CN117060815B - Motor temperature indirect measurement method - Google Patents
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- CN117060815B CN117060815B CN202311321716.7A CN202311321716A CN117060815B CN 117060815 B CN117060815 B CN 117060815B CN 202311321716 A CN202311321716 A CN 202311321716A CN 117060815 B CN117060815 B CN 117060815B
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- 238000000691 measurement method Methods 0.000 title claims abstract description 13
- 238000012360 testing method Methods 0.000 claims abstract description 75
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 32
- 238000000034 method Methods 0.000 claims abstract description 19
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 8
- 238000004891 communication Methods 0.000 claims abstract description 7
- 230000036541 health Effects 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 6
- 239000000523 sample Substances 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 4
- 230000017525 heat dissipation Effects 0.000 claims description 4
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000004804 winding Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000010438 heat treatment Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
- 230000002596 correlated effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
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- 229910052802 copper Inorganic materials 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
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- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Power Engineering (AREA)
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- General Physics & Mathematics (AREA)
Abstract
The invention discloses a motor temperature indirect measurement method, which comprises the following steps: determining a testing tension range, dividing the testing tension range into a plurality of equal parts for testing, and measuring the temperature of the motor and the electric temperature after the testing time is over; acquiring a temperature measurement model based on the motor temperature and the electric temperature; detecting the current electric temperature, and substituting the current electric temperature into a temperature measurement model to measure the temperature of the motor; wherein the temperature measurement model isThe method comprises the steps of carrying out a first treatment on the surface of the According to the invention, under the condition that the structural connection of the existing motor electric regulator is not changed, the temperature of the motor is estimated and measured by utilizing the temperature of the motor electric regulator, and then the obtained motor temperature is used as motor over-temperature protection logic, so that the reliability of the system is effectively improved, and meanwhile, the motor temperature can be sent to a flight control or remote controller end through a communication interface, thereby facilitating the user to see the health condition of the whole power system.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a motor temperature indirect measurement method.
Background
The unmanned aerial vehicle electric motor is an important component of an unmanned aerial vehicle power system, and the flight stability and safety of the unmanned aerial vehicle are directly influenced by power performance and various protection strategies.
The electric regulator is composed of an electronic circuit, so that the temperature sensor is convenient to integrate, and the temperature of the electric regulator can be directly measured;
and the permanent magnet synchronous motor usually leads out 3 motor wires, connects the electricity and transfers, if motor installation temperature sensor, can increase the connection reliability of temperature measurement line to and increase the motor complexity, so all do not have the temperature detection function basically on the unmanned aerial vehicle at present. This condition, if met with extreme conditions, can cause motor damage due to excessive motor temperature.
In the prior art, a temperature sensor is arranged for a motor, the problems of complexity and connection reliability of a temperature measuring line are increased, if the temperature of the motor is not obtained by electric regulation, the motor cannot be over-temperature protected, and the overall reliability of a power system is reduced.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide the motor temperature indirect measurement method, and the motor over-temperature protection strategy is satisfied through temperature indirect measurement, so that the risk of high-temperature burnout of the motor is greatly reduced.
In order to solve the technical problems, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for indirectly measuring a temperature of a motor, comprising:
determining a testing tension range, dividing the testing tension range into a plurality of equal parts for testing, and measuring the temperature of the motor and the electric temperature after the testing time is over;
acquiring a temperature measurement model based on the motor temperature and the electric temperature;
detecting the current electric temperature, and substituting the current electric temperature into a temperature measurement model to measure the temperature of the motor;
wherein the temperature measurement model is；
Wherein:
the temperature of the electric regulator itself;
for the estimated motor temperature;
are all constants;
the test time was 10min.
Preferably, the test tension ranges from 5Kg to 12Kg;
the test environment temperature is S1, S2, S3 n Between each stage of test temperatureThe separation threshold is 5 ℃, and the test times are n;
wherein, test temperature:
S n =n*5；
units: degrees celsius.
Preferably, the test is performed by dividing the tension range into a plurality of equal parts, and the temperature of the motor and the temperature of the electric regulator are measured after the test is finished, and the method specifically comprises the following steps:
different groups are set according to the test temperature, after each group of temperature test groups are finished, the motor temperature and the electric temperature are recorded, the motor temperature and the electric temperature under different tensile forces of each group are made into a table, and a temperature measurement model is obtained by utilizing polynomial fittingAnd a constant A, B, C.
Preferably, when the temperature measurement model is obtained by using polynomial fitting, the method further includes:
according to the test temperature S n Generates different constants A, B, C, and each set of constants A, B, C and test temperature S n And matching one by one.
Preferably, the measuring the temperature of the motor and the electrically adjusting the temperature include:
the motor and the electric regulator are arranged below the propeller, and strong convection heat dissipation is carried out on the motor and the electric regulator through wind power generated by the propeller;
the temperature measuring probe is arranged on the motor winding and is connected with the temperature measuring instrument, the temperature of the motor is read through the temperature measuring instrument, the temperature of the electric motor is obtained through the temperature measuring function of the electric motor, and the temperature of the electric motor is read through the communication interface and the upper computer.
Preferably, when the temperature measurement model measures the temperature of the motor based on the current electric temperature substitution, the method further comprises:
detecting the working temperature of the motor, and executing the following operations according to the working temperature of the motor:
when the working temperature of the motor reaches the same as the test temperature Sn, the motor is at the same temperature as the test temperature S n One-to-one matching constant A, B, C is substituted into temperature measurement modelIs a kind of medium.
Preferably, the method further comprises:
before measuring the temperature of the motor, setting a motor over-temperature protection algorithm, and after measuring the temperature of the motor, protecting the motor by adopting the motor over-temperature protection algorithm;
the motor over-temperature protection algorithm comprises the following steps:
acquiring a motor temperature Tm, a maximum current upper limit IMAX, an actual current upper limit ILIMT, a temperature protection starting point Ts and a temperature protection ending point To;
comparing the temperature of the motor with the over-temperature protection termination point, and executing the following operations according to the comparison result:
the temperature of the motor is less than the over-temperature protection termination point,；
the temperature of the motor is greater than or equal to the over-temperature protection termination point,wherein: ILIMT (ILIMT)>0。
In a second aspect, the present invention also provides a motor temperature indirect measurement system, comprising:
the detection module is used for detecting the current electric temperature;
the measuring module is internally loaded with a temperature measuring model and is used for substituting the detected current electric temperature into the temperature measuring model to obtain the temperature of the motor;
the signal transmission module is used for sending the acquired motor temperature signal to a flight control or remote controller end and observing the health condition of the unmanned aerial vehicle power system;
and the over-temperature protection module is internally loaded with an over-temperature protection algorithm and is used for limiting the actual output current and reducing the power consumption when the temperature of the motor is over-high.
In a third aspect, the present invention also provides a computer device comprising a processor, a memory coupled to the processor, the memory having stored therein program instructions which, when executed by the processor, cause the processor to perform the steps of the motor temperature indirect measurement method as described above.
In a fourth aspect, the present invention also provides a storage medium storing program instructions capable of implementing the motor temperature indirect measurement method as described above.
The invention has the beneficial effects that:
1. according to the invention, under the condition that the structural connection of the existing electric motor is not changed, the temperature of the motor is estimated and measured by utilizing the temperature of the electric motor, and then the obtained motor temperature is used as motor over-temperature protection logic, so that the reliability of the system is effectively improved, and meanwhile, the motor temperature can be sent to a flight control or remote controller end through a communication interface, thereby being convenient for a user to see the health condition of the whole power system;
2. according to the invention, after the temperature of the motor exceeds the set threshold, the actual output current is limited, so that the power consumption is reduced, and the service life of the motor is effectively prolonged;
3. according to the invention, the motor temperature can be indirectly detected by acquiring the external environment temperature and selecting different constants A, B, C, so that the influence of the external environment temperature on the motor temperature detection accuracy is avoided, and the motor temperature detection accuracy is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of the motor temperature indirect measurement method of the invention.
Fig. 2 is a schematic flow chart of the actual measurement step of measuring the temperature of the motor according to embodiment 2 of the present invention.
Fig. 3 is a simplified model schematic of the unmanned aerial vehicle power system of the present invention.
Fig. 4 is a schematic diagram of a power pack structure of the unmanned aerial vehicle of the present invention.
Fig. 5 is a polynomial fit diagram of an embodiment of the present invention.
FIG. 6 is a second polynomial fit according to an embodiment of the present invention.
Fig. 7 is a third polynomial fit map according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
indirect temperature measurement principle of electric motor:
the electric temperature rise is mainly caused by heating of the power switch tube, the heating loss is mainly divided into conduction loss and switching loss, and the motor line current is I, so that the electric temperature rise can be simplified into: pe=a×i 2 +b.i+c. The main heating loss of the motor comprises copper loss and iron loss, and can be simplified into: pm=a×i 2 +B*I+C。
Therefore, the obtained electricity is basically the same as the heating model of the motor, and the current I is consistent, so that the temperature of the motor is positively correlated with the temperature of the electricity.
The electric motor and the electric motor are usually installed in the same environment, the installation relative position is determined, the environment temperature is the same, and the heat dissipation is in the same air convection environment, so the heat transfer coefficients of the electric motor and the electric motor are positively correlated
As shown in fig. 1 to 3, the present invention provides a motor temperature indirect measurement method, comprising:
determining a test tension range;
specifically, the test tension range is 5-12Kg;
dividing the tension range into a plurality of equal parts for testing, and measuring the temperature of the motor and the temperature of the electric regulator after the testing time is over;
acquiring a temperature measurement model based on the motor temperature and the electric temperature;
detecting the current electric temperature, and substituting the current electric temperature into a temperature measurement model to measure the temperature of the motor;
wherein the temperature measurement model is；
Wherein:
the temperature of the electric regulator itself;
for the estimated motor temperature;
are all constants;
the test time was 10min.
In the present embodiment, for example: for a motor with a maximum pressure of 20Kg, the test tension is in the range of 4-14Kg;
the test environment temperature was S1, S2, S3 n The interval threshold value of the temperature of each section of test environment is 5 ℃, the temperature of the motor basically tends to be stable after 10 minutes of test, and the test frequency is n;
wherein, test temperature:
S n =n*5；
units: degrees celsius;
more specifically, in the test, the test time can be ten minutes, namely, the temperature of the motor is tested once after the motor works for ten minutes under different tensile forces and at the same temperature, and the number of times of testing the temperature of the motor can be freely selected according to actual conditions.
Meanwhile, a plurality of equal parts are distributed in the tensile force range for testing, and the temperature of the motor and the temperature of the electric regulator are measured after the testing is finished, and the method specifically comprises the following steps:
different groups are set according to the test temperature, after each group of temperature test groups are finished, the motor temperature and the electric temperature are recorded, the motor temperature and the electric temperature under different tensile forces of each group are made into a table, and a temperature measurement model is obtained by utilizing polynomial fittingAnd a constant A, B, C.
In this embodiment, specifically, when the temperature measurement model is obtained by using polynomial fitting, the method further includes:
according to the test temperature S n Generates different constants A, B, C, and each set of constants A, B, C and test temperature S n And matching one by one.
In this embodiment, as shown in fig. 3, a simplified model diagram of an unmanned aerial vehicle power system is shown, and the temperature of a motor can be measured by using temperature estimation of the electric power regulator without changing structural connection of the existing electric power regulator, and then the obtained motor temperature can be used as motor over-temperature protection logic, so that the reliability of the system is effectively increased. Meanwhile, the motor temperature can be sent to a flight control or remote controller end through a communication interface, so that the health condition of the whole power system can be conveniently seen for a user.
In this embodiment, specifically, when measuring the temperature of the motor and the temperature of the electric motor, the method includes:
as shown in fig. 4, the existing 10 kg-pull unmanned aerial vehicle power suit is provided with a motor and an electric regulator which are both arranged below a propeller, and the motor and the electric regulator perform strong convection heat dissipation through wind power generated by the propeller;
the temperature measuring probe is arranged on the motor winding and is connected with the temperature measuring instrument, the temperature of the motor is read through the temperature measuring instrument, the temperature of the electric motor is obtained through the temperature measuring function of the electric motor, and the temperature of the electric motor is read through the communication interface and the upper computer.
In this embodiment, specifically, in order to improve measurement accuracy, when substituting the temperature measurement model based on the current electric temperature and measuring the motor temperature, still include:
detecting the working temperature of the motor, and executing the following operations according to the working temperature of the motor:
when the working temperature of the motor reaches the same as the test temperature Sn, the motor is at the same temperature as the test temperature S n One-to-one matching constant A, B, C is substituted into temperature measurement modelIs a kind of medium.
In the embodiment, specifically, in order to improve the service life of the motor, before measuring the temperature of the motor, a motor over-temperature protection algorithm is set, and after measuring the temperature of the motor, the motor is protected by adopting the motor over-temperature protection algorithm;
the motor over-temperature protection algorithm comprises the following steps:
acquiring a motor temperature Tm, a maximum current upper limit IMAX, an actual current upper limit ILIMT, a temperature protection starting point Ts and a temperature protection ending point To;
comparing the temperature of the motor with the over-temperature protection termination point, and executing the following operations according to the comparison result:
the temperature of the motor is less than the over-temperature protection termination point,；
the temperature of the motor is greater than or equal to the over-temperature protection termination point,wherein: ILIMT (ILIMT)>0。
In a second aspect, the present invention also provides a motor temperature indirect measurement system, comprising:
the detection module is used for detecting the current electric temperature;
the measuring module is internally loaded with a temperature measuring model and is used for substituting the detected current electric temperature into the temperature measuring model to obtain the temperature of the motor;
the signal transmission module is used for sending the acquired motor temperature signal to a flight control or remote controller end and observing the health condition of the unmanned aerial vehicle power system;
and the over-temperature protection module is internally loaded with an over-temperature protection algorithm and is used for limiting the actual output current and reducing the power consumption when the temperature of the motor is over-high.
In a third aspect, the present invention also provides a computer device comprising a processor, a memory coupled to the processor, the memory having stored therein program instructions which, when executed by the processor, cause the processor to perform the steps of the motor temperature indirect measurement method as described above.
In a fourth aspect, the present invention also provides a storage medium storing program instructions capable of implementing the motor temperature indirect measurement method as described above.
Example 2:
the invention also provides an embodiment for measuring the temperature of the motor of the unmanned aerial vehicle by adopting the method of the embodiment 1, which comprises the following steps:
s1, as shown in FIG. 2, determining a testing tension range of 5-12Kg, wherein the testing environment temperature is divided into three groups of 25 ℃, 30 ℃ and 35 ℃, and 20 equal parts are separated in the tension range in each group of testing temperatures for testing;
s2, recording the motor temperature Tm and the electric tuning return temperature Te, making 20 groups of temperatures Tm and Te under different tensile forces into an Excel table, and then utilizing polynomial fitting to obtain a constant A, B, C;
the electric tone utilization formula is；
Wherein the test temperatures are three sets corresponding to three sets of constants A, B, C, respectively, wherein the three sets of constants are named CS1, CS2, and CS3, respectively;
s3, storing the obtained three groups of constants A, B, C into an MCU chip arranged in the electric regulator;
s4, in the flight process of the unmanned aerial vehicle, detecting the temperature of the electric control by a temperature sensor in the electric control, calculating the flight time (motor working time) of the unmanned aerial vehicle by a timing module stored in an MCU (micro control unit) chip in the electric control, and determining which set of constants A, B, C to use according to the flight time of the unmanned aerial vehicle;
for example, when the environmental temperature of the unmanned aerial vehicle is 25 ℃, the first set of constants A, B, C is used, namely CS1 is loaded, when the environmental temperature of the unmanned aerial vehicle is more than 25 ℃ but less than 30 ℃, the first set of constants A, B, C are still adopted, when the environmental temperature of the unmanned aerial vehicle is 30 ℃, the second set of constants A, B, C are adopted, and so on;
s5, substituting the acquired electric temperature into a temperature measurement modelObtaining the temperature of a motor;
s6, sending a motor temperature signal to a flight control (flight control end) or a remote controller end through a communication interface (signal transmission module), so that the user can conveniently see the health condition of the whole power system;
s7, limiting the actual output current and reducing the power consumption when the temperature of the motor is too high by an over-temperature protection algorithm through the over-temperature protection module;
namely: when the detected motor temperature is higher than a set protection value, limiting the actual output current of the current by reducing the upper limit of the electric regulating output current, thereby reducing the power consumption, and selecting the following current limiting strategy in order to achieve the inverse proportion relation between the output current and the motor temperature:
the motor over-temperature protection algorithm comprises the following steps:
acquiring a motor temperature Tm, a maximum current upper limit IMAX, an actual current upper limit ILIMT, a temperature protection starting point Ts and a temperature protection ending point To;
comparing the temperature of the motor with the over-temperature protection termination point, and executing the following operations according to the comparison result:
the temperature of the motor is less than the over-temperature protection termination point,；
the temperature of the motor is greater than or equal to the over-temperature protection termination point,wherein: ILIMT (ILIMT)>0；
For example, the protection strategy can enable the upper limit of the output current to change linearly with the temperature, the motor rotation speed adjustment is not affected by larger fluctuation, the output power can be reduced more slowly when the over-temperature occurs, and the system risk is effectively reduced.
For example: the maximum current upper limit of the electric regulation is 150A, the temperature protection starting point is set to be 100 ℃, and the temperature protection ending point is set to be 120 ℃. When the actual temperature of the motor reaches 110 ℃, the upper limit of the current actually controlled is 150 (120-110)/(120-100) =75a, and when the temperature reaches 120 ℃, the upper limit of the current is 0A, namely the output is closed, so that the actual output current of the current is limited, and the power consumption is reduced;
example 3:
the invention also provides a method for calculating the temperature measurement model asAn example of a medium constant A, B, C is as follows:
the test pulling force ranges from 5Kg to 12Kg;
the first set of test temperatures is; 25 DEG C
Dividing the sample into 15 equal parts in the tensile force range for testing;
the test results are shown in table 1:
acquiring a constant A, B, C by using a polynomial fitting mode through the acquired motor temperature and the electric temperature;
the fitting diagram is shown in fig. 5;
the obtained constant A, B, C is 0.0982, -6.9505, 163.52;
the second set of test temperatures was 30 ℃;
dividing the sample into 15 equal parts in the tensile force range for testing;
the test results are shown in table 2:
acquiring a constant A, B, C by using a polynomial fitting mode through the acquired motor temperature and the electric temperature;
the fitting diagram is shown in fig. 6;
the obtained constant A, B, C is 0.0892, -7.0923, 186.25;
the third set of test temperatures was 35 ℃;
dividing the sample into 15 equal parts in the tensile force range for testing;
the test results are shown in table 3:
acquiring a constant A, B, C by using a polynomial fitting mode through the acquired motor temperature and the electric temperature;
the fitting diagram is shown in fig. 7;
the obtained constants A, B, C are 0.0646, -5.6024, 173.74.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. An indirect measurement method for the temperature of a motor is characterized by comprising the following steps:
determining a testing tension range, dividing the testing tension range into a plurality of equal parts for testing, and measuring the temperature of the motor and the electric temperature after the testing time is over;
acquiring a temperature measurement model based on the motor temperature and the electric temperature;
detecting the current electric temperature, and substituting the current electric temperature into a temperature measurement model to measure the temperature of the motor;
wherein the temperature measurement model is；
Wherein:
the temperature of the electric regulator itself;
for the estimated motor temperature;
are all constants;
the test time is 10min;
before measuring the temperature of the motor, setting a motor over-temperature protection algorithm, and after measuring the temperature of the motor, protecting the motor by adopting the motor over-temperature protection algorithm;
the motor over-temperature protection algorithm comprises the following steps:
acquiring a motor temperature Tm, a maximum current upper limit IMAX, an actual current upper limit ILIMT, a temperature protection starting point Ts and a temperature protection ending point To;
comparing the temperature of the motor with the over-temperature protection termination point, and executing the following operations according to the comparison result:
the temperature of the motor is less than the over-temperature protection termination point,；
the temperature of the motor is greater than or equal to the over-temperature protection termination point,wherein: ILIMT (ILIMT)>0。
2. The indirect motor temperature measurement method of claim 1, wherein the test tension ranges from 20% to 70% of the rated tension;
the test temperatures were S1, S2, S3 n The interval threshold value of each section of test temperature is 5 ℃, and the test times are n;
wherein, test temperature:
S n =n*5；
units: degrees celsius.
3. The indirect motor temperature measurement method according to claim 2, wherein the motor temperature and the electric temperature are measured after the measurement is completed by dividing the motor temperature into a plurality of equal parts in the tensile range, and the method specifically comprises the following steps:
different groups are set according to the test temperature, after each group of temperature test groups are finished, the motor temperature and the electric temperature are recorded, the motor temperature and the electric temperature under different tensile forces of each group are made into a table, and a temperature measurement model is obtained by utilizing polynomial fittingAnd a constant A, B, C.
4. A method for indirectly measuring the temperature of a motor according to claim 3, wherein the method for obtaining the temperature measurement model by using polynomial fitting further comprises:
according to the test temperature S n Generates different constants A, B, C, and each set of constants A, B, C and test temperature S n And matching one by one.
5. The method for indirectly measuring the temperature of a motor according to claim 1, wherein the measuring the temperature of the motor and the temperature of the motor are adjusted electrically, comprises:
the motor and the electric regulator are arranged below the propeller, and strong convection heat dissipation is carried out on the motor and the electric regulator through wind power generated by the propeller;
the temperature measuring probe is arranged on the motor winding and is connected with the temperature measuring instrument, the temperature of the motor is read through the temperature measuring instrument, the temperature of the electric motor is obtained through the temperature measuring function of the electric motor, and the temperature of the electric motor is read through the communication interface and the upper computer.
6. The method of claim 4, wherein when the motor temperature is measured based on the current temperature substituted into the temperature measurement model, further comprising:
detecting the working temperature of the motor, and executing the following operations according to the working temperature of the motor:
the working temperature of the motor reaches the testing temperature S n At the same time, according to the test temperature S n One-to-one matching constant A, B, C is substituted into temperature measurement modelIs a kind of medium.
7. An indirect motor temperature measurement system, comprising:
the detection module is used for detecting the current electric temperature;
the measuring module is internally loaded with a temperature measuring model and is used for substituting the detected current electric temperature into the temperature measuring model to obtain the temperature of the motor;
the temperature measurement model is；
Wherein:
the temperature of the electric regulator itself;
for the estimated motor temperature;
are all constants;
the signal transmission module is used for sending the acquired motor temperature signal to a flight control or remote controller end and observing the health condition of the unmanned aerial vehicle power system;
and the over-temperature protection module is internally loaded with an over-temperature protection algorithm and is used for limiting the actual output current and reducing the power consumption when the temperature of the motor is over-high.
8. A computer device comprising a processor, a memory coupled to the processor, the memory having stored therein program instructions that, when executed by the processor, cause the processor to perform the steps of the motor temperature indirect measurement method of any of claims 1-6.
9. A storage medium storing program instructions enabling the indirect measurement of motor temperature according to any one of claims 1-6.
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| CN106257823A (en) * | 2016-07-14 | 2016-12-28 | 广州极飞科技有限公司 | Motor temperature detection method, device and aircraft |
| CN107933935A (en) * | 2017-11-29 | 2018-04-20 | 深圳市科比特航空科技有限公司 | Unmanned aerial vehicle control system |
| CN109075591A (en) * | 2016-02-29 | 2018-12-21 | 维里蒂工作室股份公司 | System and method for being charged, being transported and being operated to aircraft |
| CN115600312A (en) * | 2022-09-23 | 2023-01-13 | 南昌三瑞智能科技有限公司（Cn） | Method and device for predicting motor temperature of alternating working condition unmanned aerial vehicle |
| CN116404951A (en) * | 2023-03-31 | 2023-07-07 | 联合汽车电子有限公司 | Motor temperature estimation method and device based on GP-NARX model |
| CN116865620A (en) * | 2023-06-19 | 2023-10-10 | 深圳市弦动科技有限公司 | Method for improving power efficiency of unmanned aerial vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109075591A (en) * | 2016-02-29 | 2018-12-21 | 维里蒂工作室股份公司 | System and method for being charged, being transported and being operated to aircraft |
| CN106257823A (en) * | 2016-07-14 | 2016-12-28 | 广州极飞科技有限公司 | Motor temperature detection method, device and aircraft |
| CN107933935A (en) * | 2017-11-29 | 2018-04-20 | 深圳市科比特航空科技有限公司 | Unmanned aerial vehicle control system |
| CN115600312A (en) * | 2022-09-23 | 2023-01-13 | 南昌三瑞智能科技有限公司（Cn） | Method and device for predicting motor temperature of alternating working condition unmanned aerial vehicle |
| CN116404951A (en) * | 2023-03-31 | 2023-07-07 | 联合汽车电子有限公司 | Motor temperature estimation method and device based on GP-NARX model |
| CN116865620A (en) * | 2023-06-19 | 2023-10-10 | 深圳市弦动科技有限公司 | Method for improving power efficiency of unmanned aerial vehicle |
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