CN115258134A - Unmanned aerial vehicle electric steering engine system - Google Patents
Unmanned aerial vehicle electric steering engine system Download PDFInfo
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- CN115258134A CN115258134A CN202211033129.3A CN202211033129A CN115258134A CN 115258134 A CN115258134 A CN 115258134A CN 202211033129 A CN202211033129 A CN 202211033129A CN 115258134 A CN115258134 A CN 115258134A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
- B64C13/24—Transmitting means
- B64C13/38—Transmitting means with power amplification
- B64C13/50—Transmitting means with power amplification using electrical energy
Abstract
The invention discloses an electric steering engine system of an unmanned aerial vehicle, which belongs to the technical field of electric steering engines and is powered by a thermal battery on the unmanned aerial vehicle. The invention has the advantages that: (1) the speed reduction transmission mechanism is manufactured by adopting a structural form of gear pair + harmonic transmission, and the first-stage gear pair is added before harmonic, so that the speed reduction ratio of the system can be flexibly adjusted, the transmission direction can be changed, the design requirement can be met, the harmonic backlash is extremely small, the bearing capacity of unit weight is large, the structure is compact, the short-time overload capacity is strong, and the efficiency is higher; (2) the invention adopts the brushless DC motor, has good mechanical characteristics, small volume, light weight, high rotating speed and large power.
Description
Technical Field
The invention relates to the technical field of electric steering engines, in particular to an electric steering engine system of an unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device. The unmanned aerial vehicle is a general term of an unmanned aerial vehicle, and compared with a manned aircraft, the unmanned aerial vehicle has the advantages of small size, low manufacturing cost, convenience in use, low requirement on the operation environment, strong battlefield viability and the like. Since the unmanned aircraft has important significance for future air battles, the research and development work of the unmanned aircraft is carried out in all major military countries in the world. At present, unmanned aerial vehicle can control or set for the route in advance and independently cruise through subaerial operator manual control remote controller, and unmanned aerial vehicle need realize turning to through the electric steering wheel that sets up on unmanned aerial vehicle at this in-process, but electric steering wheel speed reduction drive structure that present unmanned aerial vehicle used is complicated, whole size is great, short service life, generally indicate to have data transmission ability, can't realize the online function of writing by a fire of software, can't carry out follow-up upgrading.
Disclosure of Invention
The invention provides an unmanned aerial vehicle electric steering engine system which has the advantages of upgrading potential, stable work and small overall structure size, and aims to solve the technical problems that the existing unmanned aerial vehicle electric steering engine speed reducing mechanism is complex and has no upgrading capability.
In order to solve the technical problems, the technical scheme provided by the invention is as follows: the utility model provides an unmanned aerial vehicle electric steering engine system, unmanned aerial vehicle electric steering engine system supply power by the thermal battery on the unmanned aerial vehicle, unmanned aerial vehicle electric steering engine system include the steering wheel of a plurality of independent control, every the steering wheel drag a control surface respectively, the steering wheel include motor, angular position sensor, speed reduction drive mechanism and steering wheel controller, steering wheel controller's outside be equipped with bus communication and power source interface and drive mechanism interface, steering wheel controller on bus communication and power source interface and drive mechanism interface respectively through the cable with unmanned aerial vehicle integrated controller, motor and angular position sensor be connected, angular position sensor set up on the output shaft of steering wheel, speed reduction drive mechanism adopt any one of ordinary gear drive mechanism, planetary gear drive mechanism, harmonic gear drive mechanism, worm gear drive mechanism, ball screw drive mechanism and gear pair + harmonic drive mechanism, the steering wheel adopt single loop feedback control, the control correction network in the steering wheel controller adopt PID control to carry out independent control to a plurality of steering wheel.
As an improvement, the motor adopts any one of a brushless direct current motor or a brush direct current motor.
As an improvement, the motor adopts a brushless direct current motor.
As an improvement, the angular position sensor adopts a magnetic encoding potentiometer.
As an improvement, the speed reduction transmission mechanism adopts a gear pair and a harmonic transmission mechanism, and the motor is subjected to speed reduction after passing through a gear and then is subjected to speed reduction output through a harmonic gear.
As an improvement, the gear pair comprises a first gear arranged on the output shaft of the motor and a second gear meshed with the first gear, the specification and the size of the second gear are larger than those of the first gear, the harmonic transmission comprises a harmonic flexible gear coaxially and fixedly connected with the second gear and a harmonic steel wheel matched with the harmonic flexible gear, and the harmonic steel wheel is fixedly connected with the output shaft of the steering engine.
As an improvement, the external interface on the steering engine controller comprises a 28V power supply connector and a communication connector, the model of the 28V power supply connector is J30J-21ZK, the model of the communication connector is G30J-15ZK, and the steering engine controller is provided with an RS422 bus interface.
As an improvement, an ARM single chip microcomputer is adopted as a core processor of the steering engine controller, an ADC is arranged in the core processor, and the ARM single chip microcomputer forms a PWM control signal and drives a motor after power amplification.
The steering engine controller is provided with an external circuit, the external circuit comprises two paths of EMC filters, a non-isolated DC-DC converter, an RC filter and an LDO voltage stabilizer, wherein one path of EMC filter carries out primary EMC filtering on a control power supply, a post-stage of the filtered primary power supply is converted into a +5V power supply required by post-stage work by using the non-isolated DC-DC converter to supply power to a Hall, a motor driving logic and an isolation circuit, in addition, the +5V power supply generated by the isolated DC-DC converter is supplied power to an angular position sensor after passing through the RC filter, two paths of 3.3V power supplies are respectively generated by the RC filter and the LDO voltage stabilizer to be used as an analog power supply and a digital power supply of the ARM single chip microcomputer, and the other path of EMC filter carries out filtering on the control power supply to generate a power supply to supply power to the motor.
As an improvement, the external circuit further comprises a power driving circuit, the power supply is input into the power driving circuit, the power driving circuit consists of an industrial motor control integrated circuit and a discrete three-phase H bridge, and the power driving circuit is internally provided with a dead zone control circuit and a current instant protection and power saving circuit.
Compared with the prior art, the invention has the advantages that:
(1) the speed reduction transmission mechanism is manufactured by adopting a structural form of gear pair + harmonic transmission, and the first-stage gear pair is added before harmonic, so that the speed reduction ratio of the system can be flexibly adjusted, the transmission direction can be changed, the design requirement can be met, the harmonic backlash is extremely small, the bearing capacity of unit weight is large, the structure is compact, the short-time overload capacity is strong, and the efficiency is higher;
(2) the brushless direct current motor is adopted, so that the brushless direct current motor has good mechanical characteristics, small volume, light weight, high rotating speed and high power;
(3) the invention reduces the whole size of the electric steering engine, and is beneficial to the development of miniaturization and light weight;
(4) the steering engine controller has the RS422 bus communication function, has the characteristics of simple structure, high redundancy, strong anti-interference capability and the like, can set the transmission rate of 1M at most, can meet the use requirement of a system, can realize information transmission with a ground test board and a superior system by adopting the RS422 communication bus, is convenient for product parameter debugging and subsequent use, can realize the online programming function of software by utilizing the RS422 bus system, and provides a convenient mode for subsequent software upgrading.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further methods, embodiments, and features of the present invention will become apparent by reference to the drawings and the following detailed description.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for the embodiments or technical descriptions will be briefly introduced below, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a structural interface diagram of a steering engine controller according to the present invention.
FIG. 2 is a block diagram of an electric steering engine system of the unmanned aerial vehicle according to the present invention.
FIG. 3 is a schematic diagram of the single channel steering engine loop signal processing of the present invention.
FIG. 4 is a simulation model diagram of the loop ensemble of the single-channel system of the present invention.
FIG. 5 is a schematic diagram of the present invention using MATLAB to perform model-transfer parameters for each module.
FIG. 6 is a schematic diagram of the open-loop amplitude-frequency characteristic of the steering engine control network according to the present invention.
FIG. 7 is a diagram of a simulation curve of the system response under an empty-full sine input condition according to the present invention.
FIG. 8 is a diagram illustrating a simulation curve of system response under an empty-full load step input condition according to the present invention.
FIG. 9 is a schematic diagram of a simulation curve of the closed loop amplitude-frequency characteristics of the system under the empty and full load conditions.
Fig. 10 is a schematic diagram of the general scheme of the steering engine controller.
Fig. 11 is a schematic diagram of a power supply system of the present invention.
FIG. 12 is a software flow diagram of the present invention.
FIG. 13 is a software flow diagram of the present invention after a 0.5ms timer interrupt.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The present invention is described in further detail below in conjunction with the full text.
With reference to fig. 1 to 12, an electric steering engine system of an unmanned aerial vehicle is powered by a thermal battery on the unmanned aerial vehicle, and comprises five steering engines which are independently controlled and respectively drag a control surface, wherein each steering engine comprises a motor, an angular position sensor, a speed reduction transmission mechanism and a steering engine controller, the motor adopts a brushless direct current motor, the angular position sensor adopts a magnetic coding potentiometer, a bus communication and power supply interface and a transmission mechanism interface, namely a 28V power supply connector and a communication connector, are arranged outside the steering engine controller, the 28V power supply connector is of a model of J30J-21ZK, the communication connector is of a model of G30J-15ZK and is provided with an RS422 bus interface, the bus communication and power supply interface and the transmission mechanism interface on the steering engine controller are respectively connected with an integrated controller of the unmanned aerial vehicle through cables, the motor and the angular position sensor, the angular position sensor is arranged on an output shaft of the steering engine, the speed reduction transmission mechanism adopts a common gear transmission mechanism, a planetary gear transmission mechanism, a harmonic gear transmission mechanism, a worm gear transmission mechanism and a gear pair transmission mechanism and a harmonic transmission mechanism, the steering engine adopts a single-gear feedback control loop to carry out PID control on the steering engine.
The speed reduction transmission mechanism adopts a gear pair and a harmonic transmission mechanism, the gear pair comprises a first gear and a second gear, the first gear is arranged on an output shaft of the motor, the second gear is meshed with the first gear, the specification and the size of the second gear are larger than those of the first gear, the harmonic transmission mechanism comprises a harmonic flexible gear coaxially and fixedly connected with the second gear and a harmonic steel wheel matched with the harmonic flexible gear, and the harmonic steel wheel is fixedly connected with an output shaft of the steering engine.
The core processor of the steering engine controller adopts an ARM single chip microcomputer, an ADC is arranged in the steering engine controller, the ARM single chip microcomputer forms a PWM control signal and drives a motor after power amplification, an external circuit is arranged in the steering engine controller and comprises two paths of EMC filters, a non-isolation type DC-DC converter, an RC filter and an LDO voltage stabilizer, one path of EMC filter carries out primary EMC filtering on a control power supply, a post-stage of the filtered primary power supply is converted into a +5V power supply required by post-stage work by the non-isolation type DC-DC converter and supplies power to a Hall, a motor driving logic and an isolation circuit, in addition, the +5V power supply generated by the isolation type DC-DC converter supplies power to an angular position sensor after passing through the RC filter, a 3.3V power supply is respectively generated by the RC filter and the LDO voltage stabilizer and is used as an analog power supply and a digital power supply of the ARM single chip microcomputer, the other path of the EMC filter filters the control power supply to generate a power supply and supplies power supply to the motor, the power supply, the external circuit also comprises a power driving circuit, the power driving circuit is input into the power driving circuit, and the power driving circuit, the power driving circuit is composed of an industrial motor control integrated circuit and a three-phase motor control circuit, and a three-phase H bridge, and an instant protection circuit.
Examples
Electric steering engine comprises direct current brushless servo motor, magnetic coding potentiometer, speed reduction drive mechanism and steering engine controller, and peripheral circuit among the steering engine controller contains control software, and steering engine controller and electric steering engine pass through cable junction, and the last thermal battery of unmanned aerial vehicle provides the working energy for steering engine controller and motor.
The electric steering engine adopts a control plane deflection angle position servo scheme, a loop control algorithm is realized through an ARM single chip microcomputer and a peripheral circuit, and the working process is as follows: after the power supply of the unmanned plane flight control system is activated, a control power supply and a power supply of 28V nominal voltage are output, wherein the control power supply supplies power to a signal processing circuit through a power supply conversion module DC-DC, the power supply directly supplies power to a motor driving circuit and generates power of motor driving logic through the DC-DC, an ARM single chip microcomputer chip sums a rudder instruction signal resolved by an integrated controller and a rudder deviation position voltage signal detected by a steering engine feedback loop to form a deviation value for resolving a control algorithm, the ARM single chip microcomputer completes algorithm processing to form a pulse width modulation signal (PWM) signal for controlling a motor, the PWM signal is output to an industrial motor control integrated circuit and an H bridge power amplifier through an isolation driving circuit, the signal power is amplified, the motor is driven to rotate, the torque and the rotating speed of the motor are output and transmitted to an output shaft-control plane through a speed reduction transmission mechanism, and the air control plane deflects according to a specified angle under the condition of overcoming the external pneumatic hinge torque.
The 28V power supply connector model on the steering engine controller is: J30J-21ZK, the junctions are as defined in Table 1 below;
TABLE 1
The model of the communication connector on the steering engine controller is as follows: J30J-15ZK, the junctions are as defined in Table 2 below.
TABLE 2
Selecting a type of the motor: the power of the steering engine is determined by the load moment and the maximum angular velocity, as with other servo systems, and during the flight,the load of the steering engine changes along with the rotation angle and the flight state of a control surface, the maximum hinge moment and the maximum angular velocity of the electric steering engine are known according to the total volume design index, the output power of the steering engine can be deduced from the two parameters, the power refers to the output power of the steering engine under the condition of constant speed, the tracking process of the steering engine is considered to follow-up tracking in the flight process, the tracking process inevitably has an acceleration process, the power consumed by inertia moment caused by acceleration is generally very large when the acceleration is large, the efficiency of a deceleration system and other factors are considered, the power output by the motor is calculated according to twice the output power of the steering engine, and the maximum output power P of the motor is estimated dmax ：
P dmax ＝2×M hmax Ω max
In the formula: m hmax -maximum hinge moment (N · m);
Ω max -maximum angular velocity (°/s);
P dmax -the maximum power (W) output of the motor.
The steering engine load power output calculation formula is as follows:
P＝T×ω
in the formula: p is the load output power, W; t-load torque, nm; omega-load angular velocity, rad/s.
The main parameters of the motor are shown in table 3 below.
TABLE 3
Speed reduction drive mechanism:
a) The transmission ratio is as follows: the speed reducer is not less than 400, two-stage transmission is adopted, the bevel gear reduction ratio is 4, the harmonic reduction ratio is 100, and the input shaft is vertical to the output shaft;
b) The work transmission efficiency is as follows: not less than 0.55;
c) Rated input rotation speed: not less than 9000rpm, maximum input speed: not less than 12000rpm;
d) Rated output torque: not less than 30 N.m;
e) Maximum output torque: not less than 40 N.m;
f) Instantaneous peak output torque: not less than 50 N.m;
g) Transmission precision: not greater than 0.1 °;
h) Output feedback requirements: the product output shaft should be able to provide an interface for mounting with a feedback potentiometer, with the function of transferring the position of the output shaft to the feedback potentiometer.
Five channels of the steering engine work independently, signal processing such as steering engine control correction network calculation and the like is completed according to respective instruction input signals from the RS422 and respective feedback signals from the magnetic encoding potentiometers, two channels of the channels are independently calculated and output and are completely independent from each other, and single-channel steering engine loop signal processing is shown in figure 3.
The steering engine is designed by adopting position single-loop feedback control, the steering engine control correction network also adopts PID control, less signal processing computing resources can be occupied through simpler control network and parameters, steering engine control with strong robustness and high precision under various load conditions is realized, a single-channel system loop overall simulation model is shown in figure 4, MATLAB is used for completing parameter transmission modeling of each module as shown in figure 5, open-loop simulation is carried out on designed network parameters as shown in figure 6, and the system control network parameters are determined to have enough design margins.
And carrying out closed-loop preliminary simulation on the established model by combining PID parameters, respectively carrying out sine instruction tracking simulation, step instruction tracking simulation and amplitude-frequency characteristic analysis simulation under the conditions of no load and load according to the index load requirement, and preliminarily determining that the operating point of the steering engine system has enough design margin through simulation, wherein the response index of the system meets the requirement, and the performance of the core component is proved to meet the design requirement.
The steering engine controller is controlled by an ARM single-chip microcomputer, a power drive integration design scheme is adopted, five steering engines are independently controlled by one single-chip microcomputer, a bus communication and power supply interface and a transmission mechanism interface are reserved outside the steering engine controller and are shown in figure 1 and are respectively used for communicating with an integrated controller and inputting power, feedback signals of a transmission mechanism are received, motor drive current is output, a core processor of the steering engine controller is the ARM single-chip microcomputer, an ADC (analog-to-digital converter) inside the ARM single-chip microcomputer is used for directly sampling magnetic coding potentiometers of the five steering engines, current steering deviation information is obtained in real time and is synthesized with angular position instructions received from an RS422 interface to form a PWM (pulse-width modulation) control signal of the steering engines through related algorithms, the PWM control signal is subjected to isolation drive to control a brushless motor integrated control chip to generate appropriate three-phase drive signals and is subjected to power amplification through a three-phase H bridge to drive the brushless direct current motor to rotate, the ARM single-chip feeds back the current steering deviation angular position signals to an elastic loading computer in real time through the RS422 interface, and the overall scheme of the controller is shown in figure 10.
The power system considers the requirements of system signal isolation and EMC, primary EMC filtering is carried out on the input stage of the control circuit B1, the post-stage of the filtered primary power supply is converted into a +5V power supply required by post-stage work by using a non-isolated DC-DC, the power supply supplies power to the Hall, the motor driving logic and the isolation circuit, in addition, the +5V power supply generated by the isolated DC-DC supplies power to the magnetic coding potentiometer after passing through an RC filter, two paths of 3.3V power supplies are respectively generated by the RC filter and the LDO voltage stabilizer and are respectively used as an analog power supply and a digital power supply (including being used for isolating RS 422) of the ARM single chip microcomputer, the input stage of the control circuit B1 generates a power supply to supply power to the motor driving circuit by using another path of the EMC filter, and the whole power system is as shown in figure 11.
Control software is arranged in the steering engine controller, RS422 receives command signals of an upper computer, collects steering engine angle feedback signals, completes control algorithm calculation according to the information, outputs PWM (pulse width modulation) signals with corresponding duty ratios to drive a power circuit, so that control over an actuating mechanism is realized, the operating state of the steering engine, the state information of key parts and a self-detection (BIT) result are uploaded in real time, a software configuration item adopts standard ASIC (application specific integrated circuit) design, and a necessary software development flow is followed in the process. The specific functions include:
1) Receiving a steering engine control instruction from a flight control system through a data bus;
2) Collecting a steering engine position feedback signal;
3) Completing the algorithm calculation of the rudder loop position ring;
4) Monitoring the state of the steering engine to form a steering engine detection BIT signal;
5) And the working state of the steering engine controller is returned to the flight control system through the bus.
The steering engine control software comprises a system initialization part, an information interaction part, a signal processing part, a model calculation part and the like, and is specifically described as follows:
initializing a system: the system comprises four functional modules, namely system initialization, equipment driving, interruption processing and hardware management, wherein the four functional modules are used for completing initialization of a steering engine controller and establishing a necessary environment for normal work of the steering engine controller, the equipment driving comprises a bus communication driving program, an AD driving program and a watchdog driving program and completing driving of external equipment and internal resources of the system, and the hardware management comprises hardware resource management (on-chip resource management and external equipment resource management) and fault signal management of the system;
information interaction: finishing instruction analysis and control algorithm calculation from the flight control system, and outputting a corresponding PWM control signal;
signal processing: completing independent calculation of a correction network of the five-path steering engine;
and (3) resolving a model: and comparing the position signal output by the steering engine and the control command output by the steering engine controller with the characteristic model of the steering engine loop, and monitoring whether the output of the steering engine controller is in fault.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings are only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides an unmanned aerial vehicle electric steering engine system which characterized in that: the unmanned aerial vehicle electric steering engine system is powered by a thermal battery on an unmanned aerial vehicle, the unmanned aerial vehicle electric steering engine system comprises a plurality of steering engines which are independently controlled, each steering engine respectively drags a control surface, each steering engine comprises a motor, an angular position sensor, a speed reduction transmission mechanism and a steering engine controller, a bus communication and power supply interface and a transmission mechanism interface are arranged outside the steering engine controller, the bus communication and power supply interface and the transmission mechanism interface on the steering engine controller are respectively connected with the unmanned aerial vehicle integrated controller, the motor and the angular position sensor through cables, the angular position sensor is arranged on an output shaft of each steering engine, the speed reduction transmission mechanism adopts any one of a common gear transmission mechanism, a planetary gear transmission mechanism, a harmonic gear transmission mechanism, a worm and gear transmission mechanism, a ball screw transmission mechanism and a gear pair and harmonic transmission mechanism, the steering engines adopt single-loop feedback control, and a control correction network in the steering engine controllers adopts PID control to independently control the plurality of steering engines.
2. The unmanned aerial vehicle electric steering engine system of claim 1, wherein: the motor adopts any one of a brushless direct current motor or a brush direct current motor.
3. The unmanned aerial vehicle electric steering engine system of claim 2, wherein: the motor adopts a brushless direct current motor.
4. The electric steering engine system for unmanned aerial vehicles according to claim 1, wherein: the angular position sensor adopts a magnetic coding potentiometer.
5. The unmanned aerial vehicle electric steering engine system of claim 1, wherein: the speed reduction transmission mechanism adopts a gear pair and a harmonic transmission mechanism, and the motor is subjected to speed reduction after passing through a gear and then is subjected to speed reduction output through a harmonic gear.
6. The electric steering engine system for unmanned aerial vehicles according to claim 5, wherein: the gear pair comprises a first gear arranged on the output shaft of the motor and a second gear meshed with the first gear, the specification and the size of the second gear are larger than those of the first gear, the harmonic transmission comprises a harmonic flexible gear coaxially fixedly connected with the second gear and a harmonic steel wheel matched with the harmonic flexible gear, and the harmonic steel wheel is fixedly connected with the output shaft of the steering engine.
7. The unmanned aerial vehicle electric steering engine system of claim 1, wherein: the steering engine controller is characterized in that an external interface comprises a 28V power supply connector and a communication connector, the 28V power supply connector is J30J-21ZK in model, the communication connector is G30J-15ZK in model, and the steering engine controller is provided with an RS422 bus interface.
8. The electric steering engine system for unmanned aerial vehicles according to claim 7, wherein: the core processor of the steering engine controller adopts an ARM single chip microcomputer, an ADC is arranged in the core processor, and the ARM single chip microcomputer forms PWM control signals to drive a motor after power amplification.
9. The electric steering engine system for unmanned aerial vehicles according to claim 8, wherein: the steering engine controller is internally provided with an external circuit, the external circuit comprises two paths of EMC filters, a non-isolated DC-DC converter, an RC filter and an LDO voltage stabilizer, wherein one path of EMC filter carries out primary EMC filtering on a control power supply, a post-stage of the filtered primary power supply is converted into a +5V power supply required by post-stage work by using the non-isolated DC-DC converter to supply power to the Hall, the motor driving logic and the isolated circuit, in addition, the +5V power supply generated by the isolated DC-DC converter is supplied power to the angular position sensor after passing through the RC filter, two paths of 3.3V power supplies are respectively generated by the RC filter and the LDO voltage stabilizer to be used as an analog power supply and a digital power supply of the ARM single chip microcomputer, and the other path of EMC filter carries out filtering on the control power supply to generate a power supply to supply power to the motor.
10. The electric steering engine system for unmanned aerial vehicles according to claim 9, wherein: the external circuit also comprises a power driving circuit, the power supply is input into the power driving circuit, the power driving circuit consists of an industrial motor control integrated circuit and a discrete three-phase H bridge, and the power driving circuit is internally provided with a dead zone control circuit and a current instant protection and power saving circuit.
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| CN113726187A (en) * | 2021-05-28 | 2021-11-30 | 南京熊猫电子股份有限公司 | Non-isolated single-phase alternating current voltage-stabilized power supply conversion device and control method thereof |
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