CN115583363B - Combined test method, device and medium for unmanned aerial vehicle motor and propeller - Google Patents
Combined test method, device and medium for unmanned aerial vehicle motor and propeller Download PDFInfo
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Abstract
The embodiment of the application provides a combined test method and device for a motor and a propeller of an unmanned aerial vehicle, a computer readable medium and electronic equipment. The combined test method of the unmanned aerial vehicle motor and the propeller comprises the following steps: the method comprises the steps of controlling the unmanned aerial vehicle to rotate by using a set motor rotating speed, driving the propellers to rotate, and acquiring the rotating speed corresponding to each propeller, the flying speed of the unmanned aerial vehicle in the same flying environment and the power consumption of a battery under the condition of running at the set motor rotating speed; determining flight performance parameters of the motor corresponding to the propeller based on the rotational speed, the flight speed and the power consumption; the target propeller matched with the motor is selected from the propellers based on the flight performance parameters, and the target propellers matched with the motor and the unmanned aerial vehicle are selected from the propellers, so that flight accidents can be avoided, the motor performance can be guaranteed to be exerted to the greatest extent, and the flight efficiency and the safety of the unmanned aerial vehicle in the flight process are improved.
Description
The application is a divisional application of a combined test method, a device and a medium of a unmanned aerial vehicle motor and a propeller, wherein the application number of China is 202210009773.0 and the application number of China is 2022, 01 and 06.
Technical Field
The application relates to the technical field of computers, in particular to a method, a device and a medium for testing the combination of an unmanned aerial vehicle motor and a propeller.
Background
In many unmanned aerial vehicle testing procedures, propellers tend to occupy a significant portion. The motor performance needs to be matched with the propeller so that the motor performance can exert the maximum purpose, and the propeller is too small to exert the maximum thrust; the propeller is too large, the motor is overheated, and the motor is demagnetized, so that the performance of the motor is permanently reduced. When flying under the condition that the motor and the propeller are not matched, the flying performance of the unmanned aerial vehicle is excessively consumed, and even flying danger occurs. Therefore, a way to perform a combination test on the unmanned aerial vehicle motor and the propeller is needed to avoid the problem of mismatch between the unmanned aerial vehicle motor and the propeller.
Disclosure of Invention
The embodiment of the application provides a combination test method, device and medium of unmanned aerial vehicle motor and screw, and then can avoid unmanned aerial vehicle motor and screw mismatch's problem at least to a certain extent.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned in part by the practice of the application.
According to an aspect of the embodiments of the present application, there is provided a method for testing a combination of a motor and a propeller of an unmanned aerial vehicle, including: controlling the rotation of an unmanned aerial vehicle motor by using a set motor rotation speed, and driving a propeller to rotate, wherein the propeller comprises at least two propellers with different pitches; under the condition that the set motor rotates at a speed, the rotating speed corresponding to each propeller, the flying speed of the unmanned aerial vehicle under the same flying environment and the power consumption of a battery are obtained; determining flight performance parameters of the motor corresponding to the propeller based on the rotational speed, the flight speed, and the power consumption; and selecting a target propeller which is most matched with the motor from the propellers based on the flight performance parameters.
In some embodiments of the present application, based on the foregoing solution, the controlling the rotation of the unmanned aerial vehicle motor at the set motor rotation speed and driving the propeller to rotate includes: controlling the unmanned aerial vehicle motor to rotate at a first rotation speed and driving the first propeller to rotate; the unmanned aerial vehicle motor is controlled to rotate at the first rotation speed and drives the second propeller to rotate, and the pitch of the second propeller is larger than that of the first propeller.
In some embodiments of the present application, based on the foregoing solutions, under the condition that the set motor rotates at a speed, acquiring a rotation speed corresponding to each propeller, a flight speed of the unmanned aerial vehicle in the same flight environment, and power consumption of the battery includes: when the rotation of the unmanned aerial vehicle motor is controlled by the set motor rotation speed, a first rotation speed corresponding to the first propeller, a first flight speed of the unmanned aerial vehicle under the same flight environment and first power consumption within preset flight time are obtained; and when the unmanned aerial vehicle motor is controlled to rotate at the set motor rotating speed, acquiring a second rotating speed corresponding to the second propeller, a second flying speed of the unmanned aerial vehicle under the same flying environment and second power consumption within the preset flying time.
In some embodiments of the present application, based on the foregoing solution, the determining, based on the rotational speed, the flight speed, and the power consumption, the flight performance parameter of the motor corresponding to the propeller includes: determining excitation parameters of the motor corresponding to the propeller based on the rotational speed and the flight speed; determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time; based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller is determined.
In some embodiments of the present application, based on the foregoing aspects, the determining, based on the rotational speed and the flight speed, an excitation parameter of the motor corresponding to the propeller includes: calculating a weighted speed between the rotational speed and the flight speed; an excitation parameter of the motor corresponding to the propeller is determined based on the weighted speed.
In some embodiments of the present application, based on the foregoing solution, the determining, based on the power consumption within a preset flight time, a consumption parameter of the motor corresponding to the propeller includes: determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time and a preset power factor.
In some embodiments of the present application, based on the foregoing aspects, the determining, based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller includes: and normalizing the excitation parameter and the consumption parameter, and determining the flight performance parameter of the motor corresponding to the propeller.
In some embodiments of the present application, based on the foregoing solution, the selecting, based on the flight performance parameter, a target propeller that is most matched with the motor from the propellers includes: selecting an optimal parameter from the flight performance parameters; and taking the propeller corresponding to the optimal parameter as a target propeller which is most matched with the motor.
According to an aspect of the embodiments of the present application, there is provided a combined test device for a motor and a propeller of an unmanned aerial vehicle, including: the rotating module is used for controlling the rotation of the unmanned aerial vehicle motor at a set motor rotation speed and driving the propeller to rotate, wherein the propeller comprises at least two propellers with different pitches; the acquisition module is used for acquiring the rotating speed corresponding to each propeller, the flying speed of the unmanned aerial vehicle in the same flying environment and the power consumption of the battery under the condition that the set motor rotates at the speed; the determining module is used for determining flight performance parameters of the motor corresponding to the propeller based on the rotation speed, the flight speed and the power consumption; and the matching module is used for selecting a target propeller which is most matched with the motor from the propellers based on the flight performance parameters.
In some embodiments of the present application, based on the foregoing solution, the controlling the rotation of the unmanned aerial vehicle motor at the set motor rotation speed and driving the propeller to rotate includes: controlling the unmanned aerial vehicle motor to rotate at a first rotation speed and driving the first propeller to rotate; the unmanned aerial vehicle motor is controlled to rotate at the first rotation speed and drives the second propeller to rotate, and the pitch of the second propeller is larger than that of the first propeller.
In some embodiments of the present application, based on the foregoing solutions, under the condition that the set motor rotates at a speed, acquiring a rotation speed corresponding to each propeller, a flight speed of the unmanned aerial vehicle in the same flight environment, and power consumption of the battery includes: when the rotation of the unmanned aerial vehicle motor is controlled by the set motor rotation speed, a first rotation speed corresponding to the first propeller, a first flight speed of the unmanned aerial vehicle under the same flight environment and first power consumption within preset flight time are obtained; and when the unmanned aerial vehicle motor is controlled to rotate at the set motor rotating speed, acquiring a second rotating speed corresponding to the second propeller, a second flying speed of the unmanned aerial vehicle under the same flying environment and second power consumption within the preset flying time.
In some embodiments of the present application, based on the foregoing solution, the determining, based on the rotational speed, the flight speed, and the power consumption, the flight performance parameter of the motor corresponding to the propeller includes: determining excitation parameters of the motor corresponding to the propeller based on the rotational speed and the flight speed; determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time; based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller is determined.
In some embodiments of the present application, based on the foregoing aspects, the determining, based on the rotational speed and the flight speed, an excitation parameter of the motor corresponding to the propeller includes: calculating a weighted speed between the rotational speed and the flight speed; an excitation parameter of the motor corresponding to the propeller is determined based on the weighted speed.
In some embodiments of the present application, based on the foregoing solution, the determining, based on the power consumption within a preset flight time, a consumption parameter of the motor corresponding to the propeller includes: determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time and a preset power factor.
In some embodiments of the present application, based on the foregoing aspects, the determining, based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller includes: and normalizing the excitation parameter and the consumption parameter, and determining the flight performance parameter of the motor corresponding to the propeller.
In some embodiments of the present application, based on the foregoing solution, the selecting, based on the flight performance parameter, a target propeller that is most matched with the motor from the propellers includes: selecting an optimal parameter from the flight performance parameters; and taking the propeller corresponding to the optimal parameter as a target propeller which is most matched with the motor.
According to an aspect of the embodiments of the present application, there is provided a computer readable medium having stored thereon a computer program which, when executed by a processor, implements a method of testing a combination of a drone motor and a propeller as described in the above embodiments.
According to an aspect of an embodiment of the present application, there is provided an electronic device including: one or more processors; and the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors are enabled to realize the combined test method of the unmanned aerial vehicle motor and the propeller.
According to an aspect of embodiments of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the combined test method of the unmanned aerial vehicle and the propeller provided in the above-described various alternative implementations.
In the technical schemes provided by some embodiments of the present application, the rotation of the unmanned aerial vehicle motor is controlled by the set motor rotation speed, and the propeller is driven to rotate, wherein the propeller comprises at least two propellers with different pitches; under the condition of setting the rotation speed of a motor to run, acquiring the corresponding rotation speed of each propeller, the flight speed of the unmanned aerial vehicle under the same flight environment and the power consumption of a battery; determining flight performance parameters of the motor corresponding to the propeller based on the rotational speed, the flight speed and the power consumption; the target propeller which is most matched with the motor is selected from the propellers based on the flight performance parameters, and the target propellers which are matched with the motor and the unmanned aerial vehicle are selected from the propellers, so that flight accidents can be avoided, the motor performance is guaranteed to be exerted to the greatest extent, and the flight efficiency and the safety of the unmanned aerial vehicle in the flight process are improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 schematically illustrates a flow chart of a method of testing a combination of a drone motor and a propeller according to one embodiment of the present application;
FIG. 2 schematically illustrates a flow chart of determining flight performance parameters according to one embodiment of the present application;
FIG. 3 schematically illustrates a schematic view of a combined test apparatus of a drone motor and propeller according to one embodiment of the present application;
fig. 4 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the aspects of the application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
The implementation details of the technical solutions of the embodiments of the present application are described in detail below:
fig. 1 shows a flowchart of a combined test method of a unmanned aerial vehicle motor and a propeller according to an embodiment of the present application, which includes at least steps S110 to S140, and is described in detail as follows:
in step S110, the rotation of the unmanned aerial vehicle motor is controlled by the set motor rotation speed, and the propeller is driven to rotate, wherein the propeller comprises at least two propellers with different pitches.
In one embodiment of the present application, we see the most contemporary multi-rotor drones in daily life. The multi-rotor unmanned aerial vehicle generally comprises four modules, including: the device comprises a remote control module, a video module, a flight control module and a power module. In view of cost and convenient use, an electric power system is commonly used in the miniature unmanned aerial vehicle, and a power device widely adopted by the large-sized, small-sized and light unmanned aerial vehicle at present is a piston engine system.
In practical applications, the operation of the multiaxial aircraft mainly depends on changing the rotation speed of a motor, so that each propeller generates different lifting forces to perform the operation. The screw is the main part that unmanned aerial vehicle produced thrust, and common many rotor unmanned aerial vehicle generally matches 4 screws, and two clockwise rotation, two anticlockwise rotations. Including a positive and negative paddle, the positive paddle being Counter-ClockWise (CCW) in top view and the negative paddle being ClockWise (CW) in top view. In an embodiment of the present application, each motor has its corresponding propeller, and the pitch of the propeller is either too long or too short for one motor to be viable.
The motor of unmanned aerial vehicle is the motor that we call at ordinary times, and unmanned aerial vehicle can turn into mechanical energy with the electric energy, drive the screw rotation to produce thrust guide unmanned aerial vehicle and rise or fly. The power motors used in micro-unmanned aerial vehicles can be divided into two categories: a brush motor and a brushless motor. Wherein, the brushless motor is that the brush inside does not rotate and is called a stator, and the permanent magnet outside rotates and is called a rotor; brush motors have gradually become unusable in the unmanned area due to their lower efficiency. The main differences in appearance between a brush motor and a brushless motor are: the brush motor is characterized in that an inner brush rotates to be called a rotor, and a stator is a permanent magnet which does not rotate outside. In addition, the brush motor is different from the brushless motor in that the brushless motor needs to be driven to rotate by alternating current, so that an electronic speed regulator needs to be connected to the outside of the motor, and the brush motor can operate by direct current.
In one embodiment of the present application, controlling rotation of the unmanned aerial vehicle motor at a set motor speed and driving rotation of the propeller includes:
controlling the unmanned aerial vehicle motor to rotate at a first rotation speed and driving the first propeller to rotate;
the unmanned aerial vehicle motor is controlled to rotate at the first rotation speed and drives the second propeller to rotate, and the pitch of the second propeller is larger than that of the first propeller.
In practical application, the technical indexes of the unmanned aerial vehicle motor are quite large, and two most relevant to the power characteristics of the unmanned aerial vehicle are the rotating speed and the power. The rotational speed is generally indicated by kV, i.e. the idle rotational speed per minute that can be reached per volt (V).
Specifically, in this embodiment, a fixed motor rotation speed or gear may be set, that is, the first rotation, by controlling the rotation of the unmanned aerial vehicle motor at the first rotation speed and driving the first propeller to rotate, and then controlling the rotation of the unmanned aerial vehicle motor at the first rotation speed and driving the second propeller to rotate, where the pitch of the second propeller is greater than that of the first propeller.
In the embodiment, the running conditions of the motors of the unmanned aerial vehicle are tested through the propellers with different pitches, so that the propellers which are matched with the motors of the unmanned aerial vehicle in a comparison mode can be found.
In step S120, under the condition that the set motor rotates at the speed, the rotation speed corresponding to each propeller, the flying speed of the unmanned aerial vehicle in the same flying environment, and the power consumption of the battery are obtained.
In one embodiment of the present application, under the condition that the set motor rotates at a speed, the flight conditions of the propellers with various pitches are detected by obtaining the corresponding rotation speed of each propeller, the flight speed of the unmanned aerial vehicle in the same flight environment, and the power consumption of the battery.
In an embodiment of the present application, under the condition that the set motor rotates at a speed, obtaining a rotation speed corresponding to each propeller, a flight speed of the unmanned aerial vehicle in the same flight environment, and power consumption of a battery, includes:
when the rotation of the unmanned aerial vehicle motor is controlled by the set motor rotation speed, a first rotation speed corresponding to the first propeller, a first flight speed of the unmanned aerial vehicle under the same flight environment and first power consumption within preset flight time are obtained;
and when the unmanned aerial vehicle motor is controlled to rotate at the set motor rotating speed, acquiring a second rotating speed corresponding to the second propeller, a second flying speed of the unmanned aerial vehicle under the same flying environment and second power consumption within the preset flying time.
In the embodiment, flight tests can be performed on the unmanned aerial vehicle motor through the propellers with different pitches, so that a first rotating speed, a first flight speed and first power consumption corresponding to the first propeller are obtained; then obtaining a second rotating speed, a second flying speed and second power consumption corresponding to the second propeller; in addition, a third rotation speed, a third flight speed, a third power consumption, and the like corresponding to the third propeller may be obtained, which is not limited herein.
Specifically, in this embodiment, corresponding data may be detected by installing a sensor in the unmanned aerial vehicle, so as to ensure real-time performance of data acquisition.
In step S130, a flight performance parameter of the motor corresponding to the propeller is determined based on the rotational speed, the flight speed, and the power consumption.
In one embodiment of the present application, after the rotational speed, the flight speed, and the power consumption corresponding to each pitch are obtained, the flight performance parameter of the motor corresponding to the propeller is determined based on the rotational speed, the flight speed, and the power consumption. In this embodiment, the flight performance parameter is used to represent a flight state in which the unmanned aerial vehicle is driven by the unmanned aerial vehicle motor to fly under the condition of installing the current propeller.
In one embodiment of the present application, as shown in fig. 2, determining the flight performance parameter of the motor corresponding to the propeller based on the rotation speed, the flight speed, and the power consumption includes:
s210, determining excitation parameters of the motor corresponding to the propeller based on the rotation speed and the flying speed;
s220, determining consumption parameters of the motor corresponding to the propeller based on the power consumption within a preset flight time;
s230, determining flight performance parameters of the motor corresponding to the propeller based on the excitation parameters and the consumption parameters.
In an embodiment of the present application, the rotation speed is used to indicate that the current motor drives the rotation condition of the propeller, for example, if the motor has the ability to drive to fly under the condition of overlarge screw pitch, and the difference of the screw pitch and the weight of the propeller also affects the flying speed, so that different power consumption is caused under the same time or the same distance, so in this embodiment, the matching condition of the propeller and the motor is comprehensively determined through the flight performance parameter.
In one embodiment of the application, determining excitation parameters of the motor corresponding to the propeller based on the rotational speed and the flight speed comprises:
calculating a weighted speed between the rotational speed and the flight speed;
determining excitation parameters of the motor corresponding to the propeller based on the weighted speeds;
specifically, after the rotational speed spe_rot and the flying speed spe_fli are acquired, the weighted speed between the rotational speed and the flying speed spe_wei is calculated as:
Spe_wei＝α·Spe_rot+β·Spe_fli
wherein alpha and beta are used for representing preset weighting factors;
then, the excitation parameter of the motor corresponding to the propeller is determined as par_exc based on the weighted speed:
par_exc＝log 2 (α·Spe_rot+β·Spe_fli)
in this embodiment, the forward feedback of the propeller to the kinetic energy of the motor is measured by the rotational speed and the flying speed, and the rotational speed and the flying speed, that is, the excitation parameters are integrated to measure the influence of the propeller to the speed based on the excitation parameters. The higher the excitation parameters are, the stronger the suitability of the current propeller for the motor is.
In one embodiment of the present application, determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time comprises:
determining a consumption parameter par_con of the motor corresponding to the propeller based on a power consumption pow_con within a preset flight time and a preset power factor lambda:
par_con＝λ·log 2 pow_con
alternatively, the power consumption in the present embodiment may be within a predetermined flight distance.
In this embodiment, negative consumption of the motor kinetic energy by the propeller is measured by the consumption parameter, so that the consumption influence of the propeller on the unmanned aerial vehicle is measured based on the consumption parameter. When the consumption in the negative direction is higher, the current motor and the unmanned aerial vehicle can not bear the propeller, and the propeller becomes the burden of the motor and the unmanned aerial vehicle to fly.
In one embodiment of the present application, determining a flight performance parameter of the motor corresponding to the propeller based on the excitation parameter and the consumption parameter comprises:
normalizing the excitation parameter par_exc and the consumption parameter pow_con, and determining that the flight performance parameter of the motor corresponding to the propeller is par_fli:
par_fli＝η·par_exc+μ·pow_con
in the embodiment, flight performance parameters are calculated through the mode, so that excitation parameters and consumption parameters corresponding to propellers with different pitches are comprehensively considered, and a balance is found between the speed and the power consumption to ensure reliable operation of the motor.
In step S140, a target propeller that best matches the motor is selected from among the propellers based on the flight performance parameter.
In one embodiment of the present application, after the flight performance parameter is determined, a target propeller that best matches the motor is selected from among the propellers based on the flight performance parameter. Namely selecting an optimal parameter from flight performance parameters; and taking the propeller corresponding to the optimal parameter as a target propeller which is most matched with the motor.
According to the mode, the unmanned aerial vehicle is controlled to rotate by the set motor rotating speed, the propellers are driven to rotate, and the rotating speeds corresponding to the propellers, the flying speed of the unmanned aerial vehicle under the same flying environment and the power consumption of the battery are obtained under the condition that the set motor rotating speed operates; determining flight performance parameters of the motor corresponding to the propeller based on the rotational speed, the flight speed and the power consumption; the target propeller which is most matched with the motor is selected from the propellers based on the flight performance parameters, and the target propellers which are matched with the motor and the unmanned aerial vehicle are selected from the propellers, so that flight accidents can be avoided, the motor performance is guaranteed to be exerted to the greatest extent, and the flight efficiency and the safety of the unmanned aerial vehicle in the flight process are improved.
The following describes an embodiment of the apparatus of the present application, which may be used to perform the method for testing the combination of the unmanned aerial vehicle motor and the propeller in the above-described embodiments of the present application. It will be appreciated that the apparatus may be a computer program (including program code) running in a computer device, for example the apparatus being an application software; the device can be used for executing corresponding steps in the method provided by the embodiment of the application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to an embodiment of a method for testing a combination of a motor and a propeller of a unmanned aerial vehicle.
Fig. 3 shows a block diagram of a combined test device of a drone motor and propeller according to one embodiment of the present application.
Referring to fig. 3, a combined test apparatus 300 for a motor and propeller of a unmanned aerial vehicle according to an embodiment of the present application includes:
the rotating module 310 is configured to control the rotation of the unmanned aerial vehicle motor at a set motor rotation speed and drive the propeller to rotate, where the propeller includes at least two propellers with different pitches; the obtaining module 320 is configured to obtain a rotational speed corresponding to each propeller, a flight speed of the unmanned aerial vehicle in the same flight environment, and power consumption of the battery when the set motor rotates at the same rotational speed; a determining module 330 for determining flight performance parameters of the motor corresponding to the propeller based on rotational speed, flight speed, and power consumption; and the matching module 340 is used for selecting a target propeller which is most matched with the motor from the propellers based on the flight performance parameters.
In some embodiments of the present application, based on the foregoing solution, the controlling the rotation of the unmanned aerial vehicle motor at the set motor rotation speed and driving the propeller to rotate includes: controlling the unmanned aerial vehicle motor to rotate at a first rotation speed and driving the first propeller to rotate; the unmanned aerial vehicle motor is controlled to rotate at the first rotation speed and drives the second propeller to rotate, and the pitch of the second propeller is larger than that of the first propeller.
In some embodiments of the present application, based on the foregoing solutions, under the condition that the set motor rotates at a speed, acquiring a rotation speed corresponding to each propeller, a flight speed of the unmanned aerial vehicle in the same flight environment, and power consumption of the battery includes: when the rotation of the unmanned aerial vehicle motor is controlled by the set motor rotation speed, a first rotation speed corresponding to the first propeller, a first flight speed of the unmanned aerial vehicle under the same flight environment and first power consumption within preset flight time are obtained; and when the unmanned aerial vehicle motor is controlled to rotate at the set motor rotating speed, acquiring a second rotating speed corresponding to the second propeller, a second flying speed of the unmanned aerial vehicle under the same flying environment and second power consumption within the preset flying time.
In some embodiments of the present application, based on the foregoing solution, the determining, based on the rotational speed, the flight speed, and the power consumption, the flight performance parameter of the motor corresponding to the propeller includes: determining excitation parameters of the motor corresponding to the propeller based on the rotational speed and the flight speed; determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time; based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller is determined.
In some embodiments of the present application, based on the foregoing aspects, the determining, based on the rotational speed and the flight speed, an excitation parameter of the motor corresponding to the propeller includes: calculating a weighted speed between the rotational speed and the flight speed; an excitation parameter of the motor corresponding to the propeller is determined based on the weighted speed.
In some embodiments of the present application, based on the foregoing solution, the determining, based on the power consumption within a preset flight time, a consumption parameter of the motor corresponding to the propeller includes: determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time and a preset power factor.
In some embodiments of the present application, based on the foregoing aspects, the determining, based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller includes: and normalizing the excitation parameter and the consumption parameter, and determining the flight performance parameter of the motor corresponding to the propeller.
In some embodiments of the present application, based on the foregoing solution, the selecting, based on the flight performance parameter, a target propeller that is most matched with the motor from the propellers includes: selecting an optimal parameter from the flight performance parameters; and taking the propeller corresponding to the optimal parameter as a target propeller which is most matched with the motor.
According to the mode, the unmanned aerial vehicle is controlled to rotate by the set motor rotating speed, the propellers are driven to rotate, and the rotating speeds corresponding to the propellers, the flying speed of the unmanned aerial vehicle under the same flying environment and the power consumption of the battery are obtained under the condition that the set motor rotating speed operates; determining flight performance parameters of the motor corresponding to the propeller based on the rotational speed, the flight speed and the power consumption; the target propeller which is most matched with the motor is selected from the propellers based on the flight performance parameters, and the target propellers which are matched with the motor and the unmanned aerial vehicle are selected from the propellers, so that flight accidents can be avoided, the motor performance is guaranteed to be exerted to the greatest extent, and the flight efficiency and the safety of the unmanned aerial vehicle in the flight process are improved.
Fig. 4 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.
It should be noted that, the computer system 400 of the electronic device shown in fig. 4 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 4, the computer system 400 includes a central processing unit (Central Processing Unit, CPU) 401 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 402 or a program loaded from a storage section 408 into a random access Memory (Random Access Memory, RAM) 403. In the RAM 403, various programs and data required for the system operation are also stored. The CPU 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An Input/Output (I/O) interface 405 is also connected to bus 404.
The following components are connected to the I/O interface 405: an input section 406 including a keyboard, a mouse, and the like; an output portion 407 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, a speaker, and the like; a storage section 408 including a hard disk or the like; and a communication section 409 including a network interface card such as a LAN (Local Area Network ) card, a modem, or the like. The communication section 409 performs communication processing via a network such as the internet. The drive 410 is also connected to the I/O interface 405 as needed. A removable medium 411 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 410 as needed, so that a computer program read therefrom is installed into the storage section 408 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 409 and/or installed from the removable medium 411. When executed by a Central Processing Unit (CPU) 401, performs the various functions defined in the system of the present application.
It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
According to one aspect of the present application, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions are read from the computer-readable storage medium by a processor of a computer device, and executed by the processor, cause the computer device to perform the methods provided in the various alternative implementations described above.
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to implement the methods described in the above embodiments.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit, in accordance with embodiments of the present application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware. Thus, the technical solution according to the embodiments of the present application may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (may be a CD-ROM, a usb disk, a mobile hard disk, etc.) or on a network, and includes several instructions to cause a computing device (may be a personal computer, a server, a touch terminal, or a network device, etc.) to perform the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains.
It is to be understood that the present application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (8)
1. A method for testing a combination of an unmanned aerial vehicle and a propeller, comprising:
controlling the rotation of an unmanned aerial vehicle motor by using a set motor rotation speed, and driving a propeller to rotate, wherein the propeller comprises at least two propellers with different pitches;
under the condition that the set motor rotates at a speed, the rotating speed corresponding to each propeller, the flying speed of the unmanned aerial vehicle under the same flying environment and the power consumption of a battery are obtained;
determining flight performance parameters of the motor corresponding to the propeller based on the rotational speed, the flight speed, and the power consumption;
selecting a target propeller which is most matched with the motor from the propellers based on the flight performance parameters;
determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time, comprising:
determining a consumption parameter par_con of the motor corresponding to the propeller based on a power consumption pow_con within a preset flight time and a preset power factor lambda:
par_con＝λ·log 2 pow_con。
2. the method of claim 1, wherein determining a flight performance parameter of the motor corresponding to the propeller based on rotational speed, flight speed, and power consumption comprises:
determining excitation parameters of the motor corresponding to the propeller based on the rotational speed and the flight speed;
determining a consumption parameter of the motor corresponding to the propeller based on the power consumption within a preset flight time;
based on the excitation parameter and the consumption parameter, a flight performance parameter of the motor corresponding to the propeller is determined.
3. The method of claim 1, wherein determining excitation parameters of the motor corresponding to the propeller based on the rotational speed and the flight speed comprises:
calculating a weighted speed between the rotational speed and the flight speed;
an excitation parameter of the motor corresponding to the propeller is determined based on the weighted speed.
4. The method of claim 2, wherein determining a flight performance parameter of the motor corresponding to the propeller based on the excitation parameter and the consumption parameter comprises:
and normalizing the excitation parameter and the consumption parameter, and determining the flight performance parameter of the motor corresponding to the propeller.
5. The method of claim 1, wherein selecting a target propeller from the propellers that best matches the motor based on the flight performance parameter comprises:
selecting an optimal parameter from the flight performance parameters;
and taking the propeller corresponding to the optimal parameter as a target propeller which is most matched with the motor.
6. A combined test device for an unmanned aerial vehicle motor and propeller, comprising:
the rotating module is used for controlling the rotation of the unmanned aerial vehicle motor at a set motor rotation speed and driving the propeller to rotate, wherein the propeller comprises at least two propellers with different pitches;
the acquisition module is used for acquiring the rotating speed corresponding to each propeller, the flying speed of the unmanned aerial vehicle in the same flying environment and the power consumption of the battery under the condition that the set motor rotates at the speed;
the determining module is used for determining flight performance parameters of the motor corresponding to the propeller based on the rotation speed, the flight speed and the power consumption;
the matching module is used for selecting a target propeller which is most matched with the motor from the propellers based on the flight performance parameters;
the determining module is further configured to determine, based on the power consumption within a preset flight time, a consumption parameter of the motor corresponding to the propeller, including:
determining a consumption parameter par_con of the motor corresponding to the propeller based on a power consumption pow_con within a preset flight time and a preset power factor lambda:
par_con＝λ·log 2 pow_con。
7. a computer readable medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements a combined test method of a drone motor and propeller according to any one of claims 1 to 5.
8. An electronic device, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the combined test method of a drone motor and propeller as claimed in any one of claims 1 to 5.
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| CN202211118509.7A CN115583363B (en) | 2022-01-06 | 2022-01-06 | Combined test method, device and medium for unmanned aerial vehicle motor and propeller |
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| CN114348296A (en) | 2022-04-15 |
| CN115583363A (en) | 2023-01-10 |
| CN114348296B (en) | 2022-10-14 |
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