opening of the throttle valve for automatic marking, a voltage control signal corresponding to the driving type is output to the power supply module, and the full-bridge driving unit drives the motor or the steering engine according to two driving signals sent by the microcontroller. The driving circuit can compatibly drive one-way motor or two-way steering engine, and avoids the repeated development of an electronic control unit.

Description

Multi-functional unmanned aerial vehicle air throttle drive circuit
Technical Field
The invention relates to an electronic throttle valve technology, in particular to a multifunctional unmanned aerial vehicle throttle valve driving circuit.
Background
The mainstream unmanned aerial vehicle throttle valve adopts an electronic throttle valve which is widely applied in the field of vehicles and is driven by a direct-current motor as the throttle valve; and some unmanned aerial vehicles also adopt the steering engine as a throttle valve for driving under the influence of the steering engine widely applied in the field of unmanned aerial vehicle control. The steering engine is a motor comprising a driving circuit, can be driven by only providing a pulse width modulation signal, is limited by the integrated driving circuit, and the driving voltage is usually not more than 7.4V; and the electronic throttle valve drive usually adopts a mature full-bridge drive circuit, and the drive voltage is 12V or 24V. Influenced by differences of driving voltage, driving modes and the like, in the electronic control unit of the unmanned aerial vehicle, a driving circuit and a control strategy need to be adjusted according to the driving type of the throttle valve.
In the prior art, for a motor or a steering engine in an air throttle of an unmanned aerial vehicle, independent drive circuits and control strategies are required, and a drive scheme compatible with the motor and the steering engine is not provided temporarily.
The maximum working angle of the throttle valve is 90 degrees, a mechanical limiting device is arranged at the limiting position, and the opening of the throttle valve is controlled within the working angle by the motor drive of the electronic throttle valve according to the feedback of the throttle valve position sensor. The working angle of the steering engine is generally 180 degrees, so that the mounting position of the unmanned aerial vehicle needs to be manually calibrated before leaving the factory, and the situation that the steering engine is locked and rotated and burnt down due to the fact that the set working angle exceeds the limit position is avoided.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects in the prior art, and provides a multifunctional unmanned aerial vehicle throttle valve driving circuit which is compatible with a motor and a steering engine and a driving control strategy for actively identifying the driving type of a throttle valve and automatically calibrating the driving type.
The technical scheme is as follows: the invention discloses a multifunctional unmanned aerial vehicle throttle valve driving circuit, which comprises an electronic control unit and a throttle valve body, wherein the electronic control unit comprises a microcontroller, an intelligent high-side switch, a power supply module, a full-bridge driving unit and a throttle valve position signal conditioning circuit; the throttle position sensor acquires a current throttle position signal TP in real time and transmits the current throttle position signal TP to the throttle position signal conditioning circuit, and the throttle position signal conditioning circuit converts the received throttle position signal TP into a throttle position conditioning signal TPS after voltage limiting protection and RC filtering of two TVS tubes (TVS tube anti-surge is used for avoiding the damage of a single chip caused by the fact that the signal voltage exceeds the working voltage range of the single chip microcomputer; the power supply module reduces the input voltage to the voltage output required by driving the throttle valve, and adjusts the output voltage according to the voltage control signal of the microcontroller; the power supply module is divided into two paths, one path supplies power to the full-bridge driving unit, and the other path supplies power to the steering engine through the intelligent high-side switch; the intelligent high-side switch detects the driving Current of the steering engine, if the steering engine is locked, the driving Current of the steering engine exceeds a set threshold value, and the intelligent high-side switch sends an Over-Current warning signal OC (Over Current) to the microcontroller; the microcontroller outputs drive signals Drv1 and Drv2 that identify the type of throttle actuation, driving the motor or steering engine via a full bridge drive unit. And the microcontroller jointly judges the current driving type of the throttle valve according to the change trend of the throttle valve position conditioning signal TPS and the overcurrent warning signal OC of the intelligent high-side switch, correspondingly outputs a voltage control signal VC, and then automatically calibrates the opening of the throttle valve. (for example, the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with a period of 20ms and a pulse width of 0.5ms, the pulse width modulation signal can enable the steering engine to operate to a minimum angle and also enable the motor to operate to a maximum position, the microcontroller mainly uses a throttle position conditioning signal TPS and an over-current warning signal OC as an auxiliary to judge the driving type of the throttle, and then outputs a voltage control signal VC, and drives a voltage V drv Adjusted as required for driving steering engine7.2V or 12V required to drive the motor, followed by automatic calibration of throttle opening).
Furthermore, after receiving two driving signals Drv1 and Drv2 input by the microcontroller, the full-bridge driving unit is driven by the outputs of OUT1 and OUT 2; when the motor is driven, the full-bridge circuit can control the motor to rotate forwards and backwards, rotate inertially and brake; when the steering engine is driven, the full-bridge circuit is equivalent to two independent half-bridge drives, and two drive signals output by the microcontroller are enhanced and then output. In order to avoid the automatic pull-down protection of the full-bridge chip caused by the fact that two paths of driving signals Drv1 and Drv2 are both high levels, the microcontroller adjusts the Drv1 and Drv2 signals into asynchronous driving signals with the phase difference of 180 degrees, and therefore the two paths of steering engines are driven simultaneously.
Further, when the driving power of the motor or the steering engine is low, the power supply module and the output voltage adjusting method are as follows;
at the moment, in order to reduce the complexity of the power supply module, the power supply module uses a low-dropout linear regulator (LDO) chip (such as TPS7B 86), the voltage Vbat of the storage battery is converted into a driving voltage Vdrv required by a driving motor or a steering engine through the LDO chip, and the output voltage of the LDO chip is reduced
Figure DEST_PATH_IMAGE002
Via high side resistance
Figure DEST_PATH_IMAGE004
And a low side resistor
Figure DEST_PATH_IMAGE006
After voltage division, the voltage is input into a feedback pin FB, and after comparison with an internal reference voltage, the voltage is fed back to control the output voltage
Figure 751039DEST_PATH_IMAGE002
At this time, the output voltage
Figure 454552DEST_PATH_IMAGE002
The adjustment formula is as follows:
Figure DEST_PATH_IMAGE008
formula (1)
Wherein the voltage is fed backV FB 0.65V, a driving voltage Vdrv is connected with a divider resistor
Figure DEST_PATH_IMAGE010
Voltage dividing resistor
Figure DEST_PATH_IMAGE012
Voltage dividing resistor
Figure DEST_PATH_IMAGE014
And a triode Q11, wherein the triode Q11 is an NPN type triode and is controlled by a Voltage Control signal VC (Voltage Control) output by the microcontroller;
when the voltage control signal VC is at a low level, the collector and emitter of the transistor Q11 are disconnected, and the high-side resistor is at this time
Figure 983492DEST_PATH_IMAGE004
And a low side resistor
Figure 518378DEST_PATH_IMAGE006
Respectively as follows:
Figure DEST_PATH_IMAGE016
when the voltage control signal VC is at high level, the collector and emitter of the triode Q11 are conducted, the two sides of the divider resistor R12 are in short circuit, and the high-side resistor at the moment
Figure 710456DEST_PATH_IMAGE004
And a low side resistor
Figure 838949DEST_PATH_IMAGE006
Respectively as follows:
Figure DEST_PATH_IMAGE018
in the formula (1), when the voltage control signal VC is at a low level, the output voltage is 12V, which is suitable for driving the motor; when the voltage control signal VC is at a high level, the output voltage is 7.2V, and the steering engine is suitable for being driven.
Further, when the driving power of the motor or the steering engine is high, the power supply module and the output voltage adjusting method are as follows;
the power supply module uses a DC/DC switching regulator DC/DC chip (for example, TPS54560 is adopted), the DC/DC chip converts the storage battery voltage Vbat into the driving voltage Vdrv required by a driving motor or a steering engine, and the DC/DC chip outputs voltage
Figure 125574DEST_PATH_IMAGE002
Via high side resistance
Figure 286604DEST_PATH_IMAGE004
And a low side resistor
Figure 39796DEST_PATH_IMAGE006
After voltage division, the voltage is input into a feedback pin FB, and after comparison with an internal reference voltage, the voltage is fed back to control the output voltage
Figure 452323DEST_PATH_IMAGE002
At this time, the output voltage
Figure 73797DEST_PATH_IMAGE002
The adjustment formula is as follows:
Figure 724222DEST_PATH_IMAGE008
formula (2)
Wherein the voltage is fed backV FB 0.8V, a driving voltage Vdrv is connected with a voltage dividing resistor
Figure DEST_PATH_IMAGE020
Voltage dividing resistor
Figure DEST_PATH_IMAGE022
And a voltage dividing resistor
Figure DEST_PATH_IMAGE024
The triode Q21 is an NPN type triode and is controlled by a voltage control signal VC output by the microcontroller;
when the voltage control signal VC is at a low level, the collector and emitter of the transistor Q21 are disconnected, and the high-side resistor is at this time
Figure 320419DEST_PATH_IMAGE004
And a low side resistor
Figure 485821DEST_PATH_IMAGE006
Respectively as follows:
Figure DEST_PATH_IMAGE026
when the voltage control signal VC is at high level, the collector and emitter of the triode Q11 are conducted, the two sides of the divider resistor R12 are in short circuit, and the high-side resistor at the moment
Figure 566779DEST_PATH_IMAGE004
And a low side resistor
Figure 868447DEST_PATH_IMAGE006
Respectively as follows:
Figure DEST_PATH_IMAGE028
in the formula (2), when the voltage control signal VC is at a low level, the output voltage is 12V, which is suitable for driving the motor; when the voltage control signal VC is at a high level, the output voltage is 7.2V, and the steering engine is suitable for being driven.
Further, in order to reduce the occupied space of the PCB, the full-bridge driving unit employs an integrated full-bridge driving chip (for example, DRV 8872), and the full-bridge driving chip receives two control signals DRV1 and DRV2 output by the microcontroller and outputs driving signals OUT1 and OUT2.
The full-bridge driving chip comprises four N-channel MOSFET chips Q1 to Q4, wherein the chips Q1 and Q3 are controlled by a Drv1 signal, and the chips Q2 and Q4 are controlled by a Drv2 signal; the output drives OUT1 and OUT2 are connected to both sides of the motor B3. When the Drv1 signal is at a high level and the Drv2 signal is at a low level, Q1 and Q3 are turned on, Q2 and Q4 are turned off, current passes through Vdrv, Q1, OUT1, motor B3, OUT2 and Q3, and is grounded, so that the motor rotates forwards; similarly, when the Drv1 signal is low and the Drv2 signal is high, the motor is reversed.
When the steering engine is driven, the output drive OUT1 and OUT2 are disconnected, the full-bridge drive unit is regarded as two groups of half-bridge circuits, the first group of half-bridge circuits comprises chips Q1 and Q2, the chips Q1 and Q2 are controlled by a Drv1 signal, the OUT1 outputs drive, when the Drv1 signal is high level, the Q1 is started, and the OUT1 outputs high level; the second set of half bridges includes chips Q3, Q4, controlled by the Drv2 signal, driven by the OUT2 output, with Q4 on and OUT2 outputting high when the Drv2 signal is high.
In order to avoid short circuit caused by the fact that the chip Q1 and the chip Q2 are simultaneously turned on or the chip Q3 and the chip Q4 are simultaneously turned on, the control signals Drv1 and Drv2 are not high level at the same time, and logic gates are integrated inside the full-bridge chip to enable all MOSFET chips to be turned off when the control signals Drv1 and Drv2 are high level at the same time.
Further, in order to avoid burnout caused by steering engine stalling, an intelligent high-side switch (for example, a TPS1H200A chip) is used to send an overcurrent warning signal OC after the driving current exceeds a set threshold, and the switching of the switch state stabilizes the output current at the set threshold. Meanwhile, the DELAY pin is pulled upwards to enter an automatic retry mode, a high-side switch in the automatic retry mode can be automatically turned on for about 40ms after being turned off for about 1s and can detect whether the high-side switch is in an overcurrent state again, and the turning-on time of the high-side switch meets the requirement that two steering engine asynchronous driving signals are input into a steering engine, so that continuous detection of faults is realized.
Its current limiting resistor
Figure DEST_PATH_IMAGE030
The settings were as follows:
Figure DEST_PATH_IMAGE032
；
Figure DEST_PATH_IMAGE034
refers to a current limited internal threshold voltage;
Figure DEST_PATH_IMAGE036
is the ratio of the output current to a current limit set threshold, for example, 2500.
Further, after the electronic control unit is powered on, the microcontroller starts to identify the type of the throttle valve, and the specific process is as follows:
s1, in order to avoid damage to the steering engine caused by overhigh power supply voltage, the microcontroller outputs a voltage control signal VC to the power supply module and adjusts the output voltage V of the power supply module drv Is 7.2V;
s2, the microcontroller acquires a current throttle position TP0 according to a throttle position conditioning signal TPS;
s3, the microcontroller controls the first driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms, and the pulse width modulation signal can enable the steering engine to operate to a minimum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an over-current warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP1;
the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 2.5ms, and the pulse width modulation signal can enable the steering engine to operate to the maximum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an over-current warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP2;
if TP1 is more than or equal to TP0 and less than TP2 or TP1 is more than TP0 and less than or equal to TP2, the current throttle valve driving type can be judged to be the steering engine driving controlled by the first path of driving signal, otherwise, the step S4 is continuously executed:
s4, the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms, and the pulse width modulation signal can enable the steering engine to operate to a minimum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an overcurrent warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP3;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 20ms and the pulse width of 2.5ms, and the pulse width modulation signal can enable the steering engine to operate to the maximum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an overcurrent warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP4;
if TP3 is not less than TP0= TP1= TP2 is less than TP4 or TP3 is less than TP0= TP1= TP2 is not less than TP4, the current throttle valve driving type is judged to be the steering engine driving controlled by the second path of driving signals;
if TP3= TP4 ≦ TP0< TP1= TP2 or TP3= TP4< TP0 ≦ TP1= TP2, it is determined that the current throttle driving type is motor driving, but considering that there may be a driving voltage and a driving duty ratio too low to drive the motor resulting in no change in throttle position, i.e., TP0= TP1= TP2= TP3= TP4, the execution continues with step S5:
s5, the microcontroller outputs a voltage control signal VC, and the output voltage of the power supply module is adjusted to be the working voltage (generally 12V) of the motor;
s6, the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with a period of 1ms and a duty ratio of 50%, and the pulse width modulation signal can enable the motor to rotate forwards; meanwhile, the microcontroller detects a throttle position signal, if the throttle position is detected to be continuously unchanged within 1 second, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP5;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50 percent, and the pulse width modulation signal can enable the motor to rotate reversely; meanwhile, the microcontroller detects a throttle position signal, if the throttle position is detected to be continuously unchanged within 1 second, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP6;
if TP6 is more than or equal to TP0 and less than TP5 or TP6 is more than or equal to TP0 and less than or equal to TP5, judging that the current throttle valve driving type is motor driving;
and S7, if the driving type of the throttle valve cannot be identified after the steps S1 to S6 are executed, reporting an error and reminding an unmanned aerial vehicle operator to check the throttle system.
Further, if the microcontroller identifies that the current throttle valve driving type is the steering engine driving type, the specific process of calibrating the throttle valve opening degree is as follows:
step 1), a microcontroller controls one path of driving signal corresponding to a steering engine to output a pulse width modulation signal with a period of 20ms and a pulse width of 1.5ms, and the pulse width modulation signal enables the steering engine to operate to a middle angle;
step 2), the microcontroller gradually reduces the driving pulse width of the output pulse width modulation signal, simultaneously detects the throttle position conditioning signal TPS and the signal of the intelligent high-side switch, if the throttle position is detected to be close to TP1 or TP3 (here, as TP1 and TP3 are both voltage values, only when the voltage difference between the current voltage value and TP1 or TP3 is very small, the judgment is close, for example, the voltage difference is less than 0.5V), the driving pulse width is slowly reduced until the overcurrent warning signal OC is detected, the output of the pulse width modulation signal is stopped, and the minimum driving pulse width T before the overcurrent warning signal OC appears is recorded min And its corresponding throttle position TP7;
the microcontroller increases the drive pulse width of the output pulse width modulated signal step by step (e.g., the drive pulse width may be returned to a neutral angle after throttle position TP7 is detected, which may improve efficiency by increasing the output step by step), while detecting the throttle position conditioning signal and the signal of the intelligent high side switch, and if the throttle position is detected to be close to TP2 or TP4, the drive pulse width is increased slowly until an over-current warning signal OC is detected, the output pulse width modulated signal is stopped, and the maximum drive pulse width T is recorded before the over-current warning signal OC appears max And its corresponding throttle position TP8;
and 3, setting a minimum opening TPmin = TP7 and a maximum opening TPmax = TP8 of the Throttle valve, completing automatic calibration of the opening of the Throttle valve, wherein the relation between the opening Throttle of the Throttle valve and the position TP of the Throttle valve is as follows:
Figure DEST_PATH_IMAGE038
in order to control the position of the Throttle valve to the opening Throttle of the Throttle valve, the driving pulse width T of the driving signal output by the microcontroller of the steering engine is as follows:
Figure DEST_PATH_IMAGE040
。
further, if the microcontroller identifies that the current throttle driving type is motor driving, the specific process of calibrating the throttle opening is as follows:
the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50%, and the pulse width modulation signal enables the motor to rotate forwards; meanwhile, the microcontroller detects a throttle position signal, if the throttle position is detected to be continuously unchanged within 1 second, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP5;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50%, and the pulse width modulation signal enables the motor to rotate reversely; meanwhile, the microcontroller detects a throttle position signal, if the throttle position is detected to be continuously unchanged within 1 second, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP6;
setting the maximum opening TP of the throttle valve max = TP5, minimum opening TP min = TP6, at this moment, the automatic calibration of the opening of the throttle valve is completed;
the relationship between the Throttle opening Throttle and the Throttle position TP is as follows:
Figure DEST_PATH_IMAGE038A
and the microcontroller executes PID feedback control according to the current Throttle opening Throttle and the deviation of the target Throttle opening, so that the Throttle valve driving and the Throttle opening feedback control can be realized.
Has the advantages that: compared with the prior art, the invention has the following advantages:
(1) The driving circuit can compatibly drive one-way motor or two-way steering engine, and avoids the repeated development of an electronic control unit. Compared with the scheme that the motor and the steering engine are respectively driven, the number of components and pins of the connector is reduced, and the miniaturization of the electronic control unit is facilitated.
(2) The driving control strategy comprises a throttle driving type identification function, can automatically identify the type of the current throttle driving in a power-on self-test stage, and adopts a corresponding control strategy without manual intervention.
(3) The driving control strategy of the invention comprises an automatic calibration function, and only the accuracy of the maximum and minimum limit positions of the opening of the air throttle is required to be controlled when the air throttle is installed, thereby reducing the assembly difficulty; the calibrated steering engine working angle is consistent with the working angle of the throttle, so that the risk of burning due to locked rotor is eliminated.
(4) When the driving circuit drives the steering engine, the driving signal of the steering engine is linearly mapped with the working angle, so that the steering engine can be identified and automatically calibrated by means of the over-current detection signal OC under the condition of no throttle position sensor.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a power supply module employing a low dropout linear regulator in accordance with the present invention;
FIG. 3 is a schematic diagram of a power supply module employing a DC/DC switching regulator in accordance with the present invention;
FIG. 4 is a schematic diagram of a full bridge driving unit according to the present invention;
FIG. 5 is a schematic diagram of a full bridge driving chip according to the present invention;
FIG. 6 is a schematic diagram of an intelligent high-side switch according to the present invention;
FIG. 7 is a schematic diagram of a throttle position signal conditioning circuit of the present invention;
FIG. 8 is a schematic diagram of a microcontroller according to the present invention;
FIG. 9 is a schematic diagram of two asynchronous driving signals for the steering engine in the embodiment.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
As shown in fig. 1, the throttle driving circuit of a multifunctional unmanned aerial vehicle of the present invention comprises an electronic control unit and a throttle body, wherein the electronic control unit comprises a microcontroller, an intelligent high-side switch, a power supply module, a full-bridge driving unit and a throttle position signal conditioning circuit, and the throttle body comprises a steering engine or a motor, and a throttle position sensor; the method comprises the steps that a throttle position sensor obtains a current throttle position signal TP in real time and transmits the current throttle position signal TP to a throttle position signal conditioning circuit, the throttle position signal conditioning circuit converts the received throttle position signal TP into a throttle position conditioning signal TPS (TVS tube surge prevention is used for avoiding damage of a single chip caused by the fact that signal voltage exceeds the working voltage range of the single chip microcomputer, RC filtering is used for eliminating interference signals included in the signals) after voltage limiting protection and RC filtering are carried out on the received throttle position signal TP, and the throttle position signal conditioning signal TPS is input to a microcontroller, as shown in figure 7; the power supply module reduces the input voltage to the voltage output required by the throttle valve drive, and adjusts the output voltage according to the voltage control signal of the microcontroller; the power supply module is divided into two paths, one path supplies power to the full-bridge driving unit, and the other path supplies power to the steering engine through the intelligent high-side switch; the intelligent high-side switch detects the driving current of the steering engine, if the steering engine is locked, the driving current of the steering engine exceeds a set threshold value, and the intelligent high-side switch sends an overcurrent warning signal OC to the microcontroller.
The microcontroller outputs drive signals Drv1 and Drv2 that identify the type of throttle actuation, driving the motor or steering engine via a full bridge drive unit. And the microcontroller jointly judges the current driving type of the throttle valve according to the change trend of the throttle valve position conditioning signal TPS and the over-current warning signal OC of the intelligent high-side switch, correspondingly outputs a voltage control signal VC, and then automatically calibrates the opening of the throttle valve. (for example, the microcontroller controls the first driving signal Drv1 to output a pulse width modulation signal with a period of 20ms and a pulse width of 0.5ms, the pulse width modulation signal can enable the steering engine to operate to a minimum angle and also enable the motor to operate to a maximum position, and the microcontroller uses the section as a sectionThe driving type of the throttle valve can be judged by taking the valve position conditioning signal TPS as a main part and taking the overcurrent warning signal OC as an auxiliary part, and then the voltage control signal VC is output to drive the voltage V drv Adjusting to 7.2V required by driving a steering engine or 12V required by driving a motor, and then automatically calibrating the opening degree of a throttle valve).
As shown in fig. 8, the microcontroller of this embodiment has three output channels, one IO channel outputs a VC signal to control the driving voltage, two PWM channels outputs driving signals Drv1 and Drv2, one output capture IOC channel obtains an over-current warning signal OC, and one analog-to-digital conversion channel obtains the throttle opening TPS.
As shown in fig. 2, when the driving power of the motor or the steering engine is low, the output voltage of the power supply module is adjusted as follows;
the power supply module uses a low dropout linear regulator (LDO) chip (such as TPS7B 86), the voltage Vbat of the storage battery is converted into a driving voltage Vdrv required by a driving motor or a steering engine through the LDO chip, and the output voltage of the LDO chip
Figure 746798DEST_PATH_IMAGE002
Warp beamR HS AndR LS after voltage division, the voltage is input into a feedback pin FB and compared with an internal reference voltage, the output voltage is fed back and controlled
Figure 196234DEST_PATH_IMAGE002
At this time, the output voltage
Figure 831614DEST_PATH_IMAGE002
The adjustment formula is as follows:
Figure 456631DEST_PATH_IMAGE008
formula (1)
WhereinV FB 0.65V, a driving voltage Vdrv is connected with a divider resistor
Figure 332314DEST_PATH_IMAGE010
Voltage dividing resistor
Figure 206729DEST_PATH_IMAGE012
Voltage dividing resistor
Figure 317904DEST_PATH_IMAGE014
And a triode Q11, wherein the triode Q11 is an NPN type triode and is controlled by a Voltage Control signal VC (Voltage Control) output by the microcontroller;
when the voltage control signal VC is at a low level, the collector and emitter of the transistor Q11 are disconnectedR HS AndR LS respectively as follows:
Figure DEST_PATH_IMAGE016A
when the voltage control signal VC is at a high level, the collector and emitter of the triode Q11 are conducted, the two sides of the divider resistor R12 are in short circuit, and at the momentR HS AndR LS respectively as follows:
Figure DEST_PATH_IMAGE018A
in the formula (1), when the voltage control signal VC is at a low level, the output voltage is 12V, which is suitable for driving the motor; when the voltage control signal VC is at a high level, the output voltage is 7.2V, and the steering engine is suitable for being driven.
As shown in fig. 3, when the driving power of the motor or the steering engine is high, the output voltage of the power supply module is adjusted as follows;
the power supply module uses a DC/DC switching regulator DC/DC chip (for example, TPS54560 is adopted), the DC/DC chip converts the storage battery voltage Vbat into the driving voltage Vdrv required by a driving motor or a steering engine, and the DC/DC chip outputs voltage
Figure 233646DEST_PATH_IMAGE002
Warp beamR HS AndR LS after voltage division, the voltage is input into a feedback pin FB and compared with an internal reference voltage, the output voltage is fed back and controlled
Figure 467181DEST_PATH_IMAGE002
At this time, the output voltage
Figure 32154DEST_PATH_IMAGE002
The adjustment formula is as follows:
Figure 71655DEST_PATH_IMAGE008
formula (2)
WhereinV FB 0.8V, a driving voltage Vdrv is connected with a voltage dividing resistor
Figure 468001DEST_PATH_IMAGE020
Voltage dividing resistor
Figure 810120DEST_PATH_IMAGE022
And a voltage dividing resistor
Figure 472177DEST_PATH_IMAGE024
The triode Q21 is an NPN type triode and is controlled by a voltage control signal VC output by the microcontroller;
when the voltage control signal VC is at a low level, the collector and emitter of the transistor Q21 are disconnected, at which timeR HS AndR LS respectively as follows:
Figure DEST_PATH_IMAGE026A
when the voltage control signal VC is at a high level, the collector and emitter of the triode Q11 are conducted, the two sides of the divider resistor R12 are in short circuit, and at the momentR HS AndR LS respectively as follows:
Figure DEST_PATH_IMAGE028A
in the formula (2), when the voltage control signal VC is at a low level, the output voltage is 12V, which is suitable for driving the motor; when the voltage control signal VC is at a high level, the output voltage is 7.2V, and the steering engine is suitable for being driven.
As shown in fig. 4, the full-bridge driving unit of this embodiment receives two driving signals Drv1 and Drv2 sent by the microcontroller, and outputs and drives the driving signals OUT1 and OUT2. When the motor is driven, the full-bridge circuit can control the motor to rotate forwards, reversely, rotate inertially and brake; when the steering engine is driven, the full-bridge circuit is equivalent to two independent half-bridge drives, and two driving signals output by the microcontroller are enhanced and then output. In order to avoid that the two paths of driving signals Drv1 and Drv2 are high level signals to cause automatic pull-down protection of the full bridge chip, the microcontroller adjusts the Drv1 and Drv2 signals into asynchronous driving signals with a phase difference of 180 degrees, as shown in fig. 9, so that the two paths of steering engines are driven simultaneously. In order to reduce the occupied space of the PCB, the full-bridge driving unit adopts an integrated full-bridge driving chip (for example, DRV 8872), and the full-bridge driving chip receives two control signals DRV1 and DRV2 output by the microcontroller and outputs driving signals OUT1 and OUT2.
As shown in fig. 5, the full bridge driving chip of the present embodiment includes four N channel MOSFET chips Q1 to Q4, the chips Q1 and Q3 are controlled by the Drv1 signal, and Q2 and Q4 are controlled by the Drv2 signal; the output drives OUT1 and OUT2 are connected to both sides of the motor B3. When the Drv1 signal is at a high level and the Drv2 signal is at a low level, Q1 and Q3 are turned on, Q2 and Q4 are turned off, current is output to a motor B3 from Vdrv through Q1 and OUT1 and is input from OUT2, and the current is grounded through Q3, so that the forward rotation of the motor is realized; similarly, when the Drv1 signal is low and the Drv2 signal is high, the motor is reversed.
When the steering engine is driven, the output drive OUT1 and OUT2 are disconnected, the full-bridge drive unit is regarded as two half-bridge circuits, the first group of half-bridges comprises chips Q1 and Q2, the chips Q1 and Q2 are controlled by a Drv1 signal, the OUT1 outputs drive, when the Drv1 signal is high level, the Q1 is started, and the OUT1 outputs high level; the second set of half bridges includes chips Q3, Q4, controlled by the Drv2 signal, driven by the OUT2 output, with Q4 on and OUT2 outputting high when the Drv2 signal is high. In order to avoid short circuit caused by the fact that the chip Q1 and the chip Q2 are simultaneously turned on or the chip Q3 and the chip Q4 are simultaneously turned on, the control signals Drv1 and Drv2 are not simultaneously high level, and a logic gate is integrated in the full bridge chip to enable all MOSFET chips to be turned off when the Drv1 and Drv2 are simultaneously high level.
As shown in fig. 6, in order to avoid burnout caused by locked rotation of the steering engine, an intelligent high-side switch (for example, a TPS1H200A chip) sends an overcurrent warning signal OC when the driving current exceeds a set threshold, and the output current is stabilized at the set threshold by switching the switch state. Meanwhile, the DELAY pin is pulled upwards to enter an automatic retry mode, the automatic retry mode can be automatically started for about 40ms after being closed for about 1s, whether the automatic retry mode is in an overcurrent state is detected again, the starting time of the automatic retry mode meets the requirement that two steering engine asynchronous driving signals are input into the steering engine, and therefore continuous detection of faults is achieved.
Its current limiting resistor
Figure 315368DEST_PATH_IMAGE030
The settings were as follows:
Figure DEST_PATH_IMAGE042
for example, if the steering engine adopts MG996R, the working voltage is 4.8V-7.2V, the working current is 500mA-900mA, and the locked-rotor current is 2.5A, so the threshold current is set to be 2A, and the R42 resistance is obtained according to the current-limiting calculation formula.
Example 1
In this embodiment, the throttle body is driven by a motor, and the throttle position sensor outputs voltages of 0.5V and 4.5V at the minimum and maximum positions after leaving the factory. After the electronic control unit is powered on, the method is executed according to the following steps.
S1, the microcontroller adjusts a voltage control signal VC to be a high level, and the output voltage of a power supply module is 7.2V at the moment;
s2, acquiring a real-time value TP0 of a current throttle position conditioning signal TPS by a microcontroller;
and S3, controlling the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms by the microcontroller. Because the current driving object is a motor, the opening of the throttle valve is gradually increased by forward rotation of the motor, and the intelligent high-side switch cannot feed back an overcurrent warning signal OC. When the throttle valve rotates to the maximum position, the motor is locked, the opening of the throttle valve is not changed any more, the microcontroller detects that no change exists in a throttle valve position conditioning signal 1s, and the first drive signal Drv1 is actively closed. At this time, the voltage value corresponding to the real-time value TP1 of the throttle position conditioning signal TPS is about 4.5V;
the microcontroller controls the first driving signal Drv1 to output a pulse width modulation signal with a period of 20ms and a pulse width of 2.5ms, the pulse width modulation signal also enables the motor to rotate forwards, but the motor is already at the maximum position, the microcontroller detects no change in the throttle position conditioning signal 1s, and the first driving signal Drv1 is actively closed. At this time, the voltage value corresponding to the real-time value TP2 of the throttle position control signal TPS is about 4.5V.
And S4, controlling the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms by the microcontroller. The signal causes the motor to rotate in reverse, and the throttle opening degree gradually decreases. When the throttle valve rotates to the minimum position, the motor is locked, the opening degree of the throttle valve is not changed any more, the microcontroller detects that no change exists in a throttle valve position conditioning signal 1s, and the first path of driving signal Drv2 is actively closed. At the moment, the voltage value corresponding to the real-time value TP3 of the throttle position conditioning signal TPS is about 0.5V;
the microcontroller controls the second driving signal Drv2 to output a pulse width modulation signal with a period of 20ms and a pulse width of 2.5ms, the pulse width modulation signal also enables the motor to be reversely rotated, but the motor is already at the minimum position, the microcontroller detects no change in the throttle position conditioning signal 1s, and the second driving signal Drv2 is actively closed. At this time, the voltage value corresponding to the real-time value TP4 of the throttle position control signal TPS is about 0.5V.
At this time, it is determined that the current throttle driving type is the motor driving according to TP4= TP3 < TP1= TP 2.
And S5, the microcontroller adjusts the voltage control signal VC to be low level, so that the output voltage of the power supply module is 12V suitable for the motor.
S6, the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50%, and the signal enables the motor to rotate forwards; when the throttle valve rotates to the maximum position, the motor is locked, the opening of the throttle valve is not changed any more, the microcontroller detects that no change exists in a throttle valve position conditioning signal 1s, and the first drive signal Drv1 is actively closed. At the moment, the voltage value corresponding to the real-time value TP5 of the throttle position conditioning signal TPS is about 4.5V;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50%, and the signal enables the motor to rotate reversely; when the throttle valve rotates to the minimum position, the motor is locked, the opening degree of the throttle valve is not changed any more, the microcontroller detects that no change exists in a throttle valve position conditioning signal 1s, and the second path of driving signal Drv2 is actively closed. At this time, the voltage value corresponding to the real-time value TP6 of the throttle position conditioning signal TPS is about 0.5V.
Due to the promotion of the driving voltage and the driving duty ratio, the locked-rotor torque of the motor is increased, so that TP5 may occur>TP1= TP2 and TP6<TP4= TP 3. Therefore, when the motor is adopted to drive the throttle valve, the automatic calibration of the throttle valve opening degree is based on TP5 and TP6, namely the maximum throttle valve opening degree TP max = TP5, minimum opening TP min = TP6, the relationship between the Throttle opening degree Throttle and the Throttle position TP is:
Figure DEST_PATH_IMAGE038AA
and the microcontroller executes PID feedback control according to the current Throttle opening Throttle and the deviation of the target Throttle opening, so that the Throttle valve driving and the Throttle opening feedback control can be realized.
Example 2: in this embodiment, the throttle body is driven by a steering engine, a pin of the steering engine drive corresponds to OUT1 of the full-bridge drive circuit, and the throttle position sensor is calibrated when leaving the factory, and the output voltages at the minimum and maximum positions are 0.5V and 4.5V, respectively. After the electronic control unit is powered on, the method is executed according to the following steps.
S1, a microcontroller adjusts a voltage control signal VC to be a high level, and the output voltage of a power supply module is 7.2V at the moment;
s2, acquiring a real-time value TP0 of a current throttle position conditioning signal TPS by a microcontroller;
and S3, controlling the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms by the microcontroller. Because the current driving object is a steering engine, the steering engine operates towards the minimum angle to enable the opening degree of the throttle valve to be gradually reduced and the throttle valve to be locked at the minimum position, the intelligent high-side switch feeds back an overcurrent warning signal OC, and the microcontroller actively closes the first path of driving signal Drv1. At this time, the voltage value corresponding to the real-time value TP1 of the throttle position conditioning signal TPS is about 0.5V;
the microcontroller controls the first driving signal Drv1 to output a pulse width modulation signal with a period of 20ms and a pulse width of 2.5 ms. The steering engine operates to the maximum angle to enable the opening degree of the throttle valve to be increased and to be locked at the maximum position, the intelligent high-side switch feeds back an overcurrent warning signal OC, and the microcontroller actively closes the first driving signal Drv1. At this time, the voltage value corresponding to the real-time value TP2 of the throttle position conditioning signal TPS is about 4.5V;
at this time, the current throttle valve driving type can be judged to be the steering engine driving controlled by the first path of driving signal Drv1 according to TP1 < TP 2. Then, the throttle opening degree calibration is carried out according to the following steps.
Step 1), a microcontroller controls a first path of driving signal Drv1 to output a pulse width modulation signal with a period of 20ms and a pulse width of 1.5ms, and the pulse width modulation signal enables a steering engine to operate to a middle angle;
and 2), the microcontroller controls the first drive signal Drv1 to output a pulse width modulation signal in a mode of reducing the pulse width by 100us per cycle, and simultaneously detects a throttle position conditioning signal TPS and an intelligent high-side switch overcurrent warning signal OC, and if the throttle position is detected to be close to TP1, the microcontroller outputs the pulse width modulation signal in a mode of reducing the pulse width by 10us per cycle until the overcurrent warning signal OC is detected. At this time, the output of the PWM signal is stopped, and the minimum driving pulse width T before the overcurrent warning signal appears is recorded min And its corresponding throttle position TP7;
step 3), the microcontroller controls the first driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 1.5ms, and the pulse width modulation signal enables the steering engine to operate to a middle angle;
step 4), the microcontroller controls the first driving signal Drv1 to increase the pulse width by 100us per cycleThe method comprises the steps of outputting a pulse width modulation signal, detecting a throttle position conditioning signal TPS and an intelligent high-side switch overcurrent warning signal OC at the same time, and if the throttle position is detected to be close to TP2, outputting the pulse width modulation signal in a mode of increasing the pulse width by 10us per cycle until the overcurrent warning signal OC is detected. At this time, the output of the PWM signal is stopped, and the minimum driving pulse width T before the overcurrent warning signal appears is recorded max And its corresponding throttle position TP8;
and setting the minimum Throttle opening TPmin = TP7 and the maximum Throttle opening TPmax = TP8, completing the automatic calibration of the Throttle opening, wherein the relationship between the Throttle opening Throttle and the Throttle position TP is as follows:
Figure DEST_PATH_IMAGE038AAA
in order to control the position of the Throttle valve to the opening Throttle of the Throttle valve, the driving pulse width T of the driving signal output by the microcontroller of the steering engine is as follows:
Figure 880735DEST_PATH_IMAGE040
。

Claims (8)

1. the utility model provides a multi-functional unmanned aerial vehicle air throttle drive circuit which characterized in that: the intelligent high-side switch type air throttle comprises an electronic control unit and an air throttle body, wherein the electronic control unit comprises a microcontroller, an intelligent high-side switch, a power supply module, a full-bridge driving unit and an air throttle position signal conditioning circuit;
the throttle position sensor acquires a current throttle position signal TP in real time and transmits the current throttle position signal TP to the throttle position signal conditioning circuit, and the throttle position signal conditioning circuit converts the received throttle position signal TP into a throttle position conditioning signal TPS after passing through two TVS tube voltage limiting protection and RC filtering and inputs the throttle position conditioning signal TPS into the microcontroller;
the power supply module reduces the input voltage to the voltage output required by driving the throttle valve, and adjusts the output voltage according to the voltage control signal VC of the microcontroller; the power supply module is divided into two paths, one path supplies power to the full-bridge driving unit, and the other path supplies power to the steering engine through the intelligent high-side switch;
the intelligent high-side switch detects the driving current of the steering engine in real time; if the steering engine is locked, the driving current of the steering engine exceeds a set threshold value, and the intelligent high-side switch sends an overcurrent warning signal OC to the microcontroller;
the microcontroller outputs driving signals Drv1 and Drv2 capable of identifying the driving type of the throttle valve, and a motor or a steering engine is driven to run through a full-bridge driving unit; and the microcontroller jointly judges the current driving type of the throttle valve according to the change trend of the throttle valve position conditioning signal TPS and the overcurrent warning signal OC of the intelligent high-side switch, correspondingly outputs a voltage control signal VC, and then automatically calibrates the opening of the throttle valve.
2. The multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1, characterized in that: the full-bridge driving unit receives two paths of driving signals Drv1 and Drv2 input by the microcontroller and then outputs and drives the driving signals by OUT1 and OUT 2; when the motor is driven, the full-bridge circuit can control the motor to rotate forwards and backwards, rotate inertially and brake; when the steering engine is driven, the full-bridge circuit is equivalent to two independent half-bridge drives, two drive signals Drv1 and Drv2 which are regulated and output by the microcontroller are asynchronous drive signals with the phase difference of 180 degrees, and the asynchronous drive signals are output after being enhanced by the half-bridge drives, so that the two steering engines can be driven.
3. The multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1, characterized in that: when the driving power of the motor or the steering engine is low, the output voltage of the power supply module is adjusted as follows;
the power supply module uses a low dropout linear regulator (LDO) chip, the voltage Vbat of the storage battery is converted into the driving voltage Vdrv required by the driving motor or the steering engine through the LDO chip, and the output voltage of the LDO chip
Figure DEST_PATH_IMAGE001
Via high side resistance
Figure 474021DEST_PATH_IMAGE002
And a low side resistor
Figure DEST_PATH_IMAGE003
After voltage division, the voltage is input into a feedback pin FB and compared with an internal reference voltage, and then an output voltage V is fed back and controlled OUT At this time, the output voltage
Figure 141762DEST_PATH_IMAGE001
The adjustment formula is as follows:
Figure 154849DEST_PATH_IMAGE004
formula (1)
Wherein the voltage is fed backV FB 0.65V, a driving voltage Vdrv is connected with a voltage dividing resistor
Figure DEST_PATH_IMAGE005
And a voltage dividing resistor
Figure 617054DEST_PATH_IMAGE006
And a voltage dividing resistor
Figure DEST_PATH_IMAGE007
The triode Q11 is an NPN type triode and is controlled by a voltage control signal VC output by the microcontroller;
when the voltage control signal VC is at a low level, the collector and emitter of the transistor Q11 are disconnected, and the high-side resistor is at this time
Figure 168121DEST_PATH_IMAGE002
And a low side resistor
Figure 436291DEST_PATH_IMAGE003
Respectively as follows:
Figure DEST_PATH_IMAGE009
when the voltage control signal VC is at high level, the collector and emitter of the triode Q11 are conducted, the two sides of the divider resistor R12 are in short circuit, and the high-side resistor at the moment
Figure 8612DEST_PATH_IMAGE002
And a low side resistor
Figure 438456DEST_PATH_IMAGE003
Respectively, the following steps:
Figure DEST_PATH_IMAGE011
in the formula (1), when the voltage control signal VC is at a low level, the output voltage is 12V, which is suitable for driving the motor; when the voltage control signal VC is at a high level, the output voltage is 7.2V, and the steering engine is suitable for being driven.
4. The multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1, characterized in that: when the driving power of the motor or the steering engine is high, the output voltage of the power supply module is adjusted as follows;
the power supply module uses a DC/DC switching voltage stabilizer DC/DC chip to convert the voltage Vbat of the storage battery into a driving voltage Vdrv required by a driving motor or a steering engine through the DC/DC chip, and the DC/DC chip outputs voltage
Figure 476819DEST_PATH_IMAGE001
Warp beamR HS AndR LS after voltage division, the voltage is input into a feedback pin FB, and after comparison with an internal reference voltage, the voltage is fed back to control the output voltage
Figure 283101DEST_PATH_IMAGE001
，
At this time, the output voltage
Figure 5201DEST_PATH_IMAGE001
The adjustment formula is as follows:
Figure 809209DEST_PATH_IMAGE004
formula (2)
In which the feedback voltageV FB 0.8V, a driving voltage Vdrv is connected with a voltage dividing resistor
Figure 866026DEST_PATH_IMAGE012
Voltage dividing resistor
Figure DEST_PATH_IMAGE013
Voltage dividing resistor
Figure 679261DEST_PATH_IMAGE014
The triode Q21 is an NPN type triode and is controlled by a voltage control signal VC output by the microcontroller;
when the voltage control signal VC is at a low level, the collector and emitter of the transistor Q21 are disconnected, and the high-side resistor is at this time
Figure 177239DEST_PATH_IMAGE002
And a low side resistor
Figure 526049DEST_PATH_IMAGE003
Respectively as follows:
Figure 945530DEST_PATH_IMAGE016
when the voltage control signal VC is at high level, the collector and emitter of the triode Q11 are conducted, the two sides of the divider resistor R12 are in short circuit, and the high-side resistor at the moment
Figure 93614DEST_PATH_IMAGE002
And a low side resistor
Figure 773994DEST_PATH_IMAGE003
Respectively as follows:
Figure 185384DEST_PATH_IMAGE018
in the formula (2), when the voltage control signal VC is at a low level, the output voltage is 12V, which is suitable for driving the motor; when the voltage control signal VC is at a high level, the output voltage is 7.2V, and the steering engine is suitable for being driven.
5. The multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1, characterized in that: the intelligent high-side switch receives the driving voltage Vdrv of the power supply module, sends an overcurrent warning signal OC to the microcontroller if the current of the steering engine is detected to exceed a set threshold value, and enables the output current to be stabilized at the set threshold value through switching of the state of the high-side switch; meanwhile, the high-side switch enters an automatic retry mode due to the pull-up of a DELAY pin, automatically turns on for about 40ms after being turned off for about 1s in the automatic retry mode, and detects whether the high-side switch is in an overcurrent state again, so that the continuous detection of the fault state is realized;
current-limiting resistor
Figure DEST_PATH_IMAGE019
The settings were as follows:
Figure 967526DEST_PATH_IMAGE020
；
Figure DEST_PATH_IMAGE021
refers to the current limiting internal threshold voltage;
Figure 122564DEST_PATH_IMAGE022
is the ratio of the output current to the current limit setting threshold.
6. The multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1, characterized in that: after the electronic control unit is powered on, the microcontroller starts to identify the type of the throttle valve, and the specific process is as follows:
s1, a microcontroller outputs a voltage control signal VC to a power supply module, and the output voltage of the power supply module is adjusted to 7.2V;
s2, the microcontroller acquires a current throttle position TP0 according to the throttle position conditioning signal TPS;
s3, the microcontroller controls the first driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms, and the pulse width modulation signal can enable the steering engine to operate to a minimum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an overcurrent warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP1;
the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 20ms and the pulse width of 2.5ms, and the pulse width modulation signal can enable the steering engine to operate to the maximum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an overcurrent warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP2;
if TP1 is more than or equal to TP0 and less than TP2 or TP1 is more than or equal to TP0 and less than or equal to TP2, the current throttle valve driving type is judged to be the steering engine driving controlled by the first path of driving signal Drv1, otherwise, the step S4 is continuously executed:
s4, the microcontroller controls the second driving signal Drv2 to output a pulse width modulation signal with the period of 20ms and the pulse width of 0.5ms, and the pulse width modulation signal can enable the steering engine to operate to a minimum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an overcurrent warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP3;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 20ms and the pulse width of 2.5ms, and the pulse width modulation signal can enable the steering engine to operate to the maximum angle; meanwhile, the microcontroller detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be continuously unchanged within 1 second or an over-current warning signal OC is detected, the microcontroller stops outputting a pulse width modulation signal and records the current throttle position TP4;
if TP3 is not less than TP0= TP1= TP2 is not less than TP4 or TP3 is not less than TP0= TP1= TP2 is not less than TP4, the current throttle valve driving type can be judged to be the steering engine driving controlled by the second path of driving signals Drv 2;
if TP3= TP4 ≦ TP0< TP1= TP2 or TP3= TP4< TP0 ≦ TP1= TP2, it is determined that the current throttle driving type is motor driving, but considering that there may be a driving voltage and a driving duty ratio too low to drive the motor resulting in no change in throttle position, i.e., TP0= TP1= TP2= TP3= TP4, the execution continues with step S5:
s5, outputting a voltage control signal VC by the microcontroller, and adjusting the output voltage of the power supply module to be the working voltage of the motor;
step 6, the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with a period of 1ms and a duty ratio of 50%, and the pulse width modulation signal can enable the motor to rotate forwards; meanwhile, the microcontroller detects a throttle position conditioning signal TPS, if the throttle position is detected to be continuously unchanged within 1 second, the output of a pulse width modulation signal is stopped, and the current throttle position TP5 is recorded;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50 percent, and the pulse width modulation signal can enable the motor to rotate reversely; meanwhile, the microcontroller detects a throttle position conditioning signal TPS, if the throttle position is detected to be continuously unchanged within 1 second, the output of a pulse width modulation signal is stopped, and the current throttle position TP6 is recorded;
if TP6 is more than or equal to TP0 and less than TP5 or TP6 is more than TP0 and less than or equal to TP5, judging that the current throttle valve driving type is motor driving;
and S7, if the driving type of the throttle valve cannot be identified after the steps S1 to S6 are executed, an error is reported and an unmanned aerial vehicle operator is reminded to check the throttle valve system.
7. The multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1 or 6, characterized in that: if the microcontroller identifies that the current throttle valve driving type is the steering engine driving type, the specific process of calibrating the throttle valve opening degree is as follows:
step 1), a microcontroller controls one path of driving signal corresponding to the steering engine to output a pulse width modulation signal with the period of 20ms and the pulse width of 1.5ms, and the pulse width modulation signal enables the steering engine to operate to a middle angle;
step 2), the microcontroller gradually reduces the driving pulse width of the output pulse width modulation signal, simultaneously detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, if the throttle position is detected to be close to TP1 or TP3, the driving pulse width is slowly reduced until an overcurrent warning signal OC is detected, the output of the pulse width modulation signal is stopped, and the minimum driving pulse width T before the overcurrent warning signal OC appears is recorded min And its corresponding throttle position TP7;
the microcontroller gradually increases the driving pulse width of the output pulse width modulation signal, simultaneously detects a throttle position conditioning signal TPS and a signal of an intelligent high-side switch, slowly increases the driving pulse width if the throttle position is detected to be close to TP2 or TP4 until an overcurrent warning signal OC is detected, stops outputting the pulse width modulation signal, and records the maximum driving pulse width T before the overcurrent warning signal OC appears max And its corresponding throttle position TP8;
and 3, setting a minimum opening TPmin = TP7 and a maximum opening TPmax = TP8 of the Throttle valve, completing automatic calibration of the opening of the Throttle valve, wherein the relation between the opening Throttle of the Throttle valve and the position TP of the Throttle valve is as follows:
Figure 595134DEST_PATH_IMAGE024
in order to control the position of the Throttle valve to the opening Throttle of the Throttle valve, the driving pulse width T of the driving signal output by the microcontroller of the steering engine is as follows:
Figure DEST_PATH_IMAGE025
。
8. the multi-functional unmanned aerial vehicle throttle valve drive circuit of claim 1 or 6, characterized in that: if the microcontroller identifies that the current throttle valve driving type is motor driving, the specific process of calibrating the throttle valve opening degree is as follows:
the microcontroller controls the first path of driving signal Drv1 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50%, and the pulse width modulation signal enables the motor to rotate forwards; meanwhile, the microcontroller detects a throttle position conditioning signal TPS, if the throttle position is detected to be continuously unchanged within 1 second, the output of a pulse width modulation signal is stopped, and the current throttle position TP5 is recorded;
the microcontroller controls the second path of driving signal Drv2 to output a pulse width modulation signal with the period of 1ms and the duty ratio of 50 percent, and the pulse width modulation signal enables the motor to rotate reversely; meanwhile, the microcontroller detects a throttle position conditioning signal TPS, if the throttle position is detected to be continuously unchanged within 1 second, the output of a pulse width modulation signal is stopped, and the current throttle position TP6 is recorded;
setting the maximum opening TP of the throttle valve max = TP5, minimum opening TP min = TP6, at this moment, the automatic calibration of the opening of the throttle valve is completed;
the relationship between the Throttle opening Throttle and the Throttle position TP is as follows:
Figure 505321DEST_PATH_IMAGE026
and the microcontroller executes PID feedback control according to the current Throttle opening Throttle and the deviation of the target Throttle opening, so that the Throttle valve driving and the Throttle opening feedback control can be realized.
CN202211070149.8A 2022-09-02 2022-09-02 Multi-functional unmanned aerial vehicle air throttle drive circuit Active CN115163318B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013017351A (en) * 2011-07-06 2013-01-24 Ntn Corp Motor drive device
JP2015035875A (en) * 2013-08-08 2015-02-19 Ntn株式会社 Controller of electric vehicle
CN108087115A (en) * 2018-01-23 2018-05-29 金城集团有限公司 A kind of Multifunctional navigation piston engine
CN111042933A (en) * 2019-12-23 2020-04-21 天津布尔科技有限公司 Intelligent control system for light unmanned aerial vehicle engine and implementation method thereof
CN112895896A (en) * 2021-02-03 2021-06-04 山东奥唯克智能科技有限公司 Automatic control system and control method for oil-driven unmanned vehicle
CN114544181A (en) * 2022-01-27 2022-05-27 南京航空航天大学 Calibration system and control method for electronic control aviation two-stroke kerosene engine

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013017351A (en) * 2011-07-06 2013-01-24 Ntn Corp Motor drive device
JP2015035875A (en) * 2013-08-08 2015-02-19 Ntn株式会社 Controller of electric vehicle
CN108087115A (en) * 2018-01-23 2018-05-29 金城集团有限公司 A kind of Multifunctional navigation piston engine
CN111042933A (en) * 2019-12-23 2020-04-21 天津布尔科技有限公司 Intelligent control system for light unmanned aerial vehicle engine and implementation method thereof
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