CN206331305U - Electricity tune, unmanned plane and its control system - Google Patents

Electricity tune, unmanned plane and its control system Download PDF

Info

Publication number
CN206331305U
CN206331305U CN201621463508.6U CN201621463508U CN206331305U CN 206331305 U CN206331305 U CN 206331305U CN 201621463508 U CN201621463508 U CN 201621463508U CN 206331305 U CN206331305 U CN 206331305U
Authority
CN
China
Prior art keywords
electricity
control
adjusted
motor
com1
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201621463508.6U
Other languages
Chinese (zh)
Inventor
刘万启
蓝求
周长兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Dajiang Innovations Technology Co Ltd
Original Assignee
Shenzhen Dajiang Innovations Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Dajiang Innovations Technology Co Ltd filed Critical Shenzhen Dajiang Innovations Technology Co Ltd
Priority to CN201621463508.6U priority Critical patent/CN206331305U/en
Application granted granted Critical
Publication of CN206331305U publication Critical patent/CN206331305U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

A kind of electricity is adjusted, and is connected with motor, including:Control signal port, the control signal port is used for the control signal for receiving the control device from unmanned plane;Electricity adjusts controller, and the electricity adjusts controller to be connected with the control signal port, for generating drive signal according to the control signal;Controller and the motor connection are adjusted in motor port, the motor port with the electricity respectively, for exporting the drive signal to control the rotor of the motor to rotate;And first COM1, first COM1 adjusts controller be connected with the electricity, the status information for exporting the electricity tune.The utility model embodiment also provides a kind of unmanned aerial vehicle control system and unmanned plane.The information that the electricity is adjusted, unmanned aerial vehicle control system and unmanned plane adjust the electricity is shared between all electricity are adjusted, and is easy to other electricity tune when an electricity recalls existing abnormal wherein to take counter-measure in time.

Description

Electricity tune, unmanned plane and its control system
Technical field
The utility model is related to a kind of electricity and adjusted, more particularly to a kind of unmanned plane electricity consumption is adjusted, the unmanned plane using electricity tune and Unmanned aerial vehicle control system.
Background technology
Unmanned plane drives because it is not required to people, can go deep into various people and be difficult to deep environment, therefore be widely used in holding The military or civilian applications such as row monitoring, scouting and exploration.Unmanned plane includes the dynamical system for being used to provide lift for unmanned plane, institute State dynamical system to generally include one or more motors and be motor driven the propeller of rotation, wherein the motor generally passes through Electricity transfers to be controlled.Electricity, which is adjusted, can receive receiver or the throttle control signal of flight control system, and be believed according to the Throttle Opening Control Number produce pulsewidth modulation (PWM) signal for being used for driving motor rotation.
Existing multi-rotor unmanned aerial vehicle, including multiple actuating units, each actuating unit include electricity tune, motor and rotation The wing.Each electricity is adjusted to be received throttle control signal to control corresponding motor to rotate from the flight control system of the unmanned plane, respectively Electricity can not know mutual state between adjusting without the mechanism that is in communication with each other, multiple electricity tune, such as some electricity recalls existing hardware fault, blocks up Turn, during the problems such as penetrating oar, remaining power link is not aware that, the unstable of aircraft can be caused, increase damage probability.
Utility model content
In view of this, it is necessary to which a kind of electricity tune, unmanned plane and unmanned aerial vehicle control system that can solve the problem that above mentioned problem is provided.
A kind of electricity is adjusted, and is connected with motor, including:Control signal port, the control signal port comes from for reception The control signal of the control device of unmanned plane;Electricity adjusts controller, and the electricity is adjusted controller to be connected with the control signal port, used According to control signal generation drive signal;Controller and institute are adjusted with the electricity in motor port, the motor port respectively Motor connection is stated, for exporting the drive signal to control the rotor of the motor to rotate;And first COM1, described One COM1 adjusts controller to be connected with the electricity, is adjusted for exporting the status information that the electricity is adjusted to other described electricity.
Further, it is described electricity adjust status information include it is described electricity adjust whether operation irregularity.
Further, the electricity adjusts operation irregularity to recall existing hardware fault including electricity, in motor abnormality, stall and zero load It is one or more of.
Further, the electricity adjusts electricity to adjust controller to be connected by first COM1 with other electricity tune, obtains it The status information that his electricity is adjusted, and when operation irregularity occur in one or more of other electricity tune, control the electricity to mediate and stop work Make.
Further, the electricity adjusts the second COM1 for also including communicating to connect with the control device of the unmanned plane, The electricity is adjusted exports the status information of itself to the control device of the unmanned plane by second COM1.
Further, second COM1 is additionally operable to the information of motor that output electrically connects with the electricity tune to described The control device of unmanned plane.
Further, the information of the motor includes following at least one:The physical attribute parameter of the motor and described The detection information of sensor on motor.
Further, second COM1 uses serial bus port.
Further, second COM1 is individually set with first COM1.
Further, second COM1 is integrated into same port with the control signal port.
Further, first COM1 uses serial bus port.
A kind of unmanned aerial vehicle control system, for driving the actuating unit of unmanned plane with the mobile unmanned plane, it is described nobody Machine control system includes:Control device, the control instruction that the control device is received according to transceiver produces control signal;Upper institute The electricity tune stated, each electricity is adjusted produces drive signal according to the control signal;And multiple motors, each motor and its In electric phase modulation connection described in one, the rotor of the motor transfers to drive the actuating unit to revolve in drive signal driving backspin Turn with the mobile unmanned plane.
Further, when electricity adjusts operation irregularity wherein described in one, other described electricity, which are adjusted, to be stopped.
Further, the first COM1 that each electricity is adjusted is communicated to connect with the control device, and the electricity is adjusted The shared of oneself state information is realized by being communicated with the control device.
Further, the control device is adjusted with the electricity and communicated to connect by wired or wireless way.
A kind of unmanned plane, including actuating unit, transceiver, the unmanned plane also include unmanned aerial vehicle control system, the nothing Man-machine control system includes:Control device, the control instruction that the control device is received according to the transceiver produces control letter Number;Upper described electricity tune, each electricity is adjusted produces drive signal according to the control signal;And multiple motors, it is each described Motor is connected with electric phase modulation wherein described in one, and the motor transfers to drive the actuating unit in drive signal driving backspin The unmanned plane is rotated to, the intercommunication of electric tune described in each of which shares the status information that each electricity is adjusted.
Further, the control device is adjusted with the electricity and communicated to connect by wired or wireless way.
Further, the first COM1 that each electricity is adjusted is communicated to connect with the control device, and the electricity is adjusted The shared of oneself state information is realized by being communicated with the control device.
The electricity tune, unmanned plane and unmanned aerial vehicle control system, the status information that the electricity is adjusted can be shared between electricity is adjusted, and Adjust whether exception occur according to the status information monitoring electricity, abnormal counter-measure is actively taken when occurring abnormal, from And avoid damaging unmanned plane.
Brief description of the drawings
Fig. 1 is the unmanned plane structural representation of the embodiment of the utility model one.
Fig. 2 is the module frame chart of the unmanned aerial vehicle control system of the embodiment of the utility model one.
Fig. 3 is the module frame chart of the electricity tune of the embodiment of the utility model one.
Fig. 4 be the utility model first embodiment electricity adjust between share status information connection diagram.
Fig. 5 be the utility model second embodiment electricity adjust between share status information connection diagram.
Fig. 6 be the utility model 3rd embodiment electricity adjust between share status information connection diagram.
Fig. 7 is the flow chart of the unmanned aerial vehicle (UAV) control method of the embodiment of the utility model one.
Fig. 8 is the flow chart of the unmanned aerial vehicle (UAV) control method of another embodiment of the utility model.
Fig. 9 is the flow chart of the another embodiment unmanned aerial vehicle (UAV) control method of the utility model.
Main element symbol description
Unmanned plane 1
Fuselage 10
Actuating unit 12
Sensing system 14
Transceiver 16
Carrier 17
Load 18
Terminal 110
Unmanned aerial vehicle control system 2
Control device 20
Electricity adjusts 22
Motor 24
First electricity adjusts 220
Second electricity adjusts 222
3rd electricity adjusts 224
4th electricity adjusts 226
Electricity adjusts controller 2200
Power port 2202
Motor port 2204
Control signal port 2206
Status port 2208
Following embodiment will further illustrate the utility model with reference to above-mentioned accompanying drawing.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment obtained, belongs to the scope of the utility model protection.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component Or can also have component placed in the middle.When a component is considered as " connection " another component, it can be directly connected to To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being arranged at " another component, it Can be set directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical ", " level ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is led with belonging to technology of the present utility model The implication that the technical staff in domain is generally understood that is identical.It is herein to be in term used in the description of the present utility model The purpose of description specific embodiment, it is not intended that in limitation the utility model.Term as used herein " and/or " include The arbitrary and all combination of one or more related Listed Items.
Refer to shown in Fig. 1, the utility model embodiment provides a kind of unmanned plane 1, the unmanned plane 1 can be used for any Suitable environment, for example in the air (aircraft that such as rotor craft, Fixed Wing AirVehicle or fixed-wing are mixed with rotor), In water (example, ship or submarine), on the ground (example, motorcycle, automobile, truck, bus, train etc.), in space (example, Space shuttle, satellite or detector), or in any combination of underground (such as subway), or above-mentioned environment.In the present embodiment, The unmanned plane is rotor craft, wherein the rotor can be single rotor, DCB Specimen, three rotors, four rotors, six rotors and eight Rotor etc..For ease of description, illustrated by taking unmanned vehicle as an example.
As shown in figure 1, the unmanned plane 1 may include actuating unit 12, a sensing system 14, and a transceiver 16.At it In his embodiment, the unmanned plane 1 may also include a carrier 17 and a load 18.Alternately, the carrier 17 can be omitted, institute Carrier 17 can not needed and be fit directly on the unmanned plane 1 by stating load 18.The actuating unit 12 may include, but be not limited to One or more of rotor, propeller, blade, engine, motor, wheel group, axle, magnet or nozzle.The unmanned plane 1 may include It is one or more, two or more, three or more, four or multiple actuating units 12.The actuating unit 12 can be identical Type.Alternately, one or more of actuating units 12 can be different types of actuating unit.In some embodiments In, the actuating unit 12 may be such that the unmanned plane 1 vertically takes off from a surface or vertically landed in a surface, without The aircraft is needed to do any move horizontally (example, it is not necessary to slided on runway).Alternatively, the actuating unit 12 can Hovered for being operable so that the unmanned plane 1 in specified position and orientation overhead.
For example, the unmanned plane 1 may include the rotor that lifting force and multiple horizontally-guideds of thrust are provided for aircraft.Institute State the rotor of multiple horizontally-guideds can be provided by start take off vertically, vertical landing, hovering ability to the unmanned plane 1. In some embodiments, the rotor of one or more horizontally-guideds can turn clockwise, while one or more rotors are reversible Hour hands rotate.For example, the quantity of the rotor turned clockwise can be equal to the rotor of rotate counterclockwise.Each horizontally-guided rotor Rotating speed can be independently varied to control the lifting force and/or thrust of the rotor generation, so as to adjust the space of the unmanned plane 1 Orientation, speed, and/or acceleration (example, relative to the D translation free degree and the three-dimensional rotation free degree).
The sensing system 14 may include one or more sensors, and one or more of sensors can sense the nothing Man-machine 1 dimensional orientation, speed and/or acceleration (example, relative dimensional translation freedoms and the three-dimensional rotation free degree).Described one Individual or multiple sensors may include global positioning system (GPS) sensor, movable sensor, inertial sensor, closely sense Device or image sensor.The data that the sensing system 14 is sensed can be used for dimensional orientation, the speed for controlling the aircraft, And/or direction (example, with suitable a processing unit and/or control module as described below).Alternately, the sensing system The close distance of 14 information available for offer on the surrounding enviroment of the aircraft, such as weather conditions and potential obstacle, The position of geographical feature, the position of artificial structure and the like.
The transceiver 16 can be communicated with terminal 110 by wireless signal.In certain embodiments, the communication bag Two-way communication is included, the terminal 110 provides one or many of control instruction into the unmanned plane 1, carrier 17 and load 18 It is individual, from the unmanned plane 1, carrier 17 and load one or more of 18 receive informations (example, the unmanned plane 1, carrier 17 Or position and/or the mobile message of load 18;The data of the sensing of load 18, for example, load the image data of camera sensing). In some cases, the control instruction from the terminal 110 may include the unmanned plane 1, carrier 17 and/or the phase for loading 18 To position, movement or control.For example, the control instruction can change the unmanned plane 1 position and/or direction (example, pass through control Make the actuating unit 12), or make it that the load 18 is moved (example, by controlling the carrier 17) relative to the unmanned plane 1. Control instruction from the terminal 110 can control the load 18, for example, control camera or the behaviour of other video capturing devices Make that (example, obtains either statically or dynamically image, push away near or pushes away remote camera lens, is turned on and off, switches image mode, changes video recording analysis Degree, focusing changes the depth of field, changes the time for exposure, changes visual angle or the visual field).In some cases, from the unmanned plane 1, load Body 17 and/or load 18 the communication information may include from one or more sensors information (example, from sensing system 14 or Load is 18).The communication may include information (example, GPS sensor, shifting that one or more different types of sensors are sensed Dynamic sensor, inertial sensor, Proximity Sensor or image sensor).Described information can be on the unmanned plane 1, carry Body 17 and/or the orientation (example, position, direction) of load 18, the information of mobile or acceleration.The information from load 18 It may include the data of the sensing of load 18 or the state of the load 18 sensed.What the terminal 110 was provided and transmitted The control instruction can be used for controlling the unmanned plane 1, carrier 17 or the state for loading one or more of 18.Selectively Or in combination, the carrier 17 and load 18 can also distinguish the transceiver for respectively including communicating with the terminal 110, so that The terminal separately can be communicated and controlled with the unmanned plane 1, carrier 17 and load 18.
The unmanned plane 1 also includes unmanned aerial vehicle control system, and the unmanned aerial vehicle control system can be according to the transceiver Sensing data that control instruction and the sensing system transmitted by 16 are sensed controls the actuating unit 12, thinks described Unmanned plane 1 provides lift and thrust.
Refer to shown in Fig. 2, be the internal structure module of the unmanned aerial vehicle control system 2 of the embodiment of the utility model one Figure.The unmanned aerial vehicle control system 2 includes control device 20, electricity and adjusts 22 and motor 24.
The control device 20 is used to receive control instruction and the institute of the sensing system 14 that the transceiver 16 is received The sensing data of sensing generates control instruction, and the control instruction controls the actuating unit 12 of the unmanned plane to adjust Orientation, speed and/or the acceleration of the sextuple free degree of the unmanned plane.Selectively or its combination, the control instruction may be used also Control one or more of carrier, load or sensing system.In one embodiment, the unmanned plane 1 is unmanned vehicle, institute State the flight control system that control device 20 is the unmanned vehicle.
The electricity tune 22 is used for for receiving the control instructions of the control device 20, and being generated according to the control instruction Drive the drive signal of the motor 24, such as pulsewidth modulation (PWM) signal.Driving of the motor 24 in the drive signal Lower rotation is to drive the actuating unit 12 to rotate, so as to provide lift and thrust for the unmanned plane.
Refer to shown in Fig. 3, be that the electricity of the embodiment of the utility model one adjusts 22 module frame chart.In one embodiment, institute Stating electricity tune 22 may include that electricity adjusts controller 2200, the power port 2202 for connecting power supply, for exporting the drive signal Motor port 2204, the control signal port 2206 of the control instruction for receiving the control device 20, and for sharing The status port 2208 of status information.The control that the electricity adjusts controller 2200 and is used to receive the control signal port 2206 is believed Number, and exported according to the control signal generation drive signal through the motor port 2204.The electricity adjusts controller 2200 can for single-chip microcomputer or digital processing unit or other there is the processor of data processing function.The electricity adjusts 22 to pass through the electricity Source port 2202 receives power supply and powered.The input power of the electricity tune 22 is typically direct current, the power supply that for example lithium battery is provided.Institute State the output of motor port 2204 for three-phase pulse direct current, be connected with the three-phase input end of motor.In one embodiment, the shape State port 2208 is I/O mouthfuls of list, and the status information that the electricity adjusts 22 is exported by the port.Such as high level represents the electricity and adjusted 22 states are normal, and it is exception that low level, which represents the electricity and adjusts 22 states,.In one embodiment, the status information can be described Multiple electricity are shared between adjusting 22.Further or alternatively, the status information can be exported to the control device 20.Institute The status information for stating electricity tune includes, but not limited to electricity and adjusts whether work abnormal, electricity is adjusted physical attribute parameter (for example:Temperature, Electric current, voltage, power etc.) etc..
In one embodiment, the unmanned plane 1 includes multiple actuating units 12, and each electricity of the correspondence of actuating unit 12 one adjusts 22 With a motor 24.Illustrated as follows by taking four rotor wing unmanned aerial vehicles as an example.Refer to shown in Fig. 4 to Fig. 6, be the utility model four Electricity shares several connection diagrams of status information between adjusting.The electricity adjusts 22 to include the first electricity and adjusts 220, and the second electricity adjusts 222, the Three electricity tune 224 and the 4th electricity adjust 226.In the embodiment shown in fig. 4, the status information is only shared between the electricity is adjusted, I.e. described status information can adjust connection output to other electricity that are in communication with each other between 22 to adjust by each electricity, and other electricity are adjusted in the electricity It is out of service when adjusting 22 to break down, and then make corresponding motor out of service, now the electricity adjusts 22 status port 2208 Only connect, be not connected with the control device 20 between each electricity adjusts 22.The electricity tune controller 2200 of the electricity tune 22 can pass through The status port 2208 obtains the status information of itself and other electricity tune, and adjusts 22 according to the status information control electricity Work.For example, when the status information of the electricity tune 22 or any one other electricity tune 22 characterizes the electricity and recalls existing abnormal, The electricity adjusts controller 2200 can control, and the motor port stops output pwm signal or the disconnection electricity adjusts the company of 22 and power supply Connect, so that adjusting 22 motors 24 being connected to be stopped with the electricity.
In other embodiments, the electricity adjusts the status information of 22 output of status port 2208 to can be used to control the control Device 20 processed and the electricity adjust the connection status between 22, for example, when the electricity adjusts the state of 22 output of status port 2208 When electricity described in information representation adjusts 22 appearance abnormal, the connection of the control device 20 and the electricity tune 22 is disconnected, so that the electricity 22 are adjusted to be stopped.
It is understood that in other embodiments, the status information that the status port 2208 of the electricity tune 22 is exported can For controlling the electricity to adjust the connection status between 22 and the motor 24, for example, when the electricity adjusts 22 status port 2208 When the status information of output characterizes the 22 appearance exception of electricity tune, the connection of the electricity tune 22 and the motor 24 is disconnected, so that The motor 24 does not receive the pwm signal that the electricity adjusts 22, is stopped.
In the embodiment shown in fig. 5, the status information also may be output to the control device 20, the status port It may include the first COM1 22061 and the second COM1 22062.The electricity adjusts 22 to pass through first COM1 22061 and other electricity adjust communicate to connect with it is each electricity adjust 22 between shared device status information, pass through second COM1 22062 export the status informations to the control device 20.First COM1 22061 and second COM1 22062 are independently set, and can be universal asynchronous receiving-transmitting transmitter (Universal Asynchronous Receiver/ Transmitter, UART) bus, (Inter-Integrated Circuit, I2C) bus, serial peripheral connect between integrated circuit Mouth (Serial Peripheral Interface, SPI), controller LAN (Controller area network, CAN) Deng.The control device 20 adjusts the control instruction that the control electricity adjusts 22 according to the status information.For example, in an embodiment In, when electricity adjusts 22 status information to show that the electricity adjusts 22 for abnormality, the control device 20 controls the electricity to adjust 22 to stop Only work, in order to avoid cause the damage of electricity tune 22 or motor 24.
It is understood that the control signal port 2206 and second COM1 22062 can be integrated into one Individual COM1, by the COM1, the control device 20 outputs control signals to the electricity and adjusts 22, and is adjusted from the electricity 22 obtain the status information that the electricity adjusts 22.The communication mode of the electricity tune 22 and the control device 20 can use any suitable The wired connection mode such as serial or parallel.Wired mode is connected including various ports, such as USB (universal serial bus, USB), UART, CAN, I2C, serial and/or other standards network connection etc..For example, I2C Serial communication mode, each electricity adjusts 22 as slave unit, and control device 20 is used as main equipment.In other embodiments, it is described Electricity adjusts 22 and the control device 20 can also use radio connection, and the electricity adjusts 22 status information to pass through radio communication Mode is transmitted to the control device 20.The communication includes, but not limited to bluetooth, infrared ray, Wireless Fidelity (Wireless Fidelity, WiFi) etc..
In the embodiment shown in fig. 6, the status information realizes that status information is shared by the control device 20.Often One electricity adjusts 22 status port 2208 to be communicated to connect with the control device 20.The control device 20 passes through the status port 2208 obtain the status information of the electric tune 22, and the status information adjusted according to the electricity controls the work of other electricity tune 22.Example Such as, when the status information that wherein one electricity is adjusted, which characterizes the electricity, adjusts operation irregularity, the control device 20 controls all electricity tune 22 equal It is stopped.It is understood that as described above, the control signal port 2206 can also be whole with the status port 2208 It is combined into a COM1.By the COM1, the control device 20 outputs control signals to the electricity and adjusts 22, and from institute Stating electricity adjusts 22 to obtain the status information that the electricity adjusts 22.
In a further embodiment, the control device 20 can also by the status port 2208 obtain with it is described Electricity adjusts the job information of the motor 24 of 22 connections.The job information of the motor may include, but be not limited to, the physical attribute of motor Parameter is (for example:Temperature, electric current, voltage, power etc.), the electronic component in motor is (for example:Electric motor resistance, motor inductances etc.) Physical attribute parameter information, and the detection information of sensor on motor etc..
Refer to shown in Fig. 7, be the flow chart of control method 300 that the electricity of the embodiment of the utility model one is adjusted.According to not The order of step can change in same demand, the flow chart, and some steps can be omitted or merged.
Step 302, the electricity adjusts 22 to receive the control signal from the control device 20.
Step 304, the electricity adjusts 22 to generate pwm signal according to the control signal, and the pwm signal is passed through described Motor port 2204 is exported to the motor 24.
Step 306, the electricity adjusts 22 status informations that itself and other electricity tune are obtained by the status port 2208.
Step 308, the electricity adjusts 22 status informations adjusted according to itself and other electricity to determine whether one or more electricity Recall existing exception.If so, into step 310, if it is not, return to step 302.
Step 310, the electricity, which is adjusted, is stopped.Specifically, the connection of the electricity tune and power supply can be cut off, or cuts off described Electricity adjusts the connection of 22 and the motor 24, so that the electricity adjusts 22 to stop output pwm signal to the motor 24, the motor 24 It is stopped.
Refer to shown in Fig. 8, be the flow chart of unmanned aerial vehicle (UAV) control method 400 of the utility model first embodiment.According to The order of step can change in different demands, the flow chart, and some steps can be omitted or merged.
Step 402, the control device 20 produces control signal.What the control device 20 was received according to transceiver 16 Current status data residing for the unmanned plane 1 that control instruction and the sensing system 14 are sensed produces control signal.Institute Control signal is stated to transmit to the electricity tune 22.
Step 404, the control device 20, which transmits the control signal to the electricity, adjusts 22.The electricity adjusts 22 according to institute Control signal generation pwm signal is stated, the pwm signal, which is transmitted to the electricity, adjusts 22 motors 24 being connected, to control the electricity The rotor of machine 24 is rotated, so as to drive the actuating unit 12 to rotate.
Step 406, the control device 20 obtains the status information that the electricity adjusts 22, and the status information includes indicating institute State electricity adjust 22 work whether normal signal.In other embodiments, the status information may also include it is described electricity adjust temperature, Voltage, electric current and power output etc..
Step 408, the control device 20 adjusts 22 status information to judge that the electricity adjusts whether 22 be according to the electricity Abnormality.If in abnormality, into step 410, if it is not, then return to step 402.
Step 410, the control device 20 produces abnormal reply control instruction according to the abnormality.For example, when described Electricity recalls existing hardware fault, motor abnormality, stall, and during the exception of the influence such as unloaded (penetrating oar) work, the control device 20 can Producing control instruction controls other electricity tune to be stopped, in order to avoid cause secondary damage.
In other embodiments, in step 408 and 410 or it is described electricity adjust 22 according to other electricity adjust 22 shape State information determines whether that electricity recalls existing exception, when one of electricity is recalled it is existing abnormal when, other electricity tune is stopped, in order to avoid Cause secondary injury.
Refer to shown in Fig. 9, be the flow chart of unmanned aerial vehicle (UAV) control method 500 of the utility model second embodiment.According to The order of step can change in different demands, the flow chart, and some steps can be omitted or merged.
Step 502, the control device 20 produces flight control instruction.The control device 20 is received according to transceiver 16 To the unmanned plane 1 that is sensed of control instruction and the sensing system 14 residing for current status data produce control letter Number.The control signal, which is transmitted to the electricity, adjusts 22.
Step 503, the control device 20, which transmits the control signal to the electricity, adjusts 22.The electricity adjusts 22 according to institute Control signal generation pwm signal is stated, the pwm signal, which is transmitted to the electricity, adjusts 22 motors 24 being connected, to control the electricity Machine 24 rotates, so as to drive the actuating unit 12 to rotate.
Step 504, the control device 20 obtains electricity and adjusts information and motor information.Wherein electricity tune information includes but not limited In the physical attribute that electricity is adjusted, such as temperature, voltage, electric current, power.The motor information may include, but be not limited to, motor Physical attribute, such as temperature, electric current, voltage, the thing of electronic component (such as resistance, inductance) in power, and motor Manage attribute etc..
Step 506, the control device 20 adjusts information to judge that whether abnormal the electricity adjusts according to the electricity, if abnormal, Into step 508, if not, into step 510.
Step 508, the control device 20 tackles control instruction according to exception is produced.For example, when the electricity recall it is now hard Part failure, motor abnormality, stall, during the exception of influence work such as unloaded (penetrating oar), the control device 20 can produce control and refer to Other electricity tune of order control are stopped, in order to avoid cause secondary damage.
Step 510, the control device 20 adjusts information and the motor information to judge whether safety according to the electricity Hidden danger.For example, electricity is adjusted, the temperature of motor whether close to specified maximum temperature, whether electric tune, the voltage of motor, electric current close to pole Limit value etc..
In addition, for the person of ordinary skill of the art, it can be made according to technical concept of the present utility model Its various corresponding change and deformation, and all these changes and deformation should all belong to the protection model of the utility model claim Enclose.

Claims (13)

1. a kind of electricity is adjusted, it is characterised in that including:
Control signal port, the control signal port is used to receive the control signal for carrying out self-control device;
Electricity adjusts controller, and the electricity adjusts controller to be connected with the control signal port, for being generated according to the control signal Drive signal;
Controller and the motor connection are adjusted in motor port, the motor port with the electricity respectively, for exporting the driving Signal is rotated with driving the rotor of the motor;And
First COM1, first COM1 adjusts controller to be connected with the electricity, for exporting the state that the electricity is adjusted Information is adjusted to other described electricity.
2. electricity tune as claimed in claim 1, it is characterised in that the status information that the electricity is adjusted includes whether the electricity tune works It is abnormal.
3. electricity as claimed in claim 2 is adjusted, it is characterised in that the electricity adjusts operation irregularity to recall existing hardware fault including electricity, One or more in motor abnormality, stall and zero load.
4. electricity as claimed in claim 1 is adjusted, it is characterised in that the electricity adjusts electricity to adjust controller to pass through first COM1 The status information that other electricity are adjusted is obtained, and when operation irregularity occur in one or more of other electricity tune, controls the electricity to adjust It is stopped.
5. electricity as claimed in claim 1 is adjusted, it is characterised in that the electricity adjusts also include communicating to connect with control device second COM1, the electricity is adjusted exports the status information of itself to the control device by second COM1.
6. electricity as claimed in claim 5 is adjusted, it is characterised in that second COM1 is additionally operable to output and adjusts electricity with the electricity The information of the motor of connection is to the control device.
7. electricity as claimed in claim 6 is adjusted, it is characterised in that the information of the motor includes following at least one:The electricity The physical attribute parameter of machine and the detection information of the sensor on the motor.
8. electricity as claimed in claim 5 is adjusted, it is characterised in that second COM1 uses serial bus port;
And/or, first COM1 uses serial bus port.
9. electricity as claimed in claim 6 is adjusted, it is characterised in that second COM1 is distinguished with first COM1 It is separately provided;
Or, second COM1 is integrated into same port with the control signal port.
10. a kind of unmanned aerial vehicle control system, for driving the actuating unit of unmanned plane with the mobile unmanned plane, its feature exists In the unmanned aerial vehicle control system includes:
Control device, the control instruction that the control device is received according to transceiver produces control signal;
Electricity tune described in multiple any one of claim 1 to 9, each electricity is adjusted produces driving letter according to the control signal Number;And
Multiple motors, each motor is connected with electric phase modulation wherein described in one, and the rotor of the motor is in the drive signal Driving backspin transfers to drive the actuating unit to rotate, with the mobile unmanned plane.
11. unmanned aerial vehicle control system as claimed in claim 10, it is characterised in that when electricity adjusts operation irregularity wherein described in one When, other described electricity, which are adjusted, to be stopped;
And/or, it is each it is described electricity adjust the first COM1 with the control device communicate to connect, it is described electricity adjust by with institute State control device communication and realize the shared of oneself state information;
And/or, the control device is adjusted with the electricity and communicated to connect by wired or wireless way.
12. a kind of unmanned plane, including actuating unit, transceiver, it is characterised in that the unmanned plane also includes unmanned aerial vehicle (UAV) control system System, the unmanned aerial vehicle control system includes:
Control device, the control instruction that the control device is received according to the transceiver produces control signal;
Electricity tune described in any one of claim 1 to 9, each electricity is adjusted produces drive signal according to the control signal;And
Multiple motors, each motor is connected with electric phase modulation wherein described in one, and the motor is under drive signal driving Rotate and drive the actuating unit to be rotated to the unmanned plane, the intercommunication of electric tune described in each of which is shared The status information that each electricity is adjusted.
13. unmanned plane as claimed in claim 12, it is characterised in that the control device is adjusted with the electricity passes through wired or nothing Line mode is communicated to connect;
And/or, it is each it is described electricity adjust the first COM1 with the control device communicate to connect, it is described electricity adjust by with institute State control device communication and realize the shared of oneself state information.
CN201621463508.6U 2016-12-28 2016-12-28 Electricity tune, unmanned plane and its control system Active CN206331305U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201621463508.6U CN206331305U (en) 2016-12-28 2016-12-28 Electricity tune, unmanned plane and its control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201621463508.6U CN206331305U (en) 2016-12-28 2016-12-28 Electricity tune, unmanned plane and its control system

Publications (1)

Publication Number Publication Date
CN206331305U true CN206331305U (en) 2017-07-14

Family

ID=59293365

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201621463508.6U Active CN206331305U (en) 2016-12-28 2016-12-28 Electricity tune, unmanned plane and its control system

Country Status (1)

Country Link
CN (1) CN206331305U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019205124A1 (en) * 2018-04-28 2019-10-31 深圳市大疆创新科技有限公司 Method for protecting cradle head, device for protecting cradle head, cradle head and unmanned aerial vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019205124A1 (en) * 2018-04-28 2019-10-31 深圳市大疆创新科技有限公司 Method for protecting cradle head, device for protecting cradle head, cradle head and unmanned aerial vehicle

Similar Documents

Publication Publication Date Title
US10556705B2 (en) Method and system for recycling motor power of a movable object
CN102424112B (en) Three-layer airborne flight control device for micro four-rotor aerial vehicle
CN201604796U (en) Intelligent aerial photography unmanned aerial vehicle
CN202080435U (en) Ranked dual-rotor vertically-lifted unmanned aerial vehicle (UAV)
CN202071985U (en) Novel plane symmetrical layout type multi-rotor unmanned air vehicle
CN107111320A (en) Unmanned plane and its control system are adjusted and its control method with control method, electricity
CN206258735U (en) The aerial demo system of multidimensional based on multiple no-manned plane
CN103488173B (en) Many landform intelligent family moving platform and control method thereof
CN203332391U (en) Four-rotor model aircraft
CN105204514A (en) Novel tilt-rotor unmanned aerial vehicle attitude control system
CN203405734U (en) Quad-rotor aerial photography positioning unmanned aerial vehicle
CN105539037A (en) Land-air four-rotor-wing unmanned aerial vehicle capable of rolling on ground
CN102945048A (en) Multi-propeller spacecraft control device
CN103345255A (en) Quad-rotor aerial photography positioning unmanned aerial vehicle
CN106843276A (en) A kind of tilting rotor wing unmanned aerial vehicle control system
CN107765708A (en) A kind of six rotor wing unmanned aerial vehicle flight control systems and control method
CN106802662A (en) A kind of multi-rotor unmanned aerial vehicle embedded control system
CN206331305U (en) Electricity tune, unmanned plane and its control system
CN106814743A (en) Multi-rotor unmanned aerial vehicle driving control system based on DSP
AU2019101129A4 (en) Coaxial Reverse Rotary Wing Mini UAV
CN204008872U (en) On-air radio pyroelectric monitor system based on many rotors robot
CN208412124U (en) Can aerial Real-time Reconstruction duct aircraft and system
CN202929485U (en) Multi-propeller aircraft control device
CN206544600U (en) It is a kind of to can be used for the long-range unmanned plane for delivering article
CN109334968A (en) Can aerial Real-time Reconstruction duct aircraft, docking separation method and system

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant