CN203827230U - Non-inductive brushless DC (direct current) motor speed regulator for multi-rotor unmanned aerial vehicle - Google Patents
Non-inductive brushless DC (direct current) motor speed regulator for multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
本实用新型公开了一种用于多旋翼无人飞行器的无感无刷直流电机调速器，每一个调速器对应一个调速电路，每一个调速电路对应一个无感无刷直流电机，调速电路上的三相全桥逆变电路的输出端子与无感无刷直流电机的三相电源输入端子对应连接，MCU处理器电路的GPIO的输出引脚和PWM信号输出引脚与三相全桥逆变电路的输入信号连接，反向感生电动势过零检测电路连接三相全桥逆变电路和MCU处理器电路的模拟比较器输入引脚，电流检测电路与温度检测电路分别到MCU处理器电路的两个AD采样输入引脚连接。本实用新型，利用MCU处理器实现了三相全桥逆变电路PWM控制信号的三路复用，降低了成本，提高了调速器的响应速度，增强了调速器与电机的兼容性。
The utility model discloses a non-inductive brushless DC motor governor for a multi-rotor unmanned aerial vehicle. Each governor corresponds to a speed regulating circuit, and each speed regulating circuit corresponds to a non-inductive brushless DC motor. The output terminals of the three-phase full-bridge inverter circuit on the speed control circuit are connected to the three-phase power input terminals of the non-inductive brushless DC motor, and the GPIO output pins and PWM signal output pins of the MCU processor circuit are connected to the three-phase The input signal connection of the full-bridge inverter circuit, the reverse induced electromotive force zero-crossing detection circuit is connected to the three-phase full-bridge inverter circuit and the analog comparator input pin of the MCU processor circuit, the current detection circuit and the temperature detection circuit are respectively connected to the MCU The two AD sampling input pins of the processor circuit are connected. The utility model utilizes the MCU processor to realize three-way multiplexing of the PWM control signals of the three-phase full-bridge inverter circuit, reduces the cost, improves the response speed of the governor, and enhances the compatibility between the governor and the motor.
Description
Technical field
The utility model relates to unmanned vehicle field, is specifically related to a kind of induction less brush-less DC motor speed-regulating device for many rotor unmanned aircrafts.
Background technology
Many rotor unmanned aircrafts are a kind of by 4,6 or 8 rotors driving unmanned vehicles.Compare traditional single rotor band tail-rotor or coaxial double-oar depopulated helicopter, this type of unmanned vehicle has the advantages such as mechanical structure is simple, easy to maintenance, safe, mechanical oscillation are little, taking photo by plane, the field such as searching rescue, disaster surveillance, remote measurement remote sensing is with a wide range of applications.The induction less brush-less DC motor speed-regulating device that the utility model relates to is a critical component of above-mentioned many rotor unmanned aircrafts, it is for receiving the instruction of flight-control computer and controlling rotor lift by adjusting induction less brush-less DC motor speed, so that aircraft lifting, pitching, rolling, the required manipulation force and moment of driftage to be provided.
At present, many rotor unmanned aircrafts on market adopt commercial model plane machine governor mostly, this type of speed regulator be take unidirectional pulse position modulation (PPM) signal as input, each speed regulator needs flight-control computer that independently PPM signal of one tunnel is provided, so poor expandability and cannot return in real time the work informations such as motor speed, current of electric, metal-oxide-semiconductor temperature.Chinese utility model patent CN203289361 discloses a kind of a plurality of four rotor unmanned aircraft three-phase brushless motor speed regulation integrated circuits, can pass through I
2c bus realizes the speed governing of rotor motor, but still has the problem cannot feed back motor operating state information, and cannot continuously change for the cycle of pulse width modulation (PWM) signal of drive motors, has reduced the compatibility of speed regulator to different motors.
Utility model content
To be solved in the utility model is that commercial model plane machine governor cannot feed back motor operating state information, and the technical problem that cannot continuously change for cycle of pulse width modulation (PWM) signal of drive motors.
In order to solve the problems of the technologies described above, the technical scheme that the utility model adopts is to provide a kind of induction less brush-less DC motor speed-regulating device for many rotor unmanned aircrafts, the corresponding alignment circuit of each speed regulator, the corresponding induction less brush-less direct current machine of alignment circuit described in each, described in each, alignment circuit includes:
Three phase full bridge inverter circuit, the sub corresponding connection of its three-phase power output end three-phase power input end and induction less brush-less direct current machine;
MCU processor circuit, PB0, PB1 integrated on it are connected with C+ with input signal A+, the B+ of described three phase full bridge inverter circuit with PB3 output pin is corresponding, the PD7 of GPIO, PD5 are connected with C-with input signal A-, the B-of described three phase full bridge inverter circuit with PD4 output pin is corresponding, and the pwm signal output of described MCU processor circuit is connected with C+ with input signal A+, the B+ of described three phase full bridge inverter circuit;
MCU processor circuit, the control inputs signal A+ of described three phase full bridge inverter circuit, B+, C+ are connected with GPIO pin PB0, PB1, the PB3 of described MCU processor circuit respectively, control inputs signal A-, B-, C-are connected with GPIO pin PD7, PD5, the PD4 of described MCU processor circuit respectively, the control inputs signal A+ of described three phase full bridge inverter circuit, B+, C+ are also connected with the pwm signal output pin PB2 of described MCU processor circuit by resistor R4, R7, R10 respectively, realize pwm signal San road multiplexing;
Reverse induced electromotive force zero cross detection circuit, the three-phase power output end sub-connection of its input and described three phase full bridge inverter circuit, output is connected with the analog comparator input pin of described MCU processor circuit;
Current detection circuit, detects the total current of described three phase full bridge inverter circuit, and the output of described current detection circuit is connected with the AD sampling input pin of described MCU processor circuit.
In technique scheme, described current detection circuit comprises operational amplifier, the first resistance R 22, the second resistance R 23, the 3rd resistance R 24, the 4th resistance R 25, the first capacitor C 13 and the second capacitor C 14;
One end of described the first resistance R 22 and described the second resistance R 23 is connected to the two ends of described the first capacitor C 13, the other end is connected with the drain lead of N-channel MOS pipe on three-phase power output end on described three phase full bridge inverter circuit, realize the current signal of described induction less brush-less direct current machine to the conversion of voltage signal, described operational amplifier is delivered to the AD sampling input of described MCU processor circuit after described voltage signal is amplified, the current detecting of realization to described induction less brush-less direct current machine, the two ends of described the 3rd resistance R 24 are connected on the 3rd pin and described the first capacitor C 13 of described operational amplifier, the two ends of described the 4th resistance R 25 are connected on respectively the 3rd and the 4th pin of described operational amplifier, the other end of described the first capacitor C 13 is connected on the 1st pin of described operational amplifier, one end of described the second capacitor C 14 is connected to the 5th pin of described operational amplifier, other end ground connection.
In technique scheme, also comprise the temperature sensing circuit for detection of described three phase full bridge inverter circuit metal-oxide-semiconductor temperature, the output of described temperature sensing circuit is connected with another AD sampling input pin of described MCU processor circuit.
The utility model, adopt the high MCU processor of integrated level, realize pwm signal San road multiplexing, and adopt current detection circuit and metal-oxide-semiconductor temperature sensing circuit, for outside flight-control computer provides current of electric, metal-oxide-semiconductor temperature information, realized the monitoring to motor status in many rotor unmanned aircrafts.
Accompanying drawing explanation
Fig. 1 is the system principle structure chart of the induction less brush-less DC motor speed-regulating device for many rotor unmanned aircrafts that provides of the utility model;
Fig. 2 is for the circuit theory diagrams of the induction less brush-less DC motor speed-regulating device of many rotor unmanned aircrafts in Fig. 1;
Fig. 3 is MCU processor principal function program flow diagram in Fig. 2;
Fig. 4 is that in Fig. 2, MCU processor timer 1 overflows interruption processing function program flow chart;
Fig. 5 is that in Fig. 2, MCU processor timer 1 input capture interrupt is processed function program flow chart;
Fig. 6 is MCU processor I in Fig. 2
2c interrupts processing function program flow chart;
Fig. 7 is MCU processor I in Fig. 2
2c writes command format;
Fig. 8 is MCU processor I in Fig. 2
2c sense data frame format.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described in detail.
As shown in Figure 1, the induction less brush-less DC motor speed-regulating device for many rotor unmanned aircrafts that the utility model provides, the corresponding alignment circuit of each speed regulator, the corresponding induction less brush-less direct current machine of each alignment circuit, each alignment circuit includes:
Three phase full bridge inverter circuit 101, the sub corresponding connection of its three-phase power output end three-phase power input end and induction less brush-less direct current machine 601;
MCU processor circuit 501, PB0, PB1 integrated on it are connected with C+ with input signal A+, the B+ of three phase full bridge inverter circuit 101 with PB3 output pin is corresponding, the PD7 of GPIO, PD5 are connected with C-with input signal A-, the B-of three phase full bridge inverter circuit 101 with PD4 output pin is corresponding, the pwm signal output of MCU processor circuit 501 is connected with C+ with input signal A+, the B+ of three phase full bridge inverter circuit 101, realizes pwm signal three tunnels multiplexing;
Reverse induced electromotive force zero cross detection circuit 201, the three-phase power output end sub-connection of its input and three phase full bridge inverter circuit 101, output is connected with the analog comparator input pin of MCU processor circuit 501;
Current detection circuit 301, the total current of detection three phase full bridge inverter circuit 101, the output of current detection circuit 301 is connected with the AD sampling input pin of MCU processor circuit 501.
Current detection circuit 301 comprises operational amplifier, the first resistance R 22, the second resistance R 23, the 3rd resistance R 24, the 4th resistance R 25, the first capacitor C 13 and the second capacitor C 14;
One end of described the first resistance R 22 and described the second resistance R 23 is connected to the two ends of described the first capacitor C 13, the other end is connected with the drain lead of N-channel MOS pipe on three-phase power output end on described three phase full bridge inverter circuit, realize the current signal of described induction less brush-less direct current machine to the conversion of voltage signal, described operational amplifier is delivered to the AD sampling input of described MCU processor circuit after described voltage signal is amplified, the current detecting of realization to described induction less brush-less direct current machine, the two ends of described the 3rd resistance R 24 are connected on the 3rd pin and described the first capacitor C 13 of described operational amplifier, the two ends of described the 4th resistance R 25 are connected on respectively the 3rd and the 4th pin of described operational amplifier, the other end of described the first capacitor C 13 is connected on the 1st pin of described operational amplifier, one end of described the second capacitor C 14 is connected to the 5th pin of described operational amplifier, other end ground connection.
Metal-oxide-semiconductor temperature sensing circuit 401, the output of temperature sensing circuit 401 is connected with another AD sampling input pin of MCU processor circuit 501.
Fig. 2 is the circuit theory diagrams of the induction less brush-less DC motor speed-regulating device for many rotor unmanned aircrafts of the present utility model, and three phase full bridge inverter circuit 101 is by voltage transitions chip U1(LMR62014), metal-oxide-semiconductor drives chip U2/U3/U4(NCP5106), the first N-channel MOS pipe Q1, the second N-channel MOS pipe Q2, the 3rd N-channel MOS pipe Q3, the 4th N-channel MOS pipe Q4, the 5th N-channel MOS pipe Q5, the 6th N-channel MOS pipe Q6 and corresponding resistor, capacitor, inductor, diode form; Voltage transitions chip U1(LMR62014), capacitor C1, C2, C3, resistor R1, R2, R3, inductor L1, diode D1 form voltage up converting circuit, convert to+12V of general+5V input voltage voltage, drives chip U2/U3/U4(NCP5106 for metal-oxide-semiconductor) power supply; Metal-oxide-semiconductor driving chip U2(NCP5106), the first N-channel MOS pipe Q1, the second N-channel MOS pipe Q2, capacitor C4, C5, resistor R5, R6, diode D2 form the A circuitry phase of three phase full bridge inverter circuit; Metal-oxide-semiconductor driving chip U3(NCP5106), the 3rd N-channel MOS pipe Q3, the 4th N-channel MOS pipe Q4, capacitor C6/C7, resistor R8/R9, diode D3 form the B circuitry phase of three phase full bridge inverter circuit; Metal-oxide-semiconductor driving chip U4(NCP5106), the 5th N-channel MOS pipe Q5, the 6th N-channel MOS pipe Q6, capacitor C8, C9, resistor R11, R12, diode D4 form the C circuitry phase of three phase full bridge inverter circuit; The source lead of the first N-channel MOS pipe Q1, the 3rd N-channel MOS pipe Q3, the 5th N-channel MOS pipe Q5 is connected with the operating voltage VBAT of motor; The output signal OUTA of three phase full bridge inverter circuit, OUTB, OUTC are connected with three inputs of induction less brush-less direct current machine by motor interface J1; Input signal A-, the B-of three phase full bridge inverter circuit, C-respectively with MCU processor U6(ATmega168) GPIO output pin PD7, PD5, PD4 be connected, for driving underarm N-channel MOS pipe; Input signal A+, the B+ of three phase full bridge inverter circuit, C+ respectively with MCU processor U6(ATmega168) GPIO output pin PB0, PB1, PB3 be connected, for driving upper arm N-channel MOS pipe; Input signal A+, the B+ of three phase full bridge inverter circuit, C+ are simultaneously also by resistor R4, R7, R10 and MCU processor U6(ATmega168) pwm signal of timer 1PWM output pin PB2 generation is connected, and realizes the multiplexed of pwm signal.The multiplexed PB0 of being achieved in that of pwm signal is made as unsettled input, PB1(B+), PB3(C+) output zero, pwm signal acts on A+; PB1 is made as unsettled input, PB0(A+), PB3(C+) output zero, pwm signal acts on B+; PB3 is made as unsettled input, PB0(A+), PB1(B+) output zero, pwm signal acts on C+.
Oppositely the input of induced electromotive force zero cross detection circuit 201 and output signal OUTA, OUTB, the OUTC of three phase full bridge inverter circuit are connected; Circuit output signal A phase voltage division signal NULLA, B phase voltage division signal NULLB, C phase voltage division signal NULLC, mid-point voltage signal NULL respectively with MCU processor U6(ATmega168) analog comparator input pin PC0, PC1, PC2, PD6 be connected, realize the detection of induction less brush-less motor three-phase zero passage; Wherein: NULL signal is connected to the positive input terminal of analog comparator, NULLA, NULLB, NULLC signal are connected to the negative input end of analog comparator after built-in MUX ADMUX, by arrange MUX ADMUX can select NULLA, NULLB, NULLC signal respectively with the comparison of NULL signal, multiplexing to realize comparator, effectively simplify circuit design and reduce system cost.Oppositely the effect of induced electromotive force zero cross detection circuit 201 is to determine motor rotor position by detecting the zero crossing of the reverse induced electromotive force of third phase, determines commutation opportunity.
Current detection circuit 301 is by operational amplifier U5(OPA348SC), capacitor C13 and C14 and resistor R22, R23, R24 and R25 form.Resistor R22 one end is connected with the drain lead of the second N-channel MOS pipe Q2, the 4th N-channel MOS pipe Q4, the 6th N-channel MOS pipe Q6, and other end ground connection, converts motor working current signal to voltage signal; This voltage signal is by by operational amplifier U5(OPA348SC) and respective electrical container, resistor form in-phase amplification circuit and obtain the Voltage-output signal Ic that amplifies 99 times; Voltage-output signal Ic and MCU processor U6(ATmega168) AD sampling input pin PC3 be connected, realize the detection of electric current.
Temperature sensing circuit 401 is comprised of NTC thermistor R26, resistor R27 and capacitor C15; NTC thermistor R26 changes into resistance signal by temperature signal; Resistance signal converts voltage signal Tmpr to by the bleeder circuit being comprised of NTC thermistor R26, resistor R27; Capacitor C15 strobes; Voltage signal Tmpr and MCU processor U6(ATmega168) AD sampling input pin ADC7 be connected, realize the detection of temperature.
MCU processor circuit 501 is by MCU processor U6(ATmega168), crystal oscillator OSC1(16MHz), capacitor C16, C17, C18, C19, resistor R28 and I
2c interface J2 forms, and respective pins connects as shown in Figure 2.The software of MCU processor circuit 501 correspondences is based on the design of WinAVR Integrated Development Environment, and software is overflowed and interrupted processing function, timer 1 input capture interrupt processing function, I by principal function, timer 1
2c interrupts processing group of functions and becomes.
As shown in Figure 3, be MCU processor principal function program flow diagram, machine governor I
2c address, PWM drive signal period, electric motor starting threshold value PWM_STA, motor to close these four motor operating parameters of threshold value PWM_STO and be kept at MCU processor U6(ATmega168) in built-in eeprom memory, and be read after electrification reset.
In hardware initialization process, PB0, the PB1, PB2, PB3, PD7, PD5, the PD4 pin that connect three phase full bridge inverter circuit 101 inputs are set to export nought state; PC0, the PC1, PC2, the PD6 pin that connect reverse induced electromotive force zero cross detection circuit 201 inputs are set to unsettled input state; The PC3 pin that connects current detection circuit 301 outputs is set to unsettled input state; For I
2the PC4 of C communication, PC5 pin are set to draw input state; MCU processor U6(ATmega168) timer 0 is set to 2MHz free-running operation, for accurate timing and time delay; I
2c bus address is made as the address that EEPROM reads; MCU processor U6(ATmega168) analog comparator output is set to the input of timer 1 input capture module; MCU processor U6(ATmega168) timer 1 is set to 16MHz operation, its PWM output module is set to take the quick PWM pattern that OCR1A register value is high level duration as cycle, OCR1B register value, so can realize PWM and drive the signal period in 1-65536(0.0625-4096 microsecond) between take 1(0.0625 microsecond) be the adjustment of stepping, effectively promoted the compatibility of machine governor and motor.
Motor is when halted state, and when flight-control computer 701 transmission PWM_CMD values are greater than electric motor starting threshold value PWM_STA, motor enters open-loop start-up.In open-loop start-up process: AB phase, AC phase, BC phase, BA phase, CA phase, the CB phase of program cycle conducting induction less brush-less motor, commutation cycle initial value be made as 30 milliseconds and after each commutation, be made as original 93% so that motor slowly accelerate; When being less than 2.5 milliseconds, proceeds to the commutation cycle operation with closed ring state.
Motor is when closed loop state, and when flight-control computer 701 sends PWM_CMD values and is less than motor and cuts out threshold value PWM_STO, all N-channel MOS pipes are closed, and motor enters halted state; Otherwise OCR1B is updated to PWM_CMD value, to adjust pwm signal duty ratio, realizes electric machine speed regulation.
The every 50 milliseconds of once sampling of current of electric and metal-oxide-semiconductor temperature, 50 milliseconds be timed to after, program startup MCU processor U6(ATmega168) built-in ADC samples to the voltage on PC3, ADC7 pin successively, obtains current sampling data ADC_Ic and temperature sampling value ADC_Tmpr; Real motor working current is 0.0986 * ADC_Ic ampere; Real metal-oxide-semiconductor temperature is 1/[ln (76.8/ADC_Tmpr-0.3)/3380+1/298.15]-275.15 degrees Celsius.
As shown in Figure 4, for overflowing, MCU processor timer 1 interrupts processing function program flow chart, timer 1 is every to be spent OCR1A clock cycle and overflows once and enter to overflow and interrupt processing function and make the variable T1_OVF that record overflows number of times certainly increase 1, for the calculating of motor speed.
As shown in Figure 5, being that MCU processor timer 1 input capture interrupt processes function program flow chart, MCU processor U6(ATmega168) variation of analog comparator output can trigger the input capture interrupt of timer 1.In interrupt handling routine, when front motor is when AB is conducted and comparator exports 1, programming PB0 is unsettled input, PD4 output 1, PB1, PB3, PD7, PD5 export 0 is conducted motor AC, analog comparator negative terminal is set and is input as PC1 pin to detect B mistake null event mutually, it is that trailing edge triggers that timer 1 input capture is set, and calculates motor speed simultaneously; When front motor is when AC is conducted and comparator exports 0, programming PB1 is unsettled input, PD4 output 1, PB0, PB3, PD7, PD5 export 0 is conducted motor BC, analog comparator negative terminal is set and is input as PC0 pin and crosses mutually null event to detect A, it is that rising edge triggers that timer 1 input capture is set; When front motor is when BC is conducted and comparator exports 1, programming PB1 is unsettled input, PD7 output 1, PB0, PB3, PD5, PD4 export 0 is conducted motor BA, analog comparator negative terminal is set and is input as PC2 pin and crosses mutually null event to detect C, it is that trailing edge triggers that timer 1 input capture is set; When front motor is when BA is conducted and comparator exports 0, programming PB3 is unsettled input, PD7 output 1, PB0, PB1, PD5, PD4 export 0 is conducted motor CA, analog comparator negative terminal is set and is input as PC1 pin and crosses mutually null event to detect B, it is that rising edge triggers that timer 1 input capture is set; When front motor is when CA is conducted and comparator exports 1, programming PB3 is unsettled input, PD5 output 1, PB0, PB1, PD7, PD4 export 0 is conducted motor CB, analog comparator negative terminal is set and is input as PC0 pin and crosses mutually null event to detect A, it is that trailing edge triggers that timer 1 input capture is set; When front motor is when CB is conducted and comparator exports 0, programming PB0 is unsettled input, PD5 output 1, PB1, PB3, PD7, PD4 export 0 is conducted motor AB, analog comparator negative terminal is set and is input as PC2 pin to detect C mistake null event mutually, it is that rising edge is along triggering that timer 1 input capture is set.Before interruption is returned, if variation has occurred in analog comparator output, get back to interruption entrance and re-execute above-mentioned commutation program.
The rotating speed of induction less brush-less direct current machine is that the computation of Period by measuring obtains: from AB, change to mutually AC phase time at every turn, preserve the value of the catching ICR of input capture unit, in conjunction with last time the value of catching ICR0 and timer 1 overflow number of times T1_OVF, the electric cycle T=T1_OVF * OCR1A+ICR-ICR0 of motor; Corresponding rotating speed is 1/ (nT), and n is motor number of pole-pairs; Calculated rear T1_OVF needs zero clearing to guarantee the correctness of period measurement at every turn.
As shown in Figure 6, be MCU processor I
2c interrupt to process function program flow chart, MCU processor U6(ATmega168) I
2c bus works in slave mode, and flight-control computer 701 drives signal period, electric motor starting threshold value PWM_STA, motor to cut out threshold value PWM_STO by PWM_CMD value, the PWM of 4 command set machine governors, and specific instructions form as shown in Figure 7.Wherein: the I that SLA is machine governor
2c address, W represents to write; Command number is 1 byte, and numerical value 0,1,2,3 represents that respectively high byte, low byte data are below that PWM_CMD value, PWM drive signal period, electric motor starting threshold value PWM_STA, motor to close high byte and the low byte of threshold value PWM_STO; Check code is the exclusive or check code of a byte.
The command format that flight-control computer 701 reads motor operating state from machine governor as shown in Figure 8.Wherein: the I that SLA is machine governor
2c address, R represents to read; Motor speed is 2 bytes, and unit is rpm; Current of electric is 1 byte, and resolution is 0.1 ampere; Metal-oxide-semiconductor temperature is 1 byte, and unit is degree Celsius; Check code is the exclusive or check code of a byte.
The utility model, adopts I
2c bus is communication interface, and outside flight-control computer can pass through an I
2c interface is connected with a plurality of speed regulators, compares with commercial model plane machine governor, uses I
2c bus has replaced pulse position modulation (PPM) interface, has strengthened the extensibility of system when reducing complex interfaces degree; The query function that has increased motor speed, current of electric, metal-oxide-semiconductor temperature, contributes to the monitoring of flight-control computer to motor status; Realize motor PWM and driven the signal period to take the continuous setup that 0.0625 microsecond is stepping, effectively promoted the suitability of machine governor for motor; Therefore be more adapted at using on many rotor unmanned aircrafts, meet the trend of many rotor unmanned aircrafts technical development.
The utility model is not limited to above-mentioned preferred forms, and anyone should learn the structural change of making under enlightenment of the present utility model, every with the utlity model has identical or close technical scheme, within all falling into protection range of the present utility model.
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| CN201420128117.3U CN203827230U (en) | 2014-03-20 | 2014-03-20 | Non-inductive brushless DC (direct current) motor speed regulator for multi-rotor unmanned aerial vehicle |
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| CN201420128117.3U CN203827230U (en) | 2014-03-20 | 2014-03-20 | Non-inductive brushless DC (direct current) motor speed regulator for multi-rotor unmanned aerial vehicle |
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| CN105517902A (en) * | 2014-10-20 | 2016-04-20 | 深圳市大疆创新科技有限公司 | Intelligent power control system and method for motor drive of unmanned aerial vehicle, and unmanned aerial vehicle |
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| CN105846731A (en) * | 2015-01-16 | 2016-08-10 | 优利科技有限公司 | Aircraft and motor control method, device and system thereof |
| CN105929727A (en) * | 2016-04-19 | 2016-09-07 | 深圳市高巨创新科技开发有限公司 | Motor control method and system based on I2C bus |
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