CN205469847U - Electronic governor , controller and moving platform - Google Patents
Electronic governor , controller and moving platform Download PDFInfo
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- CN205469847U CN205469847U CN201620153118.2U CN201620153118U CN205469847U CN 205469847 U CN205469847 U CN 205469847U CN 201620153118 U CN201620153118 U CN 201620153118U CN 205469847 U CN205469847 U CN 205469847U
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Abstract
The utility model provides an electronic governor, controller and moving platform, wherein electronic governor includes: treater, the throttle signal interface who is used for receiving the throttle control signal, the communication interface who is used for the transmission and communication data, first connecting portion and second connecting portion, throttle signal interface with pass through between the treater first connecting portion are realized the electricity and are connected, communication interface with pass through between the treater the second connecting portion are realized the electricity and are connected, wherein, arrive at real -time supervision when throttle signal interface's signal transmission state is abnormal state, the treater is followed communication interface receives the throttle control signal. The utility model provides an electronic governor, controller and moving platform can be when electronic governor be unusual from the appearance of throttle passageway received throttle control signal, continued control motor normal rotation, and it is out of control to prevent that horn power from appearing in the aircraft, guarantees the normal flight of aircraft, has improved the reliability of aircraft.
Description
Technical field
This utility model relates to vehicle technology field, particularly relates to a kind of electron speed regulator, controller
And mobile platform.
Background technology
Electron speed regulator is one of most important parts in aircraft, for driving the motor in aircraft
Rotate, to realize aircraft start and stop and speed governing etc..
In prior art, between electron speed regulator and the controller of aircraft, it is provided with throttle control line,
In flight course, controller can send Throttle Opening Control by Throttle Opening Control alignment electron speed regulator to be believed
Number, throttle control signal mostly is PWM ripple or PPM ripple, and electron speed regulator is receiving Throttle Opening Control
After signal, electric machine rotation can be controlled according to described throttle control signal, thus realize flight function.
It is in place of the deficiencies in the prior art, in actual applications, due to the reasons such as circuit is impaired, electricity
The throttle control signal that sub-speed regulator receives is it is possible that exception, such as throttle control signal are lost
Or signal frequency is unstable, electron speed regulator can be caused cannot normally to control electric machine rotation, sternly
Aviation accident also can be caused during weight.
Utility model content
This utility model embodiment provides a kind of electron speed regulator, controller and mobile platform, in order to solve
In prior art, throttle control signal occurs extremely causing electron speed regulator cannot normally control electric machine rotation
Technical problem.
This utility model embodiment provides a kind of electron speed regulator, including: processor, is used for receiving throttle
The throttle signal interface of control signal, for transmit the communication interface of communication data, the first connecting portion and
Second connecting portion；
Realize electrically connecting by described first connecting portion between described throttle signal interface and described processor；
Realize electrically connecting by described second connecting portion between described communication interface with described processor；
Wherein, when the transmission state signal of the described throttle signal interface real-time monitored is abnormality,
Described processor receives described throttle control signal from described communication interface.
Further, described electron speed regulator also includes that the signal for monitoring described throttle signal interface passes
The observation circuit of defeated state, described observation circuit is connected with described processor communication, for being transmitted by signal
State sends described processor to.
Further, described processor, described observation circuit, described throttle signal interface and described logical
Letter Interface integration is together.
Or, described processor, described observation circuit, described throttle signal interface and described communication connect
Mouth is individually arranged.
Further, described abnormality is that described throttle signal interface does not receives described Throttle Opening Control letter
Number, or the described throttle control signal appearance that described throttle signal interface arrives is abnormal.
Further, the throttle control signal that described processor arrives according to described throttle signal interface
It is pre-conditioned whether characteristic information meets, and determines the described Throttle Opening Control that described throttle signal interface arrives
Whether signal there is exception；If the transmission state signal of described throttle signal interface is abnormality, then from
Described communication interface receives described throttle control signal.
Further, described characteristic information is frequency information and/or the pulsewidth letter of described throttle control signal
Breath.
Further, described processor is abnormality at the transmission state signal of described throttle signal interface
Time, send throttle control signal transmission fault message by described communication interface, and from described communication interface
Receive described throttle control signal.
Further, described throttle control signal be passed in parallel to the most simultaneously described throttle signal interface and
Described communication interface.
Further, described throttle control signal is respectively sent to described throttle signal interface and described communication
Signal aspect during interface is different.
Further, described throttle control signal is sent to described throttle signal interface with analogue signal form.
Further, described throttle control signal is sent to described communication interface with digital signal form.
Further, described processor reverts to normally at the transmission state signal of described throttle signal interface
During state, from throttle control signal described in described throttle signal interface.
This utility model embodiment also provides for a kind of controller, including: processor, is used for sending throttle control
The throttle signal interface of signal processed, for transmitting the communication interface of communication data, the 3rd connecting portion and the
Four connecting portions；
Realize electrically connecting by described 3rd connecting portion between described throttle signal interface and described processor；
Realize electrically connecting by described 4th connecting portion between described communication interface with described processor；
Described processor sends throttle control signal from described communication interface.
Further, described controller also includes that the throttle signal for producing throttle control signal produces electricity
Road, described throttle signal produces circuit and is connected with described processor communication, for the Throttle Opening Control that will produce
Signal sends described processor to.
Further, described processor, described throttle signal produce circuit, described throttle signal interface with
And described communication interface integrates.
Or, described processor, described throttle signal produce circuit, described throttle signal interface and institute
State communication interface individually to arrange.
Further, described processor receives throttle control signal transmission fault information from described communication interface；
According to described throttle control signal transmission fault information, send described Throttle Opening Control letter from described communication interface
Number.
Further, described throttle control signal is simultaneously from described throttle signal interface and described communication interface
Send respectively.
Further, from described throttle signal interface and the throttle control signal that sends from described communication interface
Signal aspect different.
Further, the throttle control signal that described throttle signal interface sends is analogue signal.
Further, the throttle control signal that described communication interface sends is digital signal.
Further, described processor receives the transmission recovery of described throttle control signal from described communication interface
Message, and recover message according to the transmission of described throttle control signal, stop sending from described communication interface
Throttle control signal.
This utility model embodiment also provides for a kind of mobile platform, including: described in motor, any of the above-described item
Electron speed regulator and any of the above-described item described in controller；
Described motor is connected with electron speed regulator；
The throttle for transmitting throttle control signal it is provided with between described electron speed regulator and described controller
Passage and for transmitting the communication port of communication data.
Further, described mobile platform is unmanned vehicle, The Cloud Terrace or remote control battlebus.
Electron speed regulator, controller and the mobile platform that this utility model embodiment provides, at electronic speed regulation
Throttle channel and communication port it is provided with, if the signal of described throttle signal interface passes between device and controller
Defeated state is abnormality, and the most described electron speed regulator can receive throttle control signal from communication interface,
Making electron speed regulator can continue to control motor normal rotation, power is out of control to prevent mobile platform from occurring,
Such as, prevent unmanned vehicle from losing flying power, thus ensure that the normal work of mobile platform, carry
The high reliability of mobile platform.
Accompanying drawing explanation
The flow chart of the throttle control signal processing method that Fig. 1 provides for this utility model embodiment one；
Electron speed regulator in the throttle control signal processing method that Fig. 2 provides for this utility model embodiment one
Connection diagram with controller；
The flow chart of the throttle control signal processing method that Fig. 3 provides for this utility model embodiment two；
The flow chart of the throttle control signal processing method that Fig. 4 provides for this utility model embodiment three
The flow chart of the throttle control signal processing method that Fig. 5 provides for this utility model embodiment four；
The flow chart of the throttle control signal processing method that Fig. 6 provides for this utility model embodiment five；
The structural representation of the electron speed regulator that Fig. 7 provides for this utility model embodiment six；
The structural representation of the controller that Fig. 8 provides for this utility model embodiment seven；
The structural representation of the mobile platform that Fig. 9 provides for this utility model embodiment eight.
Reference:
1-electron speed regulator 11-processor 12-throttle signal interface 13-communication interface
2-controller 21-processor 22-throttle signal interface 23-communication interface
3-motor
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the technology in this utility model embodiment
Scheme is clearly and completely described, it is clear that described embodiment is only this utility model one
Divide embodiment rather than whole embodiments.Based on the embodiment in this utility model, this area is common
The every other embodiment that technical staff is obtained under not making creative work premise, broadly falls into this
The scope of utility model protection.
It should be noted that when assembly is referred to as " being fixed on " another assembly, and it can be directly separately
On one assembly or assembly placed in the middle can also be there is.When assembly be considered as " connection " another
Individual assembly, it can be directly to another assembly or may be simultaneously present assembly placed in the middle.
Unless otherwise defined, all of technology used herein and scientific terminology with belong to this utility model
The implication that is generally understood that of those skilled in the art identical.Herein in description of the present utility model
Used in term be intended merely to describe specific embodiment purpose, it is not intended that in limiting this practicality
Novel.Term as used herein " and/or " include any of one or more relevant Listed Items
And all of combination.
Below in conjunction with the accompanying drawings, embodiments more of the present utility model are elaborated.Do not conflict
In the case of, the feature in following embodiment and embodiment can be mutually combined.
Embodiment one
This utility model embodiment one provides a kind of throttle control signal processing method.Fig. 1 is that this practicality is new
The flow chart of the throttle control signal processing method that type embodiment one provides.As it is shown in figure 1, the present embodiment
In method, may include that
The transmission state signal of step 101, the in real time described throttle signal interface of monitoring.
Specifically, the method in the present embodiment can apply to electron speed regulator.In the present embodiment, electronics
The throttle control signal that the controller that speed regulator is able to receive that in unmanned vehicle sends, and according to throttle control
Signal processed controls the electric machine rotation of unmanned vehicle, thus realizes the normal flight of unmanned vehicle.
Electron speed regulator in the throttle control signal processing method that Fig. 2 provides for this utility model embodiment one
Connection diagram with controller.As in figure 2 it is shown, can set between electron speed regulator 1 and controller 2
It is equipped with two passages.One of them is throttle channel, and another is communication port.
Described throttle channel may be used for transmitting throttle control signal, and described throttle control signal can be PWM
(Pulse Width Modulation, pulse width modulation) signal or PPM (Pulse Position
Modulation, pulse position modulation) signal etc..
Described communication port may be used for transmitting communication data.Such as, controller 2 can be by described logical
Letter passage sends executable file or tuning parameter etc. to electron speed regulator 1, so that electron speed regulator
1 realizes the function such as firmware upgrade, parameter modification.Described electron speed regulator 1 can be led to by described communication
Road sends the service data relevant to running status to described controller 2, and oneself of electron speed regulator 1
Body operating state data etc..
Described electron speed regulator 1 can be provided with for the throttle signal interface receiving throttle control signal with
And for transmitting the communication interface of communication data.Described controller 2 can be provided with for sending throttle control
The throttle signal interface of signal processed and for transmitting the communication interface of communication data.Throttle signal interface and
Communication interface can have multiple way of realization, for example, it is possible to for wire, circuit board trace, terminal, draw
Feet etc., this is not restricted by the present embodiment.
Previously described throttle channel and communication port can also have multiple implementation.Such as, described electricity
The throttle signal interface of sub-speed regulator 1 is directly connected to the throttle signal interface of described controller 2, is formed
Described throttle channel.Or, the throttle signal interface of described electron speed regulator 1 and described controller 2
Throttle signal interface realizes electrical connection by wire, circuit board trace or other parts, thus is formed described
Throttle channel.Being similar to, the communication interface of described electron speed regulator 1 connects with the communication of described controller 2
Mouth can be directly connected to, and forms described communication port.Or, the communication interface of described electron speed regulator 1
Wire, circuit board trace or other parts can be passed through with the communication interface of described controller 2 to realize being electrically connected
Connect, thus form described communication port.
In this step, electron speed regulator 1 can monitor the transmission state signal of throttle signal interface in real time.
Described transmission state signal is normal condition, then illustrate that the throttle signal interface of described electron speed regulator 1 connects
Receive is normal throttle control signal.If described transmission state signal is abnormality, then institute is described
The throttle signal interface stating electron speed regulator 1 is not received by normal throttle control signal.
Specifically, described abnormality can be that described throttle signal interface does not receives described Throttle Opening Control
Signal, or the described throttle control signal appearance that described throttle signal interface arrives is abnormal.
Described electron speed regulator 1 can be provided with the signal transmission for monitoring described throttle signal interface
The observation circuit of state.Such as, described observation circuit can arrive according to described throttle signal interface
It is pre-conditioned whether the characteristic information of throttle control signal meets, and determines that described throttle signal interface arrives
Described throttle control signal whether exception occurs.Described characteristic information can be described throttle control signal
Frequency information and/or pulse width information.
Described observation circuit can include voltage detecting circuit or current detection circuit, described voltage detecting electricity
Road and described current detection circuit are respectively used to detect the Throttle Opening Control received on described throttle signal interface
The information of voltage of signal or current information, described observation circuit can be according to the electricity of described throttle control signal
Pressure information or current information determine the characteristic information of described throttle control signal, so that it is determined that described signal passes
Defeated state.
Such as, if the described throttle signal interface that described observation circuit detects in lasting Preset Time connects
The voltage of the signal received or electric current are 0, then illustrate that described throttle signal interface does not receives described throttle
Control signal.
If there is a high level every the x second in the signal received from described throttle signal interface, every time
High level lasting time is the y second, the spy of the throttle control signal that the most described throttle signal interface receives
Reference breath is: frequency is 1/x hertz, and pulsewidth is the y second.
Assume throttle control signal be normal condition pre-conditioned for frequency between a-b hertz, pulsewidth
Between the c-d second, then i.e. can determine that from institute by comparing the size between 1/x Yu a, b, y and c, d
State throttle signal interface to throttle control signal whether be normal condition.
If from 1/x not in the range of a to b, or y is not in the range of c to d, then institute is described
State the described throttle control signal appearance exception that throttle signal interface arrives.
Corresponding relation between characteristic information and the described transmission state signal of described throttle control signal is permissible
Arrange according to actual needs, it is not limited to aforesaid way.
Certainly, determine that the transmission state signal of described Throttle Opening Control interface can also be by electron speed regulator 1
Other parts complete, and this is not restricted by the present embodiment.
If the transmission state signal of step 102 described throttle signal interface is abnormality, then from described
Communication interface receives described throttle control signal.
If the transmission state signal of described throttle signal interface is abnormality, controller 2 can be by logical
Letter passage sends throttle control signal to described electron speed regulator 1.Electron speed regulator 1 can connect from communication
Described throttle control signal is received, to control motor normal rotation on mouth.
Described throttle control signal is respectively sent to letter when described throttle signal interface and described communication interface
Number form can be different.Described throttle control signal can be sent to described throttle letter with analogue signal form
Number interface, such as pwm signal or PPM signal etc..Described throttle control signal can be with digital signal
Form is sent to described communication interface, such as, described pwm signal or the frequency information of PPM signal or
Pulse width information etc..
Described electron speed regulator 1 is after the throttle control signal receiving described digital signal form, permissible
Throttle control signal according to described digital signal form generates corresponding pwm signal or PPM signal, from
And realize the control to motor.
In actual applications, between electron speed regulator 1 and controller 2, can both be provided with throttle channel,
Communication port can be provided with again.Described controller 2 can be adjusted to described electronics by described communication port
Speed device 1 sends communication data, makes electron speed regulator 1 realize the function such as firmware upgrade, parameter renewal.?
Under normal circumstances, described electron speed regulator 1 receives, by throttle channel, the throttle that described controller 2 sends
Control information, controls motor normal rotation.Signal when the throttle signal interface of described electron speed regulator 1
When transmission state occurs abnormal, described electron speed regulator 1 can obtain throttle control signal from communication interface,
Proceed the control to motor, it is ensured that normal vehicle operation.
The present embodiment provide throttle control signal processing method, be provided with in electron speed regulator 1 for
Receive the throttle signal interface of throttle control signal and for transmitting the communication interface of communication data, pass through
Monitor the transmission state signal of described throttle signal interface in real time, and at the signal of described throttle signal interface
When transmission state is abnormality, receive described throttle control signal from described communication interface so that electronics
Speed regulator 1 can continue to control motor normal rotation, and horn power is out of control to prevent aircraft from occurring, it is ensured that
The normal flight of aircraft, improves the reliability of aircraft.
In the technical scheme that above-described embodiment provides, described electron speed regulator 1 connects from described communication interface
The throttle control signal received, can be the controller 2 Throttle Opening Control interface at described electron speed regulator 1
Transmission state signal just send on described communication port when occurring abnormal, or, can be to occur
Just send before exception.Illustrate with embodiment two and embodiment three separately below.
Embodiment two
This utility model embodiment two provides a kind of throttle control signal processing method.The present embodiment is in reality
On the basis of executing the technical scheme that example one provides, the transmission state signal at Throttle Opening Control interface occurs abnormal
Time, electron speed regulator 1 sends throttle control signal transmission fault message to controller 2, so that controlling
Device 2 is after receiving described throttle control signal transmission fault message, by communication port to described electronics
Speed regulator 1 sends throttle control signal.
The flow chart of the throttle control signal processing method that Fig. 3 provides for this utility model embodiment two.As
Shown in Fig. 3, the method in the present embodiment, may include that
The transmission state signal of step 201, the in real time described throttle signal interface of monitoring.
Step 201 in the present embodiment and the step 101 in embodiment one to implement principle similar,
Here is omitted.
In the present embodiment, in the situation that transmission state signal is normal condition of described throttle signal interface
Under, controller 2 only sends throttle control signal by throttle channel, and electron speed regulator 1 only passes through throttle
Control throttle control signal described in interface.
It is to say, before the transmission state signal of described throttle signal interface occurs extremely, described logical
Letter passage does not transmit described throttle control signal.
If the transmission state signal of step 202 described throttle signal interface is abnormality, then pass through institute
State communication interface and send throttle control signal transmission fault message.
Specifically, described throttle control signal transmission fault message can be passed through by described electron speed regulator 1
Described communication interface sends, thus controller 2 can receive described Throttle Opening Control from communication port
Signal transmission fault message so that controller 2 knows that described electron speed regulator 1 connects from throttle signal in time
The throttle control signal that mouth receives breaks down.
And then, described controller 2 can be according to described throttle control signal transmission fault message, by logical
Letter passage sends described throttle control signal to described electron speed regulator 1.
Step 203, from described communication interface receive described throttle control signal.
By step 201 and step 202, described controller 2 can be at the oil of described electron speed regulator 1
When the transmission state signal of gate signal interface occurs abnormal, send described Throttle Opening Control by communication port and believe
Number.Electron speed regulator 1 described in this step just can receive described Throttle Opening Control letter from described communication interface
Number, and control electric machine rotation according to the described throttle control signal received from described communication interface.
The throttle control signal processing method that the present embodiment provides, connects by monitoring described throttle signal in real time
The transmission state signal of mouth, and when the transmission state signal of described throttle signal interface is abnormality,
Throttle control signal transmission fault message is sent so that controller 2 can be timely by described communication interface
Know that electron speed regulator 1 occurs when receiving throttle control signal abnormal, and just pass through when occurring abnormal
Communication port sends throttle control signal to described electron speed regulator 1, saves signal resource, and effectively
Save the electric quantity of power supply of aircraft, improve the flying power of aircraft.
Further, if being abnormality from the transmission state signal of described throttle signal interface, it is also possible to
Determine that abnormal reason occurs according to the signal received.
Such as, if from described throttle signal interface to the voltage of signal or electric current relatively low, be much smaller than
Pwm signal under normal circumstances or the high level voltage of PPM signal or high level of current, illustrate possibility
Electric quantity of power supply is not enough.If from described throttle signal interface to the voltage of signal or electric current be continuously 0,
Illustrate that the throttle channel between electron speed regulator 1 and controller 2 may be already off.
According to there is abnormal reason, described electron speed regulator 1 can perform corresponding corrective operation.Example
As, enable stand-by power supply when electric quantity of power supply deficiency.Or, described electron speed regulator 1 can be to control
The described throttle control signal transmission fault message that device 2 processed sends is carried corresponding abnormal mark so that
Controller 2 performs corresponding operating according to abnormal mark.Such as, when throttle channel disconnects, described control
Device 2 can send information, report exceptions etc. to user.
By described electron speed regulator 1 and described controller 2 according to abnormal reason occurs, perform corresponding
Operation, it is possible to make the transmission state signal of throttle channel recover normal quickly, further increase and fly
The reliability of row device.
On the basis of the technical scheme that above-described embodiment provides, it is preferred that if described throttle signal connects
The transmission state signal of mouth reverts to normal condition, then electron speed regulator 1 can connect from described throttle signal
Mouth receives described throttle control signal, it is achieved the continuation to motor controls.
Further, if the transmission state signal of described throttle signal interface reverts to normal condition, then institute
State electron speed regulator 1 and can send the transmission of described throttle control signal from described communication interface to controller 2
Recovering message, described controller 2 is after receiving described throttle control signal transmission recovery message, permissible
Stop sending throttle control signal from described communication interface.
Embodiment three
This utility model embodiment three provides a kind of throttle control signal processing method.The present embodiment is in reality
On the basis of executing the technical scheme that example one provides, the transmission state signal at Throttle Opening Control interface occurs abnormal
Before, controller 2 is the most simultaneously by Throttle Opening Control described in throttle channel and communication port transmitted in parallel respectively
Signal.
The flow chart of the throttle control signal processing method that Fig. 4 provides for this utility model embodiment three.As
Shown in Fig. 4, the method in the present embodiment, may include that
The transmission state signal of step 301, the in real time described throttle signal interface of monitoring, wherein, throttle control
Signal processed is passed in parallel to described throttle signal interface and described communication interface the most simultaneously.
Specifically, during normal vehicle operation, controller 2 can pass through throttle channel and communicate
Passage sends described throttle control signal respectively.I.e., no matter the transmission state signal of throttle signal interface is
No normally, electron speed regulator 1 all can from described throttle signal interface to throttle control signal
Meanwhile, throttle control signal is also received in communication interface.
Described throttle control signal is respectively sent to letter when described throttle signal interface and described communication interface
Number form can be different.Described throttle control signal can be sent to described oil with analogue signal form
Gate signal interface, is sent to described communication interface with digital signal form.
In this step, the judgement to the transmission state signal of described throttle signal interface, enforcement can be used
The method in step 101 in example one.Such as, the throttle control arrived according to described throttle signal interface
It is pre-conditioned whether the characteristic information of signal processed meets, and determines that described throttle signal interface arrives described
Whether throttle control signal there is exception.
Additionally, the present embodiment also provides for another determination methods.Electron speed regulator 1 can be by from throttle
It is right that throttle control signal that signaling interface receives and the throttle control signal received from communication interface are carried out
Ratio, if the frequency information of both correspondences and/or pulse width information are consistent, then judges that described throttle signal connects
The transmission state signal of mouth is normal condition, otherwise is then judged as abnormality.
Or, above two method can be combined the transmission state signal judging throttle signal interface,
The accuracy of judgement can be increased further.
Such as, if the characteristic information of throttle control signal that described throttle signal interface arrives meets preset
Condition, and from throttle signal interface to throttle control signal and the oil that receives from communication interface
Gate control signal is consistent, then judge that the transmission state signal of described throttle signal interface is normal condition.When
So, it is also possible to be, if the characteristic information of throttle control signal that described throttle signal interface arrives meets
Pre-conditioned, or from throttle signal interface to throttle control signal and receive from communication interface
Throttle control signal consistent, then judge that the transmission state signal of described throttle signal interface is normal condition.
If the transmission state signal of step 302 described throttle signal interface is abnormality, then from described
Communication interface receives described throttle control signal.
Owing to electron speed regulator 1 receives throttle from described throttle signal interface and described communication interface simultaneously
Control signal is therefore, when the transmission state signal of described throttle signal interface is abnormality, permissible
It is switched to communication interface, utilizes the throttle control signal received from communication interface to control electric machine rotation.
In the throttle control signal processing method that the present embodiment provides, throttle control signal is the most parallel
It is sent to throttle signal interface and the communication interface of electron speed regulator 1, if the letter of described throttle signal interface
Number transmission state is abnormality, and the most described electron speed regulator 1 can receive described from described communication interface
Throttle control signal, step is simple, it is easy to accomplish.
Embodiment four
This utility model embodiment four provides a kind of throttle control signal processing method.Fig. 5 is that this practicality is new
The flow chart of the throttle control signal processing method that type embodiment four provides.As it is shown in figure 5, the present embodiment
In method, may include that
Step 401, from described communication interface send throttle control signal.
Specifically, the method in the present embodiment can apply to controller 2.Described controller 2 is provided with
For sending the throttle signal interface of throttle control signal and for transmitting the communication interface of communication data.
Annexation between concrete structure and the electron speed regulator 1 of described controller 2 and signal interaction flow
All similar with embodiment one, here is omitted.
In the present embodiment, described controller 2 sends throttle control signal from described communication interface, can be down to
Include two kinds of implementations less.
In one implementation, first throttle control signal is sent from throttle signal interface, at electronic speed regulation
Device 1 from throttle signal interface to signal occur abnormal time, then send described from described communication interface
Throttle control signal.Specifically, step 401 may include that and receives Throttle Opening Control from described communication interface
Signal transmission fault message；According to described throttle control signal transmission fault message, from described communication interface
Sending described throttle control signal, its specific implementation is referred to embodiment two.
Further, it is also possible to receive the transmission of described throttle control signal from described communication interface and recover message；
Recover message according to the transmission of described throttle control signal, stop sending Throttle Opening Control letter from described communication interface
Number.
In another kind of implementation, while sending throttle control signal from throttle signal interface, just
Described throttle control signal is sent from described communication interface.It is to say, described throttle control signal is simultaneously
Sending respectively from described throttle signal interface and described communication interface, its specific implementation is referred to reality
Execute example three.
The throttle control signal processing method that the present embodiment provides, is provided with for sending in controller 2
The throttle signal interface of throttle control signal and for transmitting the communication interface of communication data, controller 2
Described throttle control signal can also be sent so that electron speed regulator 1 is from oil by described communication interface
When the signal that door receives occurs abnormal, described throttle control signal can be received by communication port,
Continuing to control motor normal rotation, horn power is out of control to prevent aircraft from occurring, it is ensured that aircraft normal
Flight, improves the reliability of aircraft.
On the basis of the technical scheme that above-described embodiment provides, it is preferred that connect from described throttle signal
Mouth is different with the signal aspect of the throttle control signal sent from described communication interface.
The throttle control signal that described throttle signal interface sends is analogue signal.Described communication interface sends
Throttle control signal be digital signal.
Embodiment five
This utility model embodiment five provides a kind of throttle control signal processing method.Fig. 6 is that this practicality is new
The flow chart of the throttle control signal processing method that type embodiment five provides.As shown in Figure 6, the present embodiment
In method may include that
If the transmission state signal of the described throttle channel of step 501 is abnormality, the most described electronics is adjusted
Speed device 1 receives described throttle control signal from described communication port.
Specifically, the method in the present embodiment can apply to electron speed regulator 1 and controller 2.Electronics
Be provided with between speed regulator 1 and controller 2 throttle channel for transmitting throttle control signal and for
The communication port of transmission communication data.The structure of each parts, annexation and interaction flow in the present embodiment
All similar with previous embodiment, here is omitted.
The throttle control signal processing method that the present embodiment provides, electron speed regulator 1 and controller 2 it
Between be provided with the throttle channel for transmitting throttle control signal and for transmit communication data communication lead to
Road, by electron speed regulator 1 when the transmission state signal of described throttle channel is abnormality, from institute
State communication port and receive described throttle control signal so that described electron speed regulator 1 can continue to control electricity
Machine normal rotation, horn power is out of control to prevent aircraft from occurring, it is ensured that the normal flight of aircraft, improves
The reliability of aircraft.
Further, described abnormality can be that described throttle channel does not receives described Throttle Opening Control letter
Number, or the described throttle control signal appearance that described throttle channel receives is abnormal.
Further, described electron speed regulator 1 can be according to the throttle control received from described throttle channel
It is pre-conditioned whether the characteristic information of signal processed meets, and determines the described oil received from described throttle channel
Whether gate control signal there is exception.Described characteristic information can be the frequency letter of described throttle control signal
Breath and/or pulse width information.If described transmission state signal is abnormality, the most described electron speed regulator 1 can
To send throttle control signal transmission fault message by described communication port to described controller 2, so that
Described controller 2 passes through described communication port to described electronics according to described throttle control signal failure message
Speed regulator 1 sends described throttle control signal.
Or, described throttle control signal can be distinguished the most parallel from described throttle channel and described communication
Channel transfer.
Further, described throttle control signal is respectively sent to described throttle signal passage and described communication
Signal aspect during passage can be different.
Described throttle control signal can be sent to described throttle channel with analogue signal form.
Described throttle control signal can be sent to described communication port with digital signal form.
Further, if the transmission state signal of described throttle channel reverts to normal condition, the most described electricity
Sub-speed regulator 1 can receive described throttle control signal from described throttle channel.
Embodiment six
This utility model embodiment six provides a kind of electron speed regulator.Fig. 7 is this utility model embodiment six
The structural representation of the electron speed regulator provided.As it is shown in fig. 7, the electron speed regulator in the present embodiment,
May include that
Processor 11, for receiving the throttle signal interface 12 of throttle control signal and logical for transmitting
The communication interface 13 of letter data.
Electricity is realized by described first connecting portion between described throttle signal interface 12 and described processor 11
Connect.
Realize electrically connecting by described second connecting portion between described communication interface 13 with described processor 11.
Wherein, the transmission state signal at the described throttle signal interface 12 real-time monitored is abnormality
Time, described processor 11 receives described throttle control signal from described communication interface 13.
Electron speed regulator described in the present embodiment, may be used for the Throttle Opening Control letter performed described in embodiment one
Number processing method.Each component function of the electron speed regulator in the present embodiment and implementation are all and embodiment
One is similar to, and here is omitted.
The concrete form of described throttle signal interface 12 and described communication interface 13 can have multiple, such as,
Can be wire, circuit board trace, port, pin etc..Described first connecting portion and the second connecting portion
Concrete form can also have multiple, such as, can be that wire, circuit board trace or solder joint etc. arbitrarily have and lead
The parts of Electricity Functional, this is not restricted by the present embodiment.
The function of the processor 11 in the present embodiment, can be realized by software, it is also possible to by hardware mould
Block realizes.Such as, determine the characteristic information of the throttle control signal that described throttle signal interface 12 receives,
Can be realized by enumerator, intervalometer and comparator.Whether meet according to described characteristic information and preset
Condition, determines whether the described throttle control signal that described throttle signal interface 12 receives exception occurs,
Can be realized by comparator.To switch to from communication from Throttle Opening Control interface throttle control signal
Interface 13 receives throttle control signal, can be realized by switch.
The electron speed regulator that the present embodiment provides, including processor 11, for receiving throttle control signal
Throttle signal interface 12 and for transmitting the communication interface 13 of communication data, processor 11 is by institute
State the transmission state signal of throttle signal interface 12 when being abnormality, receive from described communication interface 13
Described throttle control signal, continues to control motor normal rotation, and horn power is out of control to prevent aircraft from occurring,
Ensure the normal flight of aircraft, improve the reliability of aircraft.
Further, described electron speed regulator, it is also possible to include for monitoring described throttle signal interface
The observation circuit of the transmission state signal of 12, described observation circuit is connected with the communication of described processor 11,
For transmission state signal being sent to described processor 11.
The implementation of described observation circuit is also similar with embodiment one, and here is omitted.Described process
Device 11, described observation circuit, described throttle signal interface 12 and described communication interface 13 can be integrated
Together, i.e. it is arranged in same integrated chip.Or, described processor 11, described observation circuit,
Described throttle signal interface 12 and described communication interface 13 can individually be arranged.
Further, described abnormality can be that described throttle signal interface 12 does not receives described throttle
Control signal, or the described throttle control signal appearance that described throttle signal interface 12 receives is abnormal.
Further, the throttle that described processor 11 can receive according to described throttle signal interface 12
It is pre-conditioned whether the characteristic information of control signal meets, and determines what described throttle signal interface 12 received
Whether described throttle control signal there is exception；If the transmission state signal of described throttle signal interface 12 is
Abnormality, then receive described throttle control signal from described communication interface 13.Described characteristic information is institute
State frequency information and/or the pulse width information of throttle control signal.
Further, described processor 11 can be at the transmission state signal of described throttle signal interface 12
During for abnormality, send throttle control signal transmission fault message by described communication interface 13, and from
Described communication interface 13 receives described throttle control signal.
Or, described throttle control signal can be passed in parallel to described throttle signal interface 12 the most simultaneously
And described communication interface 13.
Further, described throttle control signal is respectively sent to described throttle signal interface 12 and described logical
Signal aspect during letter interface 13 can be different.Described throttle control signal can pass with analogue signal form
Deliver to described throttle signal interface 12.Described throttle control signal can be sent to institute with digital signal form
State communication interface 13.
Further, described processor 11 can be at the transmission state signal of described throttle signal interface 12
When reverting to normal condition, receive described throttle control signal from described throttle signal interface 12.
Embodiment seven
This utility model embodiment seven provides a kind of controller.Fig. 8 provides for this utility model embodiment seven
The structural representation of controller.As shown in Figure 8, the controller in the present embodiment, may include that
Processor 21, for sending the throttle signal interface 22 of throttle control signal and logical for transmitting
Communication interface the 23, the 3rd connecting portion and the 4th connecting portion of letter data.
Electricity is realized by described 3rd connecting portion between described throttle signal interface 22 and described processor 21
Connect.
Realize electrically connecting by described 4th connecting portion between described communication interface 23 with described processor 21.
Described processor 21 can send throttle control signal from described communication interface 23.
Controller described in the present embodiment, may be used for performing at the throttle control signal described in embodiment four
Reason method.Each component function of the controller in the present embodiment and implementation method are all similar with embodiment four,
Here is omitted.
The concrete form of described throttle signal interface 22 and described communication interface 23 can have multiple, such as,
Can be wire, circuit board trace, port, pin etc..Described 3rd connecting portion and the 4th connecting portion
Concrete form can also have multiple, such as, can be that wire, circuit board trace or solder joint etc. arbitrarily have and lead
The parts of Electricity Functional, this is not restricted by the present embodiment.
The controller that the present embodiment provides, including processor 21, for sending the throttle of throttle control signal
Signaling interface 22 and for transmitting the communication interface 23 of communication data, processor 21 can also pass through institute
State communication interface 23 and send described throttle control signal so that electron speed regulator is receiving from throttle channel
Signal when occurring abnormal, described throttle control signal can be received by communication port, continue to control electric
Machine normal rotation, horn power is out of control to prevent aircraft from occurring, it is ensured that the normal flight of aircraft, improves
The reliability of aircraft.
Further, controller described in the present embodiment, it is also possible to include for producing throttle control signal
Throttle signal produces circuit, and described throttle signal produces circuit and is connected with the communication of described processor 21, is used for
The throttle control signal of generation is sent to described processor 21.
Described throttle control signal can include the parts such as switching tube, with produce corresponding pwm signal or
PPM signal is as described throttle control signal.
Described processor 21, described throttle signal produce circuit, described throttle signal interface 22 and institute
State communication interface 23 can integrate, be i.e. arranged in same integrated chip.Or, described process
Device 21, described throttle signal produce circuit, described throttle signal interface 22 and described communication interface 23
Can individually arrange.
Further, described processor 21 can receive throttle control signal biography from described communication interface 23
Defeated fault message；According to described throttle control signal transmission fault information, send from described communication interface 23
Described throttle control signal.
Or, described throttle control signal can connect from described throttle signal interface 22 and described communication simultaneously
Mouth 23 sends respectively.
Further, from described throttle signal interface 22 and the throttle control from the transmission of described communication interface 23
The signal aspect of signal processed can be different.
The throttle control signal that described throttle signal interface 22 sends can be analogue signal.
The throttle control signal that described communication interface 23 sends can be digital signal.
Further, described processor 21 receives described throttle control signal biography from described communication interface 23
Defeated recovery message；Recover message according to the transmission of described throttle control signal, stop from described communication interface 23
Send throttle control signal.
Embodiment eight
This utility model embodiment eight provides a kind of mobile platform.Fig. 9 is that this utility model embodiment eight carries
The structural representation of the mobile platform of confession.Mobile platform shown in Fig. 9 is unmanned vehicle, certainly described
Mobile platform can also is that The Cloud Terrace, remote control battlebus or miscellaneous equipment, and this is not restricted by the present embodiment.Figure
Show to 9 being merely cited for property the structure of mobile platform.
As it is shown in figure 9, the mobile platform that the present embodiment provides, may include that motor 3, any of the above-described
Controller (not shown) described in embodiment and the electron speed regulator described in any of the above-described embodiment
1；
Described motor 3 is connected with electron speed regulator 1；
The oil for transmitting throttle control signal it is provided with between described electron speed regulator 1 and described controller
Door and for transmitting the communication port of communication data.
Mobile platform described in the present embodiment, may be used for performing the throttle control signal described in embodiment five
Processing method.Each component function of the mobile platform in the present embodiment and implementation method all with embodiment five class
Seemingly, here is omitted.
The mobile platform that the present embodiment provides, including motor 3, controller and electron speed regulator 1, described
Be provided with between electron speed regulator 1 and described controller for the throttle channel transmitting throttle control signal with
And for transmitting the communication port of communication data, described electron speed regulator 1 is at the signal of described throttle channel
When transmission state is abnormality, described throttle control signal can be received from described communication port, continue
Controlling motor 3 normal rotation, horn power is out of control to prevent aircraft from occurring, it is ensured that normally flying of aircraft
OK, improve the reliability of aircraft.
Further, described abnormality can be that described throttle channel does not receives described Throttle Opening Control letter
Number, or the described throttle control signal appearance that described throttle channel receives is abnormal.
Further, described electron speed regulator 1 can be according to the throttle control received from described throttle channel
It is pre-conditioned whether the characteristic information of signal processed meets, and determines the described throttle that described throttle channel receives
Whether control signal there is exception.
Further, described characteristic information can be frequency information and/or the pulsewidth of described throttle control signal
Information.
Further, if described transmission state signal is abnormality, the most described electron speed regulator 1 is permissible
Throttle control signal transmission fault message is sent to described controller by described communication port；
Accordingly, described controller can be according to described throttle control signal failure message by described communication
Passage sends described throttle control signal to described electron speed regulator 1.
Or, described throttle control signal can be distinguished the most parallel from described throttle channel and described communication
Channel transfer.
Further, described throttle control signal is respectively sent to described throttle signal passage and described communication
Signal aspect during passage can be different.
Described throttle control signal can be sent to described throttle channel with analogue signal form.
Described throttle control signal can be sent to described communication port with digital signal form.
Further, described electron speed regulator 1 can recover at the transmission state signal of described throttle channel
During for normal condition, receive described throttle control signal from described throttle channel.
In several embodiments provided by the utility model, it should be understood that disclosed relevant apparatus
And method, can realize by another way.Such as, device embodiment described above is only
Schematically, such as, described module or the division of unit, it is only a kind of logic function and divides, actual
Can have when realizing other dividing mode, the most multiple unit or assembly can in conjunction with or can be integrated
To another system, or some features can be ignored, or does not performs.Another point, shown or discussed
Coupling each other or direct-coupling or communication connection can be by some interfaces, device or unit
INDIRECT COUPLING or communication connection, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, makees
The parts shown for unit can be or may not be physical location, i.e. may be located at a place,
Or can also be distributed on multiple NE.Can select according to the actual needs part therein or
The whole unit of person realizes the purpose of the present embodiment scheme.
Process single it addition, each functional unit in each embodiment of this utility model can be integrated in one
In unit, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in
In one unit.Above-mentioned integrated unit both can realize to use the form of hardware, it would however also be possible to employ software
The form of functional unit realizes.
The foregoing is only embodiment of the present utility model, not thereby limit patent model of the present utility model
Enclosing, every equivalent structure utilizing this utility model description and accompanying drawing content to be made or equivalence flow process become
Change, or be directly or indirectly used in other relevant technical fields, be the most in like manner included in of the present utility model
In scope of patent protection.
Last it is noted that various embodiments above is only in order to illustrate the technical solution of the utility model, and
Non-to its restriction；Although this utility model being described in detail with reference to foregoing embodiments, ability
The those of ordinary skill in territory is it is understood that it still can be to the technical scheme described in foregoing embodiments
Modify, or the most some or all of technical characteristic is carried out equivalent；And these amendment or
Person replaces, and does not make the essence of appropriate technical solution depart from the model of this utility model each embodiment technical scheme
Enclose.
Claims (21)
1. an electron speed regulator, it is characterised in that including: processor, be used for receiving Throttle Opening Control letter
Number throttle signal interface, for transmitting the communication interface of communication data, the first connecting portion and second even
Meet portion；
Realize electrically connecting by described first connecting portion between described throttle signal interface and described processor；
Realize electrically connecting by described second connecting portion between described communication interface with described processor；
Wherein, when the transmission state signal of the described throttle signal interface real-time monitored is abnormality,
Described processor receives described throttle control signal from described communication interface.
Electron speed regulator the most according to claim 1, it is characterised in that also include for monitoring
Stating the observation circuit of the transmission state signal of throttle signal interface, described observation circuit leads to described processor
News connect, for transmission state signal sends to described processor.
Electron speed regulator the most according to claim 2, it is characterised in that described processor, described
Observation circuit, described throttle signal interface and described communication interface integrate；
Or, described processor, described observation circuit, described throttle signal interface and described communication connect
Mouth is individually arranged.
Electron speed regulator the most according to claim 1, it is characterised in that described abnormality is institute
State throttle signal interface and do not receive described throttle control signal, or described throttle signal interface arrives
Described throttle control signal occur abnormal.
Electron speed regulator the most according to claim 4, it is characterised in that described processor is according to institute
State throttle signal interface to the characteristic information of throttle control signal whether meet pre-conditioned, determine
Described throttle signal interface to described throttle control signal whether exception occurs；If described throttle is believed
The transmission state signal of number interface is abnormality, then receive described Throttle Opening Control letter from described communication interface
Number.
Electron speed regulator the most according to claim 5, it is characterised in that described characteristic information is institute
State frequency information and/or the pulse width information of throttle control signal.
Electron speed regulator the most according to claim 1, it is characterised in that described processor is described
When the transmission state signal of throttle signal interface is abnormality, send throttle control by described communication interface
Signal transmission fault message processed, and receive described throttle control signal from described communication interface.
Electron speed regulator the most according to claim 1, it is characterised in that described throttle control signal
It is passed in parallel to described throttle signal interface and described communication interface the most simultaneously.
9. according to the electron speed regulator described in any one of claim 1-8, it is characterised in that described throttle
Control signal is respectively sent to signal aspect difference when described throttle signal interface and described communication interface.
Electron speed regulator the most according to claim 9, it is characterised in that described Throttle Opening Control is believed
Number it is sent to described throttle signal interface with analogue signal form；
Described throttle control signal is sent to described communication interface with digital signal form.
11. electron speed regulators according to claim 1, it is characterised in that described processor is in institute
State the transmission state signal of throttle signal interface when reverting to normal condition, connect from described throttle signal interface
Receive described throttle control signal.
12. 1 kinds of controllers, it is characterised in that including: processor, be used for sending throttle control signal
Throttle signal interface, for transmitting the communication interface of communication data, the 3rd connecting portion and the 4th connection
Portion；
Realize electrically connecting by described 3rd connecting portion between described throttle signal interface and described processor；
Realize electrically connecting by described 4th connecting portion between described communication interface with described processor；
Described processor sends throttle control signal from described communication interface.
13. controllers according to claim 12, it is characterised in that also include for producing throttle
The throttle signal of control signal produces circuit, and described throttle signal produces circuit with described processor communication even
Connect, for sending the throttle control signal of generation to described processor.
14. controllers according to claim 13, it is characterised in that described processor, described oil
Gate signal produces circuit, described throttle signal interface and described communication interface and integrates；
Or, described processor, described throttle signal produce circuit, described throttle signal interface and institute
State communication interface individually to arrange.
15. controllers according to claim 12, it is characterised in that described processor is from described logical
Letter interface throttle control signal transmission fault information；Believe according to described throttle control signal transmission fault
Breath, sends described throttle control signal from described communication interface.
16. controllers according to claim 12, it is characterised in that described throttle control signal is same
Time send respectively from described throttle signal interface and described communication interface.
17. according to the controller described in any one of claim 12-16, it is characterised in that from described oil
Gate signal interface is different with the signal aspect of the throttle control signal sent from described communication interface.
18. controllers according to claim 17, it is characterised in that described throttle signal interface is sent out
The throttle control signal sent is analogue signal；
The throttle control signal that described communication interface sends is digital signal.
19. controllers according to claim 15, it is characterised in that described processor is from described logical
Throttle control signal transmission described in letter interface recovers message, and passes according to described throttle control signal
Defeated recovery message, stops sending throttle control signal from described communication interface.
20. 1 kinds of mobile platforms, it is characterised in that including: motor, any one of claim 1-11 institute
Controller described in the electron speed regulator stated and any one of claim 12-19；
Described motor is connected with electron speed regulator；
The throttle for transmitting throttle control signal it is provided with between described electron speed regulator and described controller
Passage and for transmitting the communication port of communication data.
21. mobile platforms according to claim 20, it is characterised in that described mobile platform is nothing
People's aircraft, The Cloud Terrace or remote control battlebus.
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| CN201620153118.2U CN205469847U (en) | 2016-02-29 | 2016-02-29 | Electronic governor , controller and moving platform |
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| CN201620153118.2U CN205469847U (en) | 2016-02-29 | 2016-02-29 | Electronic governor , controller and moving platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106716277A (en) * | 2016-02-29 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Throttle control signal processing method, electronic speed regulator, controller and mobile platform |
| WO2018094671A1 (en) * | 2016-11-24 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Electronic governor, and unmanned aerial vehicle |
| CN109110141A (en) * | 2017-06-26 | 2019-01-01 | 深圳市道通智能航空技术有限公司 | Accelerator control method, device, dynamical system and unmanned vehicle |
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2016
- 2016-02-29 CN CN201620153118.2U patent/CN205469847U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106716277A (en) * | 2016-02-29 | 2017-05-24 | 深圳市大疆创新科技有限公司 | Throttle control signal processing method, electronic speed regulator, controller and mobile platform |
| WO2017147755A1 (en) * | 2016-02-29 | 2017-09-08 | 深圳市大疆创新科技有限公司 | Throttle control signal processing method, electronic speed regulator, controller, and mobile platform |
| US10611244B2 (en) | 2016-02-29 | 2020-04-07 | SZ DJI Technology Co., Ltd. | Method for processing throttle control signal, electronic speed regulator, controller, and mobile platform |
| WO2018094671A1 (en) * | 2016-11-24 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Electronic governor, and unmanned aerial vehicle |
| CN109110141A (en) * | 2017-06-26 | 2019-01-01 | 深圳市道通智能航空技术有限公司 | Accelerator control method, device, dynamical system and unmanned vehicle |
| US11584235B2 (en) | 2017-06-26 | 2023-02-21 | Autel Robotics Co., Ltd. | Accelerator control method and device, power system and unmanned aerial vehicle |
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