CN206023652U - Electric machine control system and unmanned vehicle - Google Patents

Electric machine control system and unmanned vehicle Download PDF

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Publication number
CN206023652U
CN206023652U CN201621065157.3U CN201621065157U CN206023652U CN 206023652 U CN206023652 U CN 206023652U CN 201621065157 U CN201621065157 U CN 201621065157U CN 206023652 U CN206023652 U CN 206023652U
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China
Prior art keywords
motor
speed regulator
electron speed
electric machine
controller
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CN201621065157.3U
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Chinese (zh)
Inventor
蓝求
周长兴
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Shenzhen Dajiang Innovations Technology Co Ltd
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Shenzhen Dajiang Innovations Technology Co Ltd
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Abstract

A kind of electric machine control system, including first, second electron speed regulator and controller.First, second electron speed regulator is electrically connected with a motor respectively.First, second electron speed regulator is respectively adopted different type of drive and drives the motor to rotate.The controller is communicated to connect respectively with first, second electron speed regulator.Wherein, the controller select in first, second electron speed regulator one of them rotates as motor described in driver drives, and select described one of them or another as the watch-dog monitoring motor rotary state.This utility model also provides a kind of unmanned vehicle using the electric machine control system.The electric machine control system done by the quantity of the electron speed regulator to motor separate between Redundancy Design, and electron speed regulator, and by using different type of drive come motor, so as to greatly improve stability and the safety of dynamical system.

Description

Electric machine control system and unmanned vehicle
Technical field
This utility model is related to motor control technology field, more particularly to a kind of electric machine control system and use the motor control The unmanned vehicle of system processed.
Background technology
Unmanned vehicle adopts motor to drive propeller rotational to provide flying power.At present, a motor, for example directly Stream brushless electric machine, is generally driven using Single Electron speed regulator, when electron speed regulator breaks down, then makes unmanned vehicle The power of corresponding axle is directly lost, causes unmanned vehicle flight unstable, it may happen that security incident, example when serious Such as unmanned vehicle is out of control falls.
Utility model content
In view of this, it is necessary to propose a kind of electric machine control system and the unmanned vehicle using the electric machine control system, To solve the above problems.
A kind of electric machine control system, for driving a motor to rotate and monitoring the rotary state of the motor.The electricity Machine control system includes the first electron speed regulator, the second electron speed regulator and controller.First electron speed regulator and Second electron speed regulator is electrically connected with the motor respectively.First electron speed regulator and second electron speed regulator Different type of drive are respectively adopted drives the motor to rotate.The controller and first electron speed regulator and described Second electron speed regulator is communicated to connect respectively.Wherein, the controller selects first electron speed regulator and described second One of them in electron speed regulator is rotated as motor described in driver drives, and select described one of them or another As the rotary state that watch-dog monitors the motor.
Further, when the rotary state for monitoring the motor occurs abnormal, the controller selects described first Another in electron speed regulator and second electron speed regulator drives the motor again as driver.
Further, the motor is brshless DC motor, and first electron speed regulator and second electronics are adjusted One of them in fast device drives the motor to rotate using sine wave drive mode, and another is driven using square wave drive mode The dynamic motor is rotated.
Further, the controller selects to adjust using the electronics of sine wave drive mode in the motor normal rotation Fast device drives the motor to rotate, and selects using square wave drive mode when the rotary state of the motor occurs abnormal Electron speed regulator drives the motor to rotate;
Or, the controller selects to drive using the electron speed regulator of square wave drive mode in the motor normal rotation The dynamic motor is rotated, and selects the electronics using sine wave drive mode when the rotary state of the motor occurs abnormal Speed regulator drives the motor to rotate.
Further, first electron speed regulator includes that the first driver, second electron speed regulator include second Driver, wherein, first driver drives the motor to rotate using the first type of drive, and second driver is adopted Second type of drive drives the motor to rotate.
Further, first type of drive be sine wave drive mode, the one of which in square wave drive mode, and First type of drive is different from the type of drive that second electron speed regulator is adopted;
And/or, second type of drive is sine wave drive mode, the one of which in square wave drive mode, and institute The type of drive that the second type of drive is adopted is stated different from first electron speed regulator.
Further, the electric machine control system also includes control board, and the control board is provided with electronics unit Device, first electron speed regulator and second electron speed regulator are respectively arranged in the control board, described Electronic devices and components include first driver and second driver.
Further, first electron speed regulator includes first control circuit plate, sets on the first control circuit plate There are electronic devices and components, the electronic devices and components on the first control circuit plate to include first driver;
And/or, second electron speed regulator includes that second control circuit plate, the second control circuit plate are provided with electricity Sub- components and parts, the electronic devices and components on the second control circuit plate include second driver.
Further, motor control signal is sent to the controller electron speed regulator used as driver, is made Corresponding motor is produced according to the motor control signal and corresponding type of drive for the electron speed regulator that driver is used Drive signal is rotated driving the motor.
Further, the electron speed regulator for using as watch-dog obtains the real work parameter of the motor, and by institute The real work parameter for stating motor is sent to the controller.
Further, the reality of controller motor according to the real work parameter determination of the motor for receiving Border rotary state;
The motor control signal includes that motor rotational parameters, the controller are determined always according to the motor rotational parameters The expected rotary state of the motor, and the reality turn of the expected rotary state according to the motor and the motor for determining Described in dynamic condition adjudgement, whether the rotary state of motor there is exception.
Further, the electron speed regulator for using as watch-dog obtains the real work parameter of the motor, and according to The actual rotation state of motor described in the real work parameter determination of the motor for getting.
Further, also the actual rotation state of the motor for determining is sent out as the electron speed regulator that watch-dog is used Give the controller;
The motor control signal includes that motor rotational parameters, the controller determine institute according to the motor rotational parameters The expected rotary state of motor is stated, and the expected rotary state according to the motor is turned with the reality of the motor for receiving Described in dynamic condition adjudgement, whether the rotary state of motor there is exception.
Further, the controller selects first electronics when the rotary state for judging the motor occurs abnormal Another in speed regulator and second electron speed regulator drives the motor again as driver.
Further, the motor control signal includes motor rotational parameters, used as the electron speed regulator that watch-dog is used Also obtain the motor rotational parameters, and the expected rotary state of the motor is determined according to the motor rotational parameters, and Whether exception is occurred according to the expected rotary state of the motor and the rotary state of motor described in actual rotation condition adjudgement.
Further, also give birth to when the rotary state for judging motor occurs abnormal as the electron speed regulator that watch-dog is used Into an abnormal signal, and the abnormal signal is sent to the controller;
The controller selects first electron speed regulator and second electricity when the abnormal signal is received Another in sub- speed regulator drives the motor again as driver.
Further, the controller is adjusted with first electron speed regulator and second electronics by communication line Fast device is communicated to connect respectively.
Further, first electron speed regulator is communicated to connect with second electron speed regulator, is made as driver Communication line between electron speed regulator and the controller is in effective status, used as the electronic speed regulation that watch-dog is used Communication line between device and the controller is temporarily in disarmed state, and the controller is by the electricity that uses as driver Sub- speed regulator is communicated to connect with the electron speed regulator used as driver;
Or, the communication line between first electron speed regulator and the controller, and second electronics tune Communication line between fast device and the controller is simultaneously in effective status.
Further, first electron speed regulator passes through control signal wire and institute respectively with second electron speed regulator State its communications connection, the electron speed regulator used as driver is by the control signal wire by the motor drive signal It is sent to the motor.
Further, the rotary state of the motor at least includes rotating speed and the rotation direction of the motor.
Further, the motor is three phase electric machine, first electron speed regulator and second electron speed regulator Electrically connected with the motor by three-phase connecting line respectively, passed through to sense the three-phase as the electron speed regulator that watch-dog is used Electric parameter in connecting line is obtaining the real work parameter of the motor.
Further, first electron speed regulator and second electron speed regulator include sensor respectively, described Sensor is used for sensing the electric parameter in the three-phase connecting line;
And/or, the electric parameter in the three-phase connecting line include following at least one:Three-phase current size and side To, three-phase voltage size and direction, three-phase electromotive force size and direction.
A kind of unmanned vehicle, including fuselage and the dynamical system on the fuselage, the dynamical system bag Include propeller, motor and electric machine control system as above.The motor is connected with the propeller, described for driving Propeller rotational, to provide flying power to the unmanned vehicle.
Electric machine control system of the present utility model has done redundancy by the quantity of the electron speed regulator to same motor and has set Meter, and separate between electron speed regulator, and by using different type of drive come motor, so as to greatly improve The stability of the dynamical system of unmanned vehicle and safety, and reduce because of unmanned vehicle caused by dynamical system failure institute The risk that falls.
Description of the drawings
Fig. 1 is a kind of functional block diagram of electric machine control system that this utility model embodiment is provided.
Fig. 2 be this utility model first embodiment provide electric machine control system motor be in normal rotation state when Operation principle schematic diagram.
Fig. 3 be this utility model second embodiment provide electric machine control system motor be in normal rotation state when Operation principle schematic diagram.
Fig. 4 be this utility model 3rd embodiment provide electric machine control system motor be in normal rotation state when Operation principle schematic diagram.
Fig. 5 be this utility model fourth embodiment provide electric machine control system motor be in anomalous rotation state when Operation principle schematic diagram.
Fig. 6 be the 5th embodiment of this utility model provide electric machine control system motor be in anomalous rotation state when Operation principle schematic diagram.
Fig. 7 be this utility model sixth embodiment provide electric machine control system motor be in anomalous rotation state when Operation principle schematic diagram.
Fig. 8 is the functional block diagram of another kind of electric machine control system that this utility model embodiment is provided.
Fig. 9 is the functional block diagram of another electric machine control system that this utility model embodiment is provided.
Figure 10 is a kind of structure chart of unmanned vehicle that this utility model embodiment is provided.
Main element symbol description
Electric machine control system 100、101、102
First electron speed regulator 31
First control circuit plate 310
First driver 311
Sensor 312
Second electron speed regulator 32
Second control circuit plate 320
Second driver 321
Sensor 322
Controller 40
Control board 50
Unmanned vehicle 200
Fuselage 21
Dynamical system 22
Propeller 221
Motor 222
Battery 223
Following specific embodiment will further illustrate this utility model in conjunction with above-mentioned accompanying drawing.
Specific embodiment
It should be noted that when component is referred to as " being fixed on " another component, it can directly on another component Or can also there is component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to To another component or may be simultaneously present component placed in the middle.Term as used herein " vertical ", " level ", " left side ", " right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technology used herein and scientific terminology are led with technology of the present utility model is belonged to The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein The purpose of description specific embodiment, it is not intended that in limiting this utility model.Term as used herein " and/or " include The arbitrary and all of combination of one or more related Listed Items.
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole Embodiment.In the case where not conflicting, the feature in following embodiments and embodiment can be mutually combined.New based on this practicality Embodiment in type, the every other enforcement obtained under the premise of creative work is not made by those of ordinary skill in the art Example, belongs to the scope of this utility model protection.
Fig. 1 is referred to, is the functional block diagram of the electric machine control system 100 of this utility model embodiment.The motor control System processed 100 is electrically connected with a motor 222, for driving the motor 222 to rotate and monitoring the rotation shape of the motor 222 State.The electric machine control system 100 can be applied to the various electronic installations needed using motor 222 together with the motor 222 In, such as unmanned vehicle, robot etc..
In the present embodiment, the electric machine control system 100 at least includes the first electron speed regulator 31, the second electronic speed regulation Device 32 and controller 40, wherein, first electron speed regulator 31 and second electron speed regulator 32 respectively with the electricity Machine 222 is electrically connected, and different type of drive are respectively adopted drive the motor 222 to rotate.It is understood that the motor Control system 100 may include plural electron speed regulator, and each electron speed regulator is respectively adopted different type of drive The motor 222 is driven to rotate.
The controller 40 and first electron speed regulator 31 and second electron speed regulator 32 difference communication link Connect.In one embodiment, the controller 40 selects first electron speed regulator 31 and second electron speed regulator One of them in 32 is rotated as motor described in driver drives 222, and selects one of electron speed regulator same Shi Zuowei watch-dogs monitor the rotary state of the motor 222, and the controller 40 also controls another electronic speed regulation simultaneously Device break-off.
For example, as shown in Fig. 2 the controller 40 selects first electron speed regulator 31 as driver drives The motor 222 is rotated, and selects first electron speed regulator 31 to monitor turning for the motor 222 simultaneously as watch-dog Dynamic state, the controller 40 also control 32 break-off of the second electron speed regulator simultaneously.
Optionally, in another kind of embodiment, the controller 40 selects first electron speed regulator 31 and described One of them in second electron speed regulator 32 is rotated as motor described in driver drives 222, and selects another conduct Watch-dog monitors the rotary state of the motor 222.
For example, as shown in Figure 3,4, the controller 40 selects first electron speed regulator 31 to drive as driver The dynamic motor 222 is rotated, and selects second electron speed regulator 32 to monitor the rotation shape of the motor 222 as watch-dog State.
In the present embodiment, when the rotary state for monitoring the motor 222 occurs abnormal, the controller 40 is selected Another in first electron speed regulator 31 and second electron speed regulator 32 drives institute again as driver State motor 222.
It is understood that when the rotary state for monitoring the motor 222 occurs abnormal, the controller 40 can be with After the motor 222 is driven again, the electron speed regulator currently as driver is selected to monitor institute simultaneously as watch-dog The rotary state of motor 222 is stated, or selects the electron speed regulator currently not as driver the electricity to be monitored as watch-dog The rotary state of machine 222.
For example, corresponding to Fig. 2-4, the controller 40 is in the case of the rotary state of the motor 222 is normal First electron speed regulator 31 is selected as driver.When the rotary state for monitoring the motor 222 occurs abnormal, such as Shown in Fig. 5-7, the controller 40 selects second electron speed regulator 32 as driver.Meanwhile, as shown in figure 5, described Controller 40 can select second electron speed regulator 32 to monitor the rotary state of the motor 222 simultaneously as watch-dog, Or, as shown in fig. 6-7, the controller 40 can select first electron speed regulator 31 to monitor the electricity as watch-dog The rotary state of machine 222.
In the present embodiment, the motor 222 is brshless DC motor 222.The driving of the electron speed regulator of main flow at present Mode mainly has square wave drive mode and sine wave drive mode.Wherein, square wave drive mode adopts six traditional step commutations Mode, each commutation, the positive pole for having winding connection control power supply, electric current stream enter winding, and second winding is connected to negative Pole, electric current are flowed out from the other end, and the 3rd winding can be in suspended state, for detecting whether this carries out commutation next time.Turn Square is that the interaction between the magnetic field and permanent magnet produced by stator coil is produced, and ideally, torque peak occurs When the two magnetic field orthotropics, and most weak when two magnetic fields are parallel, the rotation lasting in order to ensure motor, by fixed The magnetic field that sub- winding is produced constantly should be shifted one's position, but can so cause the angle in the two magnetic fields constantly to change, and cause to turn Square is pulsed.
Sine wave drive mode Real-time Collection three-phase current and three-phase voltage, using Field orientable control(FOC)Vector skill Art, it is ensured that the angle of stator coil magnetic field and magnetic field of permanent magnet is 90 °, is always maintained at torque peak.And the mode that modulates is SVPWM ripples, three-phase are modulated simultaneously.Sine wave drive mode can substantially reduce the torque pulsation of motor, while significantly improving motor Efficiency.
In the present embodiment, one of them in first electron speed regulator 31 and second electron speed regulator 32 The motor 222 is driven to rotate using sine wave drive mode, another drives the motor 222 using square wave drive mode Rotate.It is understood that in other embodiments, first electron speed regulator 31 or second electron speed regulator 32 can To drive the motor 222 to rotate using other type of drive.
In the present embodiment, the controller 40 is selected in 222 normal rotation of motor using sine wave drive side The electron speed regulator of formula drives the motor 222 to rotate, and selects to adopt when the rotary state of the motor 222 occurs abnormal The motor 222 is driven to rotate with the electron speed regulator of square wave drive mode.
Optionally, in other embodiments, the controller 40 can select to adopt in 222 normal rotation of motor The electron speed regulator of square wave drive mode drives the motor 222 to rotate, and different in the rotary state generation of the motor 222 Chang Shike drives the motor 222 to rotate to select the electron speed regulator using sine wave drive mode.
In the present embodiment, as Figure 8-9, first electron speed regulator 31 includes the first driver 311, described Two electron speed regulators 32 include the second driver 321, and wherein, first driver 311 drives institute using the first type of drive State motor 222 to rotate, second driver 321 drives the motor 222 to rotate using the second type of drive.
Wherein, first type of drive be sine wave drive mode, the one of which in square wave drive mode, and described First type of drive is different from the type of drive that second electron speed regulator 32 is adopted.
Second type of drive is sine wave drive mode, the one of which in square wave drive mode, and described second Type of drive is different from the type of drive that first electron speed regulator 31 is adopted.
Wherein in a kind of embodiment, as shown in figure 8, electric machine control system 101 also includes control board 50, the control Circuit board processed 50 is provided with electronic devices and components, and first electron speed regulator 31 and second electron speed regulator 32 are set respectively Be placed in the control board 50, the electronic devices and components in the control board 50 include first driver 311 with And second driver 321.Thus, first electron speed regulator 31 and second electron speed regulator 32 can be shared Same control board 50, so that save the electric machine control system 101 using the sky shared by two electron speed regulators Between.
Wherein in another kind of embodiment, as shown in figure 9, first electron speed regulator 31 includes first control circuit plate 310, the first control circuit plate 310 is provided with electronic devices and components, the electronic devices and components on the first control circuit plate 310 Including first driver 311.Second electron speed regulator 32 includes second control circuit plate 320, second control Circuit board 320 is provided with electronic devices and components, and the electronic devices and components on the second control circuit plate 320 include that described second drives Device 321.Thus, electric machine control system 102 includes first electron speed regulator 31 and second electron speed regulator 32 Separately can be independently arranged, to change the electron speed regulator when electron speed regulator breaks down wherein.
During use, motor control signal is sent to the controller 40 electron speed regulator used as driver, is made Corresponding motor is produced according to the motor control signal and corresponding type of drive for the electron speed regulator that driver is used Drive signal is rotated driving the motor 222.
Wherein, first electron speed regulator 31 passes through control signal wire and institute respectively with second electron speed regulator 32 State motor 222 to communicate to connect, the electron speed regulator used as driver is by the control signal wire by the Motor drive Signal is sent to the motor 222.
In the first embodiment, only it is responsible for the reality of the monitoring motor 222 as the electron speed regulator that watch-dog is used Running parameter, and determined the actual rotation state of the motor 222 by the controller 40 and judge the motor 222 Whether rotary state there is exception.
Specifically, the electron speed regulator for using as watch-dog obtains the real work parameter of the motor 222, and by institute The real work parameter for stating motor 222 is sent to the controller 40.
The reality of the motor 222 according to the real work parameter determination of the motor 222 for receiving of the controller 40 Border rotary state.
Wherein, the motor control signal includes that motor rotational parameters, the controller 40 are rotated always according to the motor The expected rotary state of motor 222 described in parameter determination, and the expected rotary state according to the motor 222 and the institute for determining Whether the rotary state for stating motor 222 described in the actual rotation condition adjudgement of motor 222 there is exception.
In the first embodiment, the controller 40 is when the rotary state for judging the motor 222 occurs abnormal Another for selecting in first electron speed regulator 31 and second electron speed regulator 32 is driven again as driver The dynamic motor 222.
In the first embodiment, the rotary state of the motor 222 at least include the motor 222 rotating speed and Rotation direction.
In a second embodiment, it is responsible for the actual work for monitoring the motor 222 as the electron speed regulator that watch-dog is used Make parameter and determine the actual rotation state of the motor 222, and turning for the motor 222 is judged by the controller 40 Whether dynamic state there is exception.
Specifically, the electron speed regulator for using as watch-dog obtains the real work parameter of the motor 222, and according to The actual rotation state of motor 222 described in the real work parameter determination of the motor 222 for getting.Use as watch-dog Electron speed regulator the actual rotation state of the motor 222 for determining is sent to the controller 40 also.
Wherein, the motor control signal includes that motor rotational parameters, the controller 40 rotate ginseng according to the motor Number determines the expected rotary state of the motor 222, and the expected rotary state according to the motor 222 and the institute for receiving Whether the rotary state for stating motor 222 described in the actual rotation condition adjudgement of motor 222 there is exception.
In the second embodiment, the controller 40 is when the rotary state for judging the motor 222 occurs abnormal Another for selecting in first electron speed regulator 31 and second electron speed regulator 32 is driven again as driver The dynamic motor 222.
In the second embodiment, the rotary state of the motor 222 at least include the motor 222 rotating speed and Rotation direction.
In the third embodiment, it is responsible for the actual work for monitoring the motor 222 as the electron speed regulator that watch-dog is used Make parameter, determine the motor 222 actual rotation state and judge the motor 222 rotary state whether occur different Often.
Specifically, the electron speed regulator for using as watch-dog obtains the real work parameter of the motor 222, and according to The actual rotation state of motor 222 described in the real work parameter determination of the motor 222 for getting.
Wherein, the motor control signal includes motor rotational parameters, also obtains as the electron speed regulator that watch-dog is used Take the motor rotational parameters, and the expected rotary state of the motor 222, Yi Jigen is determined according to the motor rotational parameters It is different according to whether the expected rotary state of the motor 222 and the rotary state of motor 222 described in actual rotation condition adjudgement occur Often.
In the 3rd embodiment, the electron speed regulator used as watch-dog is in the rotary state for judging motor 222 Generation also generates an abnormal signal when abnormal, and the abnormal signal is sent to the controller 40.
In the 3rd embodiment, the controller 40 selects first electronics when the abnormal signal is received Another in speed regulator 31 and second electron speed regulator 32 drives the motor 222 again as driver.
In the 3rd embodiment, the rotary state of the motor 222 at least include the rotating speed of the motor 222 and Rotation direction.
In the present embodiment, the controller 40 is by communication line and first electron speed regulator 31 and described the Two electron speed regulators 32 are communicated to connect respectively.
Wherein in a kind of embodiment, as shown in Fig. 3,6, in an electron speed regulator not simultaneously as driver and prison In the case of control device use, first electron speed regulator 31 is communicated to connect with second electron speed regulator 32, used as driving Communication line between electron speed regulator that device is used and the controller 40 is in effective status, used as the electricity that watch-dog is used Communication line between sub- speed regulator and the controller 40 is temporarily in disarmed state, and the controller 40 is by being used as driving The electron speed regulator that device is used is communicated to connect with the electron speed regulator used as driver.
In this case, as the electron speed regulator that driver is used the motor rotational parameters can be sent to as The electron speed regulator that watch-dog is used.The electron speed regulator used as watch-dog can be adjusted by the electronics used as driver The actual rotation state or the exception of the real work parameter of the motor 222 or the motor 222 are believed by fast device Number it is sent to the controller 40.
Wherein in another kind of embodiment, as shown in Fig. 4,7, an electron speed regulator not simultaneously as driver and In the case of watch-dog use, communication line between first electron speed regulator 31 and the controller 40, and described Communication line between second electron speed regulator 32 and the controller 40 is simultaneously in effective status.
In this case, the motor rotational parameters can be transmitted directly to use as watch-dog by the controller 40 Electron speed regulator.The electron speed regulator used as watch-dog can be by the real work parameter of the motor 222 or described The actual rotation state of motor 222 or the abnormal signal are transmitted directly to the controller 40.
In the present embodiment, the motor 222 is three phase electric machine, first electron speed regulator 31 and second electricity Sub- speed regulator 32 is electrically connected with the motor 222 by three-phase connecting line respectively, is led to as the electron speed regulator that watch-dog is used Cross the electric parameter that senses in the three-phase connecting line to obtain the real work parameter of the motor 222.
Wherein, as shown in Fig. 8 or Fig. 9, first electron speed regulator 31 also includes sensor 312, second electronics Speed regulator 32 also includes that sensor 322, the sensor 312,322 are used for sensing the electric parameter in the three-phase connecting line. Electric parameter in the three-phase connecting line include following at least one:Three-phase current size and direction, three-phase voltage are big Little and direction, three-phase electromotive force size and direction.
Electric machine control system of the present utility model 100,101,102 is by the electron speed regulator to same motor 222 Quantity done separate between Redundancy Design, and electron speed regulator, and by using different type of drive come motor 222, so as to greatly improve stability and the safety of the dynamical system of unmanned vehicle, and reduce because of dynamical system failure Caused by the risk fallen of unmanned vehicle.
Figure 10 is referred to, this utility model also provides a kind of unmanned vehicle 200, and the unmanned vehicle 200 is at least wrapped Include fuselage 21 and dynamical system 22 and flight control system on the fuselage 21(Not shown).Wherein, described dynamic Force system 22 at least includes propeller 221, motor 222, battery 223 and above-mentioned electric machine control system 100.The propeller 221 are installed on the motor 222, and are connected with the motor 222.The motor 222 is used for driving 221 turns of the propeller Dynamic, to provide flying power to the unmanned vehicle 200.The battery 223 is used for providing work to the unmanned vehicle 200 Make power supply.
The electric machine control system 100 is used for driving the motor 222 to run and monitor the rotation shape of the motor 222 State.Specifically, the electric machine control system 100 is used for the velocity of rotation and rotation direction for adjusting the motor 222, to adjust State flight speed and the flight attitude of unmanned vehicle 200.
The flight control system at least includes flight controller(Not shown)And multiple sensor assemblies(Not shown). The flight controller is used for the state of flight for controlling the unmanned vehicle 200, including flight speed, flight attitude etc..Its In, the controller 40 that the flight controller and the flight control system include can be same electronic devices and components, also may be used For different electronic devices and components.The sensor assembly is to can sense when measured information, and the information for being sensed is pressed Certain rule is for conversion into the components and parts of the information output of the signal of telecommunication or other desired forms.The sensor assembly may include but It is not limited to, the Inertial Measurement Unit, compass, GPS sensor, range sensor etc..The Inertial Measurement Unit is used for examining Survey the attitude of the unmanned vehicle 200.
Finally it should be noted that above example is only in order to illustrate the technical solution of the utility model and unrestricted, although This utility model is described in detail with reference to preferred embodiment, it will be understood by those within the art that, can be right The technical solution of the utility model is modified or equivalent, the spirit and model without deviating from technical solutions of the utility model Enclose.
This patent document disclosure includes material protected by copyright.The copyright is all for copyright holder.Copyright Everyone does not oppose that anyone replicates the proce's-verbal of Patent&Trademark Office and the patent document in the presence of archives or is somebody's turn to do Patent is disclosed.

Claims (23)

1. a kind of electric machine control system, rotates for one motor of driving and monitors the rotary state of the motor, and its feature exists In the electric machine control system includes:
For the first electron speed regulator electrically connected with the motor;
For the second electron speed regulator electrically connected with the motor, first electron speed regulator and second electronic speed regulation Device is respectively adopted different type of drive and drives the motor to rotate;And
The controller for being communicated to connect with first electron speed regulator and second electron speed regulator respectively;
Wherein, the controller selects first electron speed regulator and the one of work in second electron speed regulator Described in driver drives, motor is rotated, and select described one of them or another monitor the motor as watch-dog Rotary state.
2. electric machine control system as claimed in claim 1, it is characterised in that when the rotary state for monitoring the motor occurs When abnormal, the controller selects first electron speed regulator and another conduct in second electron speed regulator Driver drives the motor again.
3. electric machine control system as claimed in claim 2, it is characterised in that the motor is brshless DC motor, described the One of them in one electron speed regulator and second electron speed regulator drives the motor using sine wave drive mode Rotate, another drives the motor to rotate using square wave drive mode.
4. electric machine control system as claimed in claim 3, it is characterised in that the controller is in the motor normal rotation Select to drive the motor to rotate using the electron speed regulator of sine wave drive mode, and the rotary state in the motor Select to drive the motor to rotate using the electron speed regulator of square wave drive mode when raw abnormal;
Or, the controller selects to drive institute using the electron speed regulator of square wave drive mode in the motor normal rotation Motor rotation is stated, and the electronic speed regulation using sine wave drive mode is selected when the rotary state of the motor occurs abnormal Device drives the motor to rotate.
5. electric machine control system as claimed in claim 2, it is characterised in that first electron speed regulator includes the first driving Device, second electron speed regulator include the second driver, and wherein, first driver drives institute using the first type of drive Motor rotation is stated, second driver drives the motor to rotate using the second type of drive.
6. electric machine control system as claimed in claim 5, it is characterised in that first type of drive is sine wave drive side One of which in formula, square wave drive mode, and first type of drive is different from what second electron speed regulator was adopted Type of drive;
And/or, second type of drive is sine wave drive mode, the one of which in square wave drive mode, and described the Two type of drive are different from the type of drive that first electron speed regulator is adopted.
7. electric machine control system as claimed in claim 5, it is characterised in that the electric machine control system also includes control circuit Plate, the control board are provided with electronic devices and components, and first electron speed regulator and second electron speed regulator divide It is not arranged in the control board, the electronic devices and components include first driver and second driver.
8. electric machine control system as claimed in claim 5, it is characterised in that first electron speed regulator includes the first control Circuit board, the first control circuit plate are provided with electronic devices and components, the electronic devices and components bag on the first control circuit plate Include first driver;
And/or, second electron speed regulator includes that second control circuit plate, the second control circuit plate are provided with electronics unit Device, the electronic devices and components on the second control circuit plate include second driver.
9. electric machine control system as claimed in claim 2, it is characterised in that motor control signal is sent to by the controller As the electron speed regulator that driver is used, the electron speed regulator that uses as driver according to the motor control signal and Corresponding type of drive produces corresponding motor drive signal to drive the motor to rotate.
10. electric machine control system as claimed in claim 9, it is characterised in that obtain as the electron speed regulator that watch-dog is used The real work parameter of the motor is taken, and the real work parameter of the motor is sent to the controller.
11. electric machine control systems as claimed in claim 10, it is characterised in that the controller is according to the electricity for receiving The actual rotation state of motor described in the real work parameter determination of machine;
The motor control signal includes that motor rotational parameters, the controller determine described always according to the motor rotational parameters The expected rotary state of motor, and the actual rotation shape of the expected rotary state according to the motor and the motor for determining State judges whether the rotary state of the motor occurs exception.
12. electric machine control systems as claimed in claim 9, it is characterised in that obtain as the electron speed regulator that watch-dog is used Take the real work parameter of the motor, and according to the real work parameter determination of the motor for getting motor reality Border rotary state.
13. electric machine control systems as claimed in claim 12, it is characterised in that the electron speed regulator used as watch-dog is also The actual rotation state of the motor for determining is sent to the controller;
The motor control signal includes that motor rotational parameters, the controller determine the electricity according to the motor rotational parameters The expected rotary state of machine, and the actual rotation shape of the expected rotary state according to the motor and the motor for receiving State judges whether the rotary state of the motor occurs exception.
14. electric machine control systems as described in claim 11 or 13, it is characterised in that the controller is judging the motor Rotary state select when occurring abnormal in first electron speed regulator and second electron speed regulator another The motor is driven again as driver.
15. electric machine control systems as claimed in claim 12, it is characterised in that the motor control signal includes that motor is rotated Parameter, also obtains the motor rotational parameters as the electron speed regulator that watch-dog is used, and according to the motor rotational parameters Determine the expected rotary state of the motor, and the expected rotary state according to the motor and actual rotation condition adjudgement institute Whether the rotary state for stating motor there is exception.
16. electric machine control systems as claimed in claim 15, it is characterised in that exist as the electron speed regulator that watch-dog is used An abnormal signal is also generated when judging that the rotary state of motor occurs abnormal, and the abnormal signal is sent to the control Device;
The controller selects first electron speed regulator and second electronics to adjust when the abnormal signal is received Another in fast device drives the motor again as driver.
17. electric machine control systems as described in claim 10,13 or 16, it is characterised in that the controller passes through order wire Road is communicated to connect respectively with first electron speed regulator and second electron speed regulator.
18. electric machine control systems as claimed in claim 17, it is characterised in that first electron speed regulator and described second Electron speed regulator is communicated to connect, and the communication line between the electron speed regulator used as driver and the controller is in be had Effect state, the communication line between the electron speed regulator used as watch-dog and the controller are temporarily in disarmed state, The controller is communicated to connect by the electron speed regulator used as driver and the electron speed regulator used as driver;
Or, the communication line between first electron speed regulator and the controller, and second electron speed regulator Effective status is simultaneously in the communication line between the controller.
19. electric machine control systems as claimed in claim 9, it is characterised in that first electron speed regulator and described second Electron speed regulator is connected with its communications by control signal wire respectively, is passed through as the electron speed regulator that driver is used The motor drive signal is sent to the motor by the control signal wire.
20. electric machine control systems as described in claim 11,12,13 or 15, it is characterised in that the rotary state of the motor At least include rotating speed and the rotation direction of the motor.
21. electric machine control systems as described in claim 10 or 12, it is characterised in that the motor is three phase electric machine, described First electron speed regulator and second electron speed regulator are electrically connected with the motor by three-phase connecting line respectively, used as prison Control device using electron speed regulator obtain the actual work of the motor by the electric parameter in the sensing three-phase connecting line Make parameter.
22. electric machine control systems as claimed in claim 21, it is characterised in that first electron speed regulator and described Two electron speed regulators include that sensor, the sensor are used for sensing the electric parameter in the three-phase connecting line respectively;
And/or, the electric parameter in the three-phase connecting line include following at least one:Three-phase current size and direction, Three-phase voltage size and direction, three-phase electromotive force size and direction.
A kind of 23. unmanned vehicles, including fuselage and the dynamical system on the fuselage, the dynamical system bag Include:
Propeller;
Motor, the motor are connected with the propeller, for driving the propeller rotational, to carry to the unmanned vehicle For flying power;And
Electric machine control system as described in claim 1-22 any one.
CN201621065157.3U 2016-09-20 2016-09-20 Electric machine control system and unmanned vehicle Active CN206023652U (en)

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Application Number Priority Date Filing Date Title
CN201621065157.3U CN206023652U (en) 2016-09-20 2016-09-20 Electric machine control system and unmanned vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621065157.3U CN206023652U (en) 2016-09-20 2016-09-20 Electric machine control system and unmanned vehicle

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107425771A (en) * 2017-08-28 2017-12-01 浙江华飞智能科技有限公司 The control method and electron speed regulator of motor in a kind of unmanned plane
CN108572670A (en) * 2018-06-08 2018-09-25 赫星科技有限公司 A kind of control device and control method of motor speed

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107425771A (en) * 2017-08-28 2017-12-01 浙江华飞智能科技有限公司 The control method and electron speed regulator of motor in a kind of unmanned plane
CN108572670A (en) * 2018-06-08 2018-09-25 赫星科技有限公司 A kind of control device and control method of motor speed

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