WO2017020177A1 - 电机控制电路、方法、电机系统、无人机及其控制方法 - Google Patents

电机控制电路、方法、电机系统、无人机及其控制方法 Download PDF

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Publication number
WO2017020177A1
WO2017020177A1 PCT/CN2015/085744 CN2015085744W WO2017020177A1 WO 2017020177 A1 WO2017020177 A1 WO 2017020177A1 CN 2015085744 W CN2015085744 W CN 2015085744W WO 2017020177 A1 WO2017020177 A1 WO 2017020177A1
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WIPO (PCT)
Prior art keywords
power
motor
winding
electrically connected
power component
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PCT/CN2015/085744
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English (en)
French (fr)
Inventor
陶冶
蓝求
周震昊
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/085744 priority Critical patent/WO2017020177A1/zh
Priority to CN201580004346.1A priority patent/CN105917571A/zh
Publication of WO2017020177A1 publication Critical patent/WO2017020177A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
    • H02P1/32—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor by star/delta switching
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/18—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays
    • H02P25/184—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring with arrangements for switching the windings, e.g. with mechanical switches or relays wherein the motor speed is changed by switching from a delta to a star, e.g. wye, connection of its windings, or vice versa
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices

Definitions

  • the invention relates to the technical field of motor control, in particular to a motor control circuit, a method, a motor system, a drone and a control method thereof.
  • the delta connection method is often used for low voltage and high output power, but its efficiency is greatly affected by the pulse width modulation harmonics, and the efficiency is lower in the low speed section, but higher speed can be achieved under the same voltage.
  • the star connection method is often used for high voltage and low output power, but it is less affected by pulse width modulation harmonics, and has higher efficiency in the low speed section, but cannot reach higher speed under the same voltage.
  • a motor control circuit comprising:
  • each of the power units including a first power component and a second power component in series with the first power component, a connection point between the first power component and the second power component Electrically connected to the incoming end and the outgoing end of each winding of a motor;
  • connection mode of the motor is switched to a star connection or a delta connection.
  • first power component and the second power component are insulated gate bipolar transistors (IGBTs), metal oxide semiconductor field effect transistors (MOSFETs) or thyristors.
  • IGBTs insulated gate bipolar transistors
  • MOSFETs metal oxide semiconductor field effect transistors
  • thyristors thyristors
  • the gate of the first power component and the gate of the second power component are signal control terminals for receiving a control signal, thereby turning on or off the first power component or/and the a second power component; a collector of the first power component and an emitter of the second power component are both current inputs for electrically connecting to a power source; an emitter of the first power component and the The collectors of the second power component are current outputs for electrically connecting to the incoming or outgoing ends of the windings of the motor.
  • a diode is connected between the current input end and the current output end of the first power component; and a diode is connected between the current input end and the current output end of the second power component.
  • the motor is a three-phase motor including a first winding, a second winding, and a third winding, when the power unit electrically connected to the incoming end of the first winding and the power connected to the outgoing end of the second winding a unit, a power unit electrically connected to the outlet end of the first winding, and a power unit electrically connected to the incoming end of the third winding, and a power unit electrically connected to the incoming end of the second winding and electrically connected to the outgoing end of the third winding
  • the motor is switched to the delta connection
  • the motor is connected when a power unit electrically connected to an outlet end of the first winding of the motor, a power unit electrically connected to an outlet end of the second winding, and a power unit electrically connected to an outlet end of the third winding are identical Switch to star connection.
  • the power unit commutates the motor in accordance with a six-step commutation method.
  • the motor control circuit further includes a control unit, wherein the control unit is configured to receive a trigger signal, and output a corresponding control signal according to the trigger signal to control the first power component of the plurality of power units and The second power element is turned on or off.
  • the motor control circuit further includes a button electrically connected to the control unit, and the trigger signal is output by operating the button;
  • the motor control circuit further includes a sensing unit, the sensing unit is configured to sense a current output power of the motor, and output the trigger signal according to the current output power.
  • a motor system includes a motor and a motor control circuit electrically connected to the motor, the motor control circuit comprising:
  • each of the power units including a first power component and a second power component in series with the first power component, a connection point between the first power component and the second power component Electrically connected to the incoming end and the outgoing end of each winding of the motor;
  • the motor is switched to a star connection or a delta connection by controlling conduction or disconnection of the first power element and the second power element of the plurality of power units.
  • first power component and the second power component are insulated gate bipolar transistors (IGBTs), metal oxide semiconductor field effect transistors (MOSFETs) or thyristors.
  • IGBTs insulated gate bipolar transistors
  • MOSFETs metal oxide semiconductor field effect transistors
  • thyristors thyristors
  • the gate of the first power component and the gate of the second power component are signal control terminals for receiving a control signal, thereby turning on or off the first power component or/and the a second power component; a collector of the first power component and an emitter of the second power component are both current inputs for electrically connecting to a power source; an emitter of the first power component and the The collectors of the second power component are current outputs for electrically connecting to the incoming or outgoing ends of the windings of the motor.
  • a diode is connected between the current input end and the current output end of the first power component; and a diode is connected between the current input end and the current output end of the second power component.
  • the motor is a three-phase motor including a first winding, a second winding, and a third winding, when the power unit electrically connected to the incoming end of the first winding and the power connected to the outgoing end of the second winding a unit, a power unit electrically connected to the outlet end of the first winding, and a power unit electrically connected to the incoming end of the third winding, and a power unit electrically connected to the incoming end of the second winding and electrically connected to the outgoing end of the third winding
  • the motor is switched to the delta connection
  • the motor is connected when a power unit electrically connected to an outlet end of the first winding of the motor, a power unit electrically connected to an outlet end of the second winding, and a power unit electrically connected to an outlet end of the third winding are identical Switch to star connection.
  • the power unit commutates the motor in accordance with a six-step commutation method.
  • the motor control circuit further includes a control unit, configured to receive a trigger signal, and output a corresponding control signal according to the trigger signal, thereby controlling a first power component of the plurality of power units and The second power element is turned on or off.
  • the motor control circuit further includes a button electrically connected to the control unit, and the trigger signal is output by operating the button;
  • the motor control circuit further includes a sensing unit, the sensing unit is configured to sense a current output power of the motor, and output the trigger signal according to the output power.
  • a motor control method comprising:
  • the driving signals of the incoming end and the outgoing end of the plurality of windings of the control motor are the same or different to switch the connection mode of the motor to a star connection or a delta connection.
  • the driving signals of the input end and the outgoing end of the plurality of windings of the motor are controlled by the plurality of power units to be the same or different, so as to switch the connection mode of the motor to the star connection or the delta connection. law.
  • each power unit includes a first power component and a second power component in series with the first power component, and a connection point between the first power component and the second power component is electrically connected to a line end and an output end of each winding of the motor; disconnecting or conducting the first power element and the second power element of the plurality of power units according to the control signal to switch the connection mode with the motor To star connection or delta connection.
  • the motor is a three-phase motor including a first winding, a second winding, and a third winding, when the power unit electrically connected to the incoming end of the first winding and the power connected to the outgoing end of the second winding a unit, a power unit electrically connected to the outlet end of the first winding, and a power unit electrically connected to the incoming end of the third winding, and a power unit electrically connected to the incoming end of the second winding and electrically connected to the outgoing end of the third winding
  • the motor is switched to the delta connection
  • the trigger signal is triggered by operating a button
  • the trigger signal is output by sensing the current output power of the motor and according to the current output power.
  • a control device for a motor comprising one or more processors, the one or more processors for:
  • the driving signals of the incoming end and the outgoing end of the plurality of windings of the control motor are the same or different to switch the connection mode of the motor to a star connection or a delta connection.
  • the driving signals of the input end and the outgoing end of the plurality of windings of the motor are controlled by the plurality of power units to be the same or different, so as to switch the connection mode of the motor to the star connection or the delta connection. law.
  • each power unit includes a first power component and a second power component in series with the first power component, and a connection point between the first power component and the second power component is electrically connected to a line end and an output end of each winding of the motor; disconnecting or conducting the first power element and the second power element of the plurality of power units according to the control signal to switch the connection mode with the motor To star connection or delta connection.
  • the motor is a three-phase motor including a first winding, a second winding, and a third winding, when the power unit electrically connected to the incoming end of the first winding and the power connected to the outgoing end of the second winding a unit, a power unit electrically connected to the outlet end of the first winding, and a power unit electrically connected to the incoming end of the third winding, and a power unit electrically connected to the incoming end of the second winding and electrically connected to the outgoing end of the third winding
  • the connection mode of the motor is switched to the delta connection method
  • the trigger signal is triggered by operating a button
  • the trigger signal is output by sensing the current output power of the motor and according to the current output power.
  • a control method for a drone comprising:
  • connection mode of the motor is switched to a star connection or a delta connection.
  • a drone that includes:
  • control unit electrically connected to the electrical control, for controlling the motor by the ESC;
  • the control unit switches the connection mode of the motor to a star connection or a delta connection according to the current output power of the motor.
  • the ESC includes:
  • each of the power units including a first power component and a second power component in series with the first power component, a connection point between the first power component and the second power component Electrically connected to the incoming end and the outgoing end of each winding of the motor;
  • connection mode of the motor is switched to a star connection or a delta connection.
  • first power component and the second power component are insulated gate bipolar transistors (IGBTs), metal oxide semiconductor field effect transistors (MOSFETs) or thyristors.
  • IGBTs insulated gate bipolar transistors
  • MOSFETs metal oxide semiconductor field effect transistors
  • thyristors thyristors
  • the gate of the first power component and the gate of the second power component are signal control terminals for receiving a control signal, thereby turning on or off the first power component or/and the a second power component; a collector of the first power component and an emitter of the second power component are both current inputs for electrically connecting to a power source; an emitter of the first power component and the The collectors of the second power component are current outputs for electrically connecting to the incoming or outgoing ends of the windings of the motor.
  • a diode is connected between the current input end and the current output end of the first power component; and a diode is connected between the current input end and the current output end of the second power component.
  • the motor is a three-phase motor including a first winding, a second winding, and a third winding, when the power unit electrically connected to the incoming end of the first winding and the power connected to the outgoing end of the second winding a unit, a power unit electrically connected to the outlet end of the first winding, and a power unit electrically connected to the incoming end of the third winding, and a power unit electrically connected to the incoming end of the second winding and electrically connected to the outgoing end of the third winding
  • the motor is switched to the delta connection
  • the motor is connected when a power unit electrically connected to an outlet end of the first winding of the motor, a power unit electrically connected to an outlet end of the second winding, and a power unit electrically connected to an outlet end of the third winding are identical Switch to star connection.
  • the power unit commutates the motor in accordance with a six-step commutation method.
  • the ESC further includes a control unit, configured to receive a trigger signal, and output a corresponding control signal according to the trigger signal to control a first power component and the The second power element is turned on or off.
  • the drone further includes a remote controller, and the trigger signal is output through the remote controller;
  • the drone further includes a sensing unit, the sensing unit is configured to sense a current output power of the motor, and output the trigger signal according to a current output power of the motor.
  • the above motor control circuit, method, motor system, unmanned aerial vehicle and control method thereof can switch the connection mode of the motor to the star connection method or the delta connection method according to the current output power of the motor, that is, realize dynamic conversion, and more Practicality.
  • FIG. 1 is a functional block diagram of a motor system according to an embodiment of the present invention.
  • FIG. 2 is another functional block diagram of a motor system according to an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of a motor control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic view showing the application of a motor system according to an embodiment of the present invention.
  • Motor system 100 Motor 10 First winding 11 Second winding 13 Third winding 15 Incoming line U1, V1, W1 Outlet U2, V2, W2 Motor control circuit 30 Power unit 31-36 First power component Q1 Second power component Q2 diode D1, D2 control unit 37 PWM terminal PWM1-PWM12 ESC 50 Sensing unit 39 Button S Drone 200
  • an element when referred to as being “electrically connected” to another element, it can be directly on the other element or the element can be present.
  • an element when it is considered to be “electrically connected” to another element, it can be a contact connection, for example, either a wire connection or a non-contact connection, for example, a non-contact coupling.
  • a preferred embodiment of the present invention provides a motor system 100 including a motor 10 and a motor control circuit 30 .
  • the motor control circuit 30 is electrically connected to the motor 10 for switching the connection mode of the motor 10 to a star connection or a delta connection according to the current output power of the motor 10.
  • the motor 10 is a three-phase motor including a first winding 11, a second winding 13, and a third winding 15.
  • the first winding 11 includes an incoming end U1 and an outgoing end U2.
  • the second winding 13 includes an incoming end V1 and an outgoing end V2.
  • the third winding 15 includes an incoming end W1 and an outgoing end W2.
  • the motor 10 when the driving signals input to the outgoing end U2 of the first winding 11, the outgoing end V2 of the second winding 13, and the outgoing end W2 of the third winding 15 coincide, the motor 10 operates in a star. Forming method.
  • the motor control circuit 30 includes six power units 31-36 and a control unit 37.
  • the power units 31-36 and the control unit 37 are all integrated into an ESC 50.
  • the ESC 50 is used to control the operating state of the motor 10.
  • each power unit 31-36 includes a first power element Q1 and a second power element Q2.
  • the first power element Q1 in each power unit 31-36 is connected in series with the second power element Q2, and the connection point between the two is electrically connected to the incoming end of each winding of the motor 10, respectively. Out of the line.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 31 is connected to the line terminal U1 of the first winding 11.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 32 is connected to a line terminal V1 of the second winding 13.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 33 is connected to the line terminal W1 of the third winding 15.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 34 is connected to the outgoing end U2 of the first winding 11.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 35 is connected to an outgoing end V2 of the second winding 13.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 36 is connected to the outgoing end W2 of the third winding 15.
  • first power element Q1 and the second power element Q2 may be an insulated gate bipolar transistor (IGBT), a metal oxide semiconductor field effect transistor (MOSFET) or a thyristor.
  • IGBT insulated gate bipolar transistor
  • MOSFET metal oxide semiconductor field effect transistor
  • thyristor a thyristor
  • the gates of the first power component Q1 and the second power component Q2 are signal control terminals for receiving a control signal, thereby turning on or off the first power component Q1. Or / and the second power element Q2.
  • the collector of the first power element Q1 and the emitter of the second power element Q2 are both current inputs for electrically connecting to a power source (not shown).
  • the emitter of the first power element Q1 is electrically connected to the collector of the second power element Q2, both of which are current outputs for electrically connecting to the incoming ends of the windings of the motor 10 or Out of the line.
  • a diode D1 is connected between the current input end and the current output end of the first power element Q1.
  • a diode D2 is connected between the current input terminal and the current output terminal of the second power element Q2.
  • the diodes D1, D2 are freewheeling diodes.
  • the freewheeling diode is a parasitic diode of the first power element Q1 and the second power element Q2.
  • the control unit 37 is electrically connected to the signal control ends of the first power component Q1 and the second power component Q2 for receiving a trigger signal, and outputting a corresponding control signal according to the trigger signal to control the multiple
  • the first power element Q1 and the second power element Q2 of the power units 31-36 are turned on or off, thereby switching the connection mode of the motor 10 to a star connection or a delta connection.
  • the control unit 37 includes a set of pulse-width modulation (PWM) terminals PWM1-PWM12.
  • the PWM terminals PWM1-PWM12 are electrically connected to the signal control ends of the first power component Q1 and the second power component Q2, respectively, for respectively outputting corresponding control signals to the first power component Q1 and the second power component Q2.
  • the motor control circuit 30 can also include a sensing unit 39.
  • the sensing unit 39 is electrically connected to the control unit 37.
  • the sensing unit 39 is configured to sense a current output power of the motor 10, and output the trigger signal according to a current output power of the motor 10. For example, when the sensing unit 39 senses that the current output power of the motor 10 is greater than a preset value, the sensing unit 39 may output a trigger signal (eg, a high level signal) to the control unit 37, The control unit 37 further outputs a corresponding control signal according to the trigger signal to control the motor 10 to operate in a star connection.
  • a trigger signal eg, a high level signal
  • the control unit 37 may output a corresponding control signal through the PWM terminals PWM1-PWM12 to make the power unit 34, 35, 36
  • the on-off condition of a power element Q1 and the on-off condition of the second power element Q2 in the power units 34, 35, 36 are respectively kept consistent, thereby inputting to the outlet end U2 and the second winding of the first winding 11
  • the drive signals of the outgoing terminal V2 of 13 and the outgoing terminal W2 of the third winding 15 are kept identical, and the motor 10 operates in a star connection.
  • the sensing unit 39 may output a trigger signal (for example, a low level signal) to the control unit 37.
  • the control unit 37 further outputs a corresponding control signal according to the trigger signal to control the motor 10 to operate in a delta connection.
  • the control unit 37 may output a corresponding control signal through the PWM terminals PWM1-PWM12 to cause the first power component Q1 in the power unit 31.
  • the first power element Q1 of the power unit 35, the second power element Q2 of the power unit 31, and the second power element Q2 of the power unit 35 are respectively turned on and off, and the power unit 34 is the same.
  • a power component Q1 and a first power component Q1 of the power unit 33, a second power component Q2 of the power unit 34, and a second power component Q2 of the power unit 33 are respectively turned on and off, and the The first power element Q1 of the power unit 32 and the first power element Q1 of the power unit 36, the second power element Q2 of the power unit 32, and the second power element Q2 of the power unit 36 are respectively turned on and off.
  • the driving signal input to the incoming end U1 of the first winding 11 and the outgoing end V2 of the second winding 13 , the outgoing end U2 of the first winding 11 and the incoming end of the third winding 13 are made Terminal W1 drive signal, and End of the second winding wire 13 into the line V1 and the third winding end 13 of the drive signals W2 consistency, the motor 10 is switched to a delta-connected.
  • the power units 31-36 can commutate the motor 10 according to a six-step commutation method, and the motor 10 can also be controlled by a method.
  • the motor control circuit 30 can further include a button S.
  • the button S is electrically connected to the control unit 37.
  • the trigger signal is output to the control unit 37 by operating the button S.
  • buttons S may also be disposed on a remote controller (not shown), and the trigger signal is wirelessly transmitted to the control unit 37 through the remote controller.
  • FIG. 3 is a schematic flowchart of a motor control method according to an embodiment of the present invention.
  • the method in the embodiment of the present invention may be specifically implemented by a control unit. Specifically, the method includes:
  • the motor control circuit 30 includes a sensing unit 39.
  • the sensing unit 39 is electrically connected to the control unit 37.
  • the sensing unit 39 is configured to sense a current output power of the motor 10, and output the trigger signal according to a current output power of the motor 10. For example, when the sensing unit 39 senses that the current output power of the motor 10 is greater than a predetermined value, the sensing unit 39 may output a trigger signal (eg, a high level signal) to the control unit 37. When the sensing unit 39 senses that the current output power of the motor 10 is less than the preset value, the sensing unit 39 may output a trigger signal (eg, a low level signal) to the control unit 37.
  • a trigger signal eg, a low level signal
  • the motor control circuit 30 can also include a button S.
  • the button S is electrically connected to the control unit 37.
  • the trigger signal is output by operating the button S.
  • S102 Output a corresponding control signal according to the trigger signal.
  • the driving signals of the incoming end and the outgoing end of the plurality of windings of the motor 10 are controlled to be the same or different to switch the connection mode of the motor 10 to a star connection or a delta connection.
  • the motor control circuit 30 includes six power units 31-36.
  • the control unit 37 controls the driving signals of the incoming end and the outgoing end of the plurality of windings of the motor 10 to be the same or different by the six power units 31-36 to switch the connection mode of the motor 10 to the star connection. Method or delta connection.
  • each power unit 31-36 includes a first power element Q1 and a second power element Q2.
  • the first power element Q1 is connected in series with the second power element Q2, and the connection point between the two is electrically connected to the incoming end and the outgoing end of each winding of the motor 10, respectively.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 31 is connected to the line terminal U1 of the first winding 11.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 32 is connected to a line terminal V1 of the second winding 13.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 33 is connected to the line terminal W1 of the third winding 15.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 34 is connected to the outgoing end U2 of the first winding 11.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 35 is connected to an outgoing end V2 of the second winding 13.
  • a connection point of the first power element Q1 and the second power element Q2 in the power unit 36 is connected to the outgoing end W2 of the third winding 15.
  • the control unit 37 can output a corresponding control signal through the PWM terminals PWM1-PWM12, so that the on/off condition of the first power element Q1 in the power unit 34, 35, 36 and the power unit 34, 35, The on-off condition of the second power element Q2 in 36 is kept consistent, respectively, so that the driving signal input to the outgoing end U2 of the first winding 11, the outgoing end V2 of the second winding 13, and the outgoing end W2 of the third winding 15 Consistently, the motor 10 operates in a star connection.
  • the control unit 37 may also output a corresponding control signal through the PWM terminals PWM1-PWM12, such that the first power component Q1 in the power unit 31 and the first power component Q1 in the power unit 35, the power The second power element Q2 in the unit 31 and the on-off condition of the second power element Q2 in the power unit 35 are respectively identical, and the first power element Q1 in the power unit 34 and the first power element Q1 in the power unit 33
  • the second power element Q2 of the power unit 34 and the second power element Q2 of the power unit 33 are respectively turned on and off, and the first power element Q1 and the power unit 36 of the power unit 32 are
  • the first power element Q1, the second power element Q2 of the power unit 32 and the second power element Q2 of the power unit 36 are respectively turned on and off, thereby inputting the input end to the first winding 11 a driving signal of U1 and the outgoing end V2 of the second winding 13, a driving signal of the outgoing end U2 of the first winding 11 and the incoming end
  • the motor system 100 can be applied to a mobile device such as a drone 200 or a remote control vehicle. Specifically, when the motor system 100 is applied to the drone 200, the motor 10 in the motor system 100 is used to provide the drone 200 with the power of flight.
  • the ESC 50 is electrically connected to the motor 10 for controlling the operating state of the motor 10.
  • a control unit 37 within the ESC 50 is electrically coupled to the ESC 50 for controlling the motor 10 via the ESC 50. Further, the control unit 37 can switch the connection mode of the motor 10 to a star connection or a delta connection according to the current output power of the motor 10 through the power units 31-36 electrically connected thereto.
  • the motor control circuit 30 can switch the connection mode of the motor 10 to the star connection or the delta connection according to the current output power of the motor 10, that is, realize dynamic conversion, and is more practical.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
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Abstract

一种电机控制电路（30），包括功率单元（31-36），为多个，每一功率单元均包括第一功率元件（Q1）及与所述第一功率元件（Q1）串联的第二功率元件（Q2），所述第一功率元件（Q1）与所述第二功率元件（Q2）之间的连接点分别电连接至一电机（10）的各绕组（11、13、15）的进线端（U1、V1、W1）及出线端（U2、V2、W2）；其中，通过控制所述多个功率单元（31-36）中第一功率元件（Q1）及第二功率元件（Q2）的导通或断开，以将所述电机（10）的连接方式切换至星形接法或三角形接法。上述电机控制电路（30）可将所述电机（10）的连接方式切换至星形接法或三角形接法，即实现动态转换，更具实用性。还提供一种电机控制方法、电机系统、无人机及其控制方法。

Description

电机控制电路、方法、电机系统、无人机及其控制方法 技术领域
本发明涉及电机控制技术领域，尤其涉及一种电机控制电路、方法、电机系统、无人机及其控制方法。
背景技术
目前，常用的三相电机通常具有三角形及星形两种接法。其中，三角形接法常用于低电压高输出功率，但其效率受脉宽调制谐波影响较大，在低速段效率较低，但在相同的电压下可以达到更高转速。而星形接法常用于高电压低输出功率，但其受脉宽调制谐波影响较小，在低速段效率较高，但在相同电压下无法达到较高转速。目前现有的电机在工作时，无法动态地在三角形接法与星形接法之间进行切换，较为不便。
发明内容
鉴于以上内容，有必要提供一种电机控制电路、方法、电机系统、无人机及其控制方法。
一种电机控制电路，包括：
功率单元，为多个，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至一电机的各绕组的进线端及出线端；
其中，通过控制所述多个功率单元中第一功率元件及第二功率元件的导通或断开，以将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，所述第一功率元件及所述第二功率元件均为绝缘栅双极型晶体管（IGBT）、金属氧化物半导体场效应管（MOSFET）或者晶闸管。
进一步地，所述第一功率元件的栅极与第二功率元件的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件或/及所述第二功率元件；所述第一功率元件的集电极与所述第二功率元件的发射极均为电流输入端，用以电连接至一电源；所述第一功率元件的发射极与所述第二功率元件的集电极均为电流输出端，用以电连接至所述电机的各绕组的进线端或出线端。
进一步地，所述第一功率元件的电流输入端与电流输出端之间连接有二极管；所述第二功率元件的电流输入端与电流输出端之间连接有二极管。
进一步地，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机切换至三角形接法；
或者
当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的功率单元的通断情况一致时，所述电机切换至星形接法。
进一步地，所述功率单元按照六步换相法对所述电机换相。
进一步地，所述电机控制电路还包括控制单元，所述控制单元用以接收一触发信号，并根据所述触发信号输出相应的控制信号，以控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开。
进一步地，所述电机控制电路还包括按钮，所述按钮电连接至所述控制单元，通过操作所述按钮以输出所述触发信号；
或者
所述电机控制电路还包括感应单元，所述感应单元用以感应所述电机的当前输出功率，并根据所述当前输出功率输出所述触发信号。
一种电机系统，包括电机及与所述电机电连接的电机控制电路，所述电机控制电路包括：
功率单元，为多个，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；
其中，通过控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开，以将所述电机切换至星形接法或三角形接法。
进一步地，所述第一功率元件及所述第二功率元件均为绝缘栅双极型晶体管（IGBT）、金属氧化物半导体场效应管（MOSFET）或者晶闸管。
进一步地，所述第一功率元件的栅极与第二功率元件的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件或/及所述第二功率元件；所述第一功率元件的集电极与所述第二功率元件的发射极均为电流输入端，用以电连接至一电源；所述第一功率元件的发射极与所述第二功率元件的集电极均为电流输出端，用以电连接至所述电机的各绕组的进线端或出线端。
进一步地，所述第一功率元件的电流输入端与电流输出端之间连接有二极管；所述第二功率元件的电流输入端与电流输出端之间连接有二极管。
进一步地，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元接收到的通断情况分别一致时，所述电机切换至三角形接法；
或者
当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的功率单元的通断情况一致时，所述电机切换至星形接法。
进一步地，所述功率单元按照六步换相法对所述电机换相。
进一步地，所述电机控制电路还包括控制单元，所述控制单元用以接收一触发信号，并根据所述触发信号输出相应的控制信号，进而控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开。
进一步地，所述电机控制电路还包括按钮，所述按钮电连接至所述控制单元，通过操作所述按钮以输出所述触发信号；
或者
所述电机控制电路还包括感应单元，所述感应单元用以感应所述电机的当前输出功率，并根据所述输出功率输出所述触发信号。
一种电机控制方法，所述方法包括：
获取一触发信号；
根据所述触发信号输出相应的控制信号；
根据所述控制信号，控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，根据所述控制信号，通过多个功率单元控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；根据所述控制信号断开或导通多个功率单元中的第一功率元件及第二功率元件，以将与所述电机的连接方式切换至星形接法或三角形接法。
进一步地，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机切换至三角形接法；
或者
当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的的功率单元的通断情况一致时，所述电机切换至星形接法。
进一步地，通过操作一按钮而触发所述触发信号；
或者
通过感应所述电机的当前输出功率，并根据所述当前输出功率输出所述触发信号。
一种电机的控制装置，包括一个或多个处理器，所述一个或多个处理器用于：
获取一触发信号；
根据所述触发信号输出相应的控制信号；
根据所述控制信号，控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，根据所述控制信号，通过多个功率单元控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；根据所述控制信号断开或导通多个功率单元中的第一功率元件及第二功率元件，以将与所述电机的连接方式切换至星形接法或三角形接法。
进一步地，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机的连接方式切换至三角形接法；
或者
当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的的功率单元的通断情况一致时，所述电机的连接方式切换至星形接法。
进一步地，通过操作一按钮而触发所述触发信号；
或者
通过感应所述电机的当前输出功率，并根据所述当前输出功率输出所述触发信号。
一种无人机的控制方法，包括：
获取无人机的电机的当前输出功率；
根据所述电机的当前输出功率，将所述电机的连接方式切换至星形接法或三角形接法。
一种无人机，包括：
电机，用于提供无人机飞行的动力；
电调，与所述电机电连接，用于控制所述电机的运行状态；
控制单元，与所述电调电连接，用于通过所述电调控制所述电机；
其中，所述控制单元根据所述电机的当前输出功率，将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，所述电调包括：
功率单元，为多个，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；
其中，通过控制所述多个功率单元中第一功率元件及第二功率元件的导通或断开，以将所述电机的连接方式切换至星形接法或三角形接法。
进一步地，所述第一功率元件及所述第二功率元件均为绝缘栅双极型晶体管（IGBT）、金属氧化物半导体场效应管（MOSFET）或者晶闸管。
进一步地，所述第一功率元件的栅极与第二功率元件的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件或/及所述第二功率元件；所述第一功率元件的集电极与所述第二功率元件的发射极均为电流输入端，用以电连接至一电源；所述第一功率元件的发射极与所述第二功率元件的集电极均为电流输出端，用以电连接至所述电机的各绕组的进线端或出线端。
进一步地，所述第一功率元件的电流输入端与电流输出端之间连接有二极管；所述第二功率元件的电流输入端与电流输出端之间连接有二极管。
进一步地，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机切换至三角形接法；
或者
当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的功率单元的通断情况一致时，所述电机切换至星形接法。
进一步地，所述功率单元按照六步换相法对所述电机换相。
进一步地，所述电调还包括控制单元，所述控制单元用以接收一触发信号，并根据所述触发信号输出相应的控制信号，以控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开。
进一步地，所述无人机还包括遥控器，通过所述遥控器以输出所述触发信号；
或者
所述无人机还包括感应单元，所述感应单元用以感应所述电机的当前输出功率，并根据所述电机的当前输出功率输出所述触发信号。
上述电机控制电路、方法、电机系统、无人机及其控制方法可根据电机的当前输出功率，将所述电机的连接方式切换至星形接法或三角形接法，即实现动态转换，更具实用性。
 附图说明
图1为本发明实施例的电机系统的其中一种功能模块图。
图2为本发明实施例的电机系统的另外一种功能模块图。
图3为本发明实施例的一种电机控制方法的流程示意图。
图4为本发明实施例的电机系统的应用示意图。
主要元件符号说明
电机系统 100
电机 10
第一绕组 11
第二绕组 13
第三绕组 15
进线端 U1、V1、W1
出线端 U2、V2、W2
电机控制电路 30
功率单元 31-36
第一功率元件 Q1
第二功率元件 Q2
二极管 D1、D2
控制单元 37
PWM端 PWM1-PWM12
电调 50
感应单元 39
按钮 S
无人机 200
如下具体实施方式将结合上述附图进一步说明本发明。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当一个元件被称为“电连接”另一个元件，它可以直接在另一个组件上或者也可以存在居中的元件。当一个元件被认为是“电连接”另一个元件，它可以是接触连接，例如，可以是导线连接的方式，也可以是非接触式连接，例如，可以是非接触式耦合的方式。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及／或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1，本发明较佳实施例提供一种电机系统100，包括电机10及电机控制电路30。所述电机控制电路30与所述电机10电连接，用以根据所述电机10的当前输出功率将所述电机10的连接方式切换至星形接法或三角形接法。
在本实施例中，所述电机10为三相电机，包括第一绕组11、第二绕组13以及第三绕组15。所述第一绕组11包括进线端U1及出线端U2。所述第二绕组13包括进线端V1及出线端V2。所述第三绕组15包括进线端W1及出线端W2。在本实施例中，当输入至所述第一绕组11的出线端U2、第二绕组13的出线端V2以及第三绕组15的出线端W2的驱动信号一致时，所述电机10工作在星形接法。当输入至所述第一绕组11的进线端U1与第二绕组13的出线端V2的驱动信号、所述第一绕组11的出线端U2与所述第三绕组13的进线端W1的驱动信号、以及所述第二绕组13的进线端V1与第三绕组13的出线端W2的驱动信号分别一致时，所述电机10切换至三角形接法。
在本实施例中，所述电机控制电路30包括六个功率单元31-36以及控制单元37。所述功率单元31-36以及控制单元37均集成在一电调50内。所述电调50用以控制所述电机10的运行状态。
在本实施例中，每一功率单元31-36均包括第一功率元件Q1以及第二功率元件Q2。每一功率单元31-36中的所述第一功率元件Q1与所述第二功率元件Q2串联，且两者之间的连接点分别电连接至所述电机10的各绕组的进线端及出线端。例如，所述功率单元31中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第一绕组11的进线端U1。所述功率单元32中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第二绕组13的进线端V1。所述功率单元33中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第三绕组15的进线端W1。所述功率单元34中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第一绕组11的出线端U2。所述功率单元35中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第二绕组13的出线端V2。所述功率单元36中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第三绕组15的出线端W2。
可以理解，所述第一功率元件Q1与所述第二功率元件Q2可以为绝缘栅双极型晶体管(Insulated Gate Bipolar Transistor，IGBT)、金属氧化物半导体场效应晶体管（MOSFET）或者晶闸管。
在本实施例中，所述第一功率元件Q1与所述第二功率元件Q2的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件Q1或/及所述第二功率元件Q2。所述第一功率元件Q1的集电极与所述第二功率元件Q2的发射极均为电流输入端，用以电连接至一电源（图未示）。所述第一功率元件Q1的发射极电性连接至所述第二功率元件Q2的集电极，两者均为电流输出端，用以电连接至所述电机10的各绕组的进线端或出线端。
可以理解，所述第一功率元件Q1的电流输入端与电流输出端之间连接有二极管D1。所述第二功率元件Q2的电流输入端与电流输出端之间连接有二极管D2。所述二极管D1、D2为续流二极管。当然，在其他实施例中，该续流二极管为第一功率元件Q1与第二功率元件Q2的寄生二极管。
所述控制单元37与所述第一功率元件Q1与第二功率元件Q2的信号控制端电连接，用以接收一触发信号，并根据所述触发信号输出相应的控制信号，以控制所述多个功率单元31-36中第一功率元件Q1与第二功率元件Q2的导通或断开，进而将所述电机10的连接方式切换至星形接法或三角形接法。在本实施例中，所述控制单元37包括一组脉宽调制（pulse-width modulation，PWM）端PWM1-PWM12。所述PWM端PWM1-PWM12分别电连接至所述第一功率元件Q1与第二功率元件Q2的信号控制端，用以分别输出相应的控制信号至所述第一功率元件Q1与第二功率元件Q2。
可以理解，所述电机控制电路30还可包括感应单元39。所述感应单元39与所述控制单元37电连接。所述感应单元39用以感应所述电机10的当前输出功率，并根据所述电机10的当前输出功率输出所述触发信号。例如，当所述感应单元39感应到所述电机10的当前输出功率大于一预设值时，所述感应单元39可输出一触发信号（例如，高电平信号）至所述控制单元37，所述控制单元37再根据所述触发信号输出相应的控制信号，以控制所述电机10工作在星形接法。
具体地，当所述控制单元37接收到所述触发信号后，所述控制单元37可通过所述PWM端PWM1-PWM12输出相应的控制信号，以使得所述功率单元34、35、36中第一功率元件Q1的通断情况以及所述功率单元34、35、36中第二功率元件Q2的通断情况分别保持一致，进而使得输入至所述第一绕组11的出线端U2、第二绕组13的出线端V2以及第三绕组15的出线端W2的驱动信号保持一致，所述电机10工作在星形接法。
而当所述感应单元39感应到所述电机10的当前输出功率小于所述预设值时，所述感应单元39可输出一触发信号（例如，低电平信号）至所述控制单元37，所述控制单元37再根据所述触发信号输出相应的控制信号，以控制所述电机10工作在三角形接法。
具体地，当所述控制单元37接收到所述触发信号后，所述控制单元37可通过所述PWM端PWM1-PWM12输出相应的控制信号，以使得所述功率单元31中第一功率元件Q1与所述功率单元35中第一功率元件Q1、所述功率单元31中第二功率元件Q2与所述功率单元35中第二功率元件Q2的通断情况分别一致、所述功率单元34中第一功率元件Q1与所述功率单元33中第一功率元件Q1、所述功率单元34中第二功率元件Q2与所述功率单元33中第二功率元件Q2的通断情况分别一致、以及所述功率单元32中第一功率元件Q1与所述功率单元36中第一功率元件Q1、所述功率单元32中第二功率元件Q2与所述功率单元36中第二功率元件Q2的通断情况分别一致，进而使得输入至所述第一绕组11的进线端U1与第二绕组13的出线端V2的驱动信号、所述第一绕组11的出线端U2与所述第三绕组13的进线端W1的驱动信号、以及所述第二绕组13的进线端V1与第三绕组13的出线端W2的驱动信号分别保持一致，所述电机10切换至三角形接法。
可以理解，所述功率单元31-36可以按照六步换相法对所述电机10换相，也可以采用方法对电机10进行控制。
可以理解，请参阅图2，在其他实施例中，所述电机控制电路30还可包括按钮S。所述按钮S与所述控制单元37电连接。通过操作所述按钮S，以输出所述触发信号至所述控制单元37。
需要说明的是，该按钮S也可以设于遥控器(图未示)上，通过遥控器无线发送触发信号至所述控制单元37。
请一并参阅图3，是本发明实施例的一种电机控制方法的流程示意图，本发明实施例的所述方法具体可以通过控制单元来实现，具体的，所述方法包括：
S101：获取一触发信号。
可以理解，所述电机控制电路30包括感应单元39。所述感应单元39与所述控制单元37电连接。所述感应单元39用以感应所述电机10的当前输出功率，并根据所述电机10的当前输出功率输出所述触发信号。例如，当所述感应单元39感应到所述电机10的当前输出功率大于一预设值时，所述感应单元39可输出一触发信号（例如，高电平信号）至所述控制单元37。当所述感应单元39感应到所述电机10的当前输出功率小于所述预设值时，所述感应单元39可输出一触发信号（例如，低电平信号）至所述控制单元37。
当然，在其他实施例中，所述电机控制电路30还可包括按钮S。所述按钮S与所述控制单元37电连接。通过操作所述按钮S，以输出所述触发信号。
S102：根据所述触发信号输出相应的控制信号。
S103：根据所述控制信号，控制电机10的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机10的连接方式切换至星形接法或三角形接法。
具体的，所述电机控制电路30包括六个功率单元31-36。所述控制单元37是通过所述六个功率单元31-36控制电机10的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机10的连接方式切换至星形接法或三角形接法。
可以理解，在本实施例中，每一功率单元31-36均包括第一功率元件Q1以及第二功率元件Q2。所述第一功率元件Q1与所述第二功率元件Q2串联，且两者之间的连接点分别电连接至所述电机10的各绕组的进线端及出线端。例如，所述功率单元31中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第一绕组11的进线端U1。所述功率单元32中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第二绕组13的进线端V1。所述功率单元33中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第三绕组15的进线端W1。所述功率单元34中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第一绕组11的出线端U2。所述功率单元35中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第二绕组13的出线端V2。所述功率单元36中第一功率元件Q1与所述第二功率元件Q2的连接点连接至所述第三绕组15的出线端W2。
所述控制单元37可通过所述PWM端PWM1-PWM12输出相应的控制信号，以使得所述功率单元34、35、36中第一功率元件Q1的通断情况以及所述功率单元34、35、36中第二功率元件Q2的通断情况分别保持一致，进而使得输入至所述第一绕组11的出线端U2、第二绕组13的出线端V2以及第三绕组15的出线端W2的驱动信号保持一致，所述电机10工作在星形接法。
所述控制单元37还可通过所述PWM端PWM1-PWM12输出相应的控制信号，以使得所述功率单元31中第一功率元件Q1与所述功率单元35中第一功率元件Q1、所述功率单元31中第二功率元件Q2与所述功率单元35中第二功率元件Q2的通断情况分别一致、所述功率单元34中第一功率元件Q1与所述功率单元33中第一功率元件Q1、所述功率单元34中第二功率元件Q2与所述功率单元33中第二功率元件Q2的通断情况分别一致、以及所述功率单元32中第一功率元件Q1与所述功率单元36中第一功率元件Q1、所述功率单元32中第二功率元件Q2与所述功率单元36中第二功率元件Q2的通断情况分别一致，进而使得输入至所述第一绕组11的进线端U1与第二绕组13的出线端V2的驱动信号、所述第一绕组11的出线端U2与所述第三绕组13的进线端W1的驱动信号、以及所述第二绕组13的进线端V1与第三绕组13的出线端W2的驱动信号分别保持一致，所述电机10切换至三角形接法。
请一并参阅图4，可以理解，所述电机系统100可应用至无人机200、遥控战车等可移动装置上。具体的，当所述电机系统100应用至所述无人机200时，所述电机系统100中的电机10用于为所述无人机200提供飞行的动力。所述电调50与所述电机10电连接，用于控制所述电机10的运行状态。所述电调50内的控制单元37与所述电调50电连接，用于通过所述电调50控制所述电机10。更进一步地，所述控制单元37可根据所述电机10的当前输出功率，通过与其电连接的功率单元31-36将所述电机10的连接方式切换至星形接法或三角形接法。
显然，上述电机控制电路30可根据电机10的当前输出功率，将所述电机10的连接方式切换至星形接法或三角形接法，即实现动态转换，更具实用性。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (36)

  1. 一种电机控制电路，其特征在于：该电机控制电路包括：
    功率单元，为多个，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至一电机的各绕组的进线端及出线端；
    其中，通过控制所述多个功率单元中第一功率元件及第二功率元件的导通或断开，以将所述电机的连接方式切换至星形接法或三角形接法。
  2. 如权利要求1所述的电机控制电路，其特征在于，所述第一功率元件及所述第二功率元件均为绝缘栅双极型晶体管（IGBT）、金属氧化物半导体场效应管（MOSFET）或者晶闸管。
  3. 如权利要求2所述的电机控制电路，其特征在于，所述第一功率元件的栅极与第二功率元件的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件或/及所述第二功率元件；所述第一功率元件的集电极与所述第二功率元件的发射极均为电流输入端，用以电连接至一电源；所述第一功率元件的发射极与所述第二功率元件的集电极均为电流输出端，用以电连接至所述电机的各绕组的进线端或出线端。
  4. 如权利要求3所述的电机控制电路，其特征在于，所述第一功率元件的电流输入端与电流输出端之间连接有二极管；所述第二功率元件的电流输入端与电流输出端之间连接有二极管。
  5. 如权利要求1所述的电机控制电路，其特征在于，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机切换至三角形接法；
    或者
    当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的功率单元的通断情况一致时，所述电机切换至星形接法。
  6. 如权利要求1所述的电机控制电路，其特征在于，所述功率单元按照六步换相法对所述电机换相。
  7. 如权利要求1所述的电机控制电路，其特征在于，所述电机控制电路还包括控制单元，所述控制单元用以接收一触发信号，并根据所述触发信号输出相应的控制信号，以控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开。
  8. 如权利要求7所述的电机控制电路，其特征在于，所述电机控制电路还包括按钮，所述按钮电连接至所述控制单元，通过操作所述按钮以输出所述触发信号；
    或者
    所述电机控制电路还包括感应单元，所述感应单元用以感应所述电机的当前输出功率，并根据所述电机的当前输出功率输出所述触发信号。
  9. 一种电机系统，其特征在于：所述电机系统包括电机及与所述电机电连接的电机控制电路，所述电机控制电路包括：
    功率单元，为多个，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；
    其中，通过控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开，以将所述电机切换至星形接法或三角形接法。
  10. 如权利要求9所述的电机系统，其特征在于：所述第一功率元件及所述第二功率元件均为绝缘栅双极型晶体管（IGBT）、金属氧化物半导体场效应管（MOSFET）或者晶闸管。
  11. 如权利要求10所述的电机系统，其特征在于：所述第一功率元件的栅极与第二功率元件的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件或/及所述第二功率元件；所述第一功率元件的集电极与所述第二功率元件的发射极均为电流输入端，用以电连接至一电源；所述第一功率元件的发射极与所述第二功率元件的集电极均为电流输出端，用以电连接至所述电机的各绕组的进线端或出线端。
  12. 如权利要求11所述的电机系统，其特征在于：所述第一功率元件的电流输入端与电流输出端之间连接有二极管；所述第二功率元件的电流输入端与电流输出端之间连接有二极管。
  13. 如权利要求9所述的电机系统，其特征在于：所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元接收到的通断情况分别一致时，所述电机切换至三角形接法；
    或者
    当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的功率单元的通断情况一致时，所述电机切换至星形接法。
  14. 如权利要求9所述的电机系统，其特征在于：所述功率单元按照六步换相法对所述电机换相。
  15. 如权利要求9所述的电机系统，其特征在于：所述电机控制电路还包括控制单元，所述控制单元用以接收一触发信号，并根据所述触发信号输出相应的控制信号，进而控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开。
  16. 如权利要求15所述的电机系统，其特征在于，所述电机控制电路还包括按钮，所述按钮电连接至所述控制单元，通过操作所述按钮以输出所述触发信号；
    或者
    所述电机控制电路还包括感应单元，所述感应单元用以感应所述电机的当前输出功率，并根据所述电机的当前输出功率输出所述触发信号。
  17. 一种电机控制方法，其特征在于：所述方法包括：
    获取一触发信号；
    根据所述触发信号输出相应的控制信号；
    根据所述控制信号，控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
  18. 如权利要求17所述的电机控制方法，其特征在于，根据所述控制信号，通过多个功率单元控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
  19. 如权利要求18所述的电机控制方法，其特征在于，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；根据所述控制信号断开或导通多个功率单元中的第一功率元件及第二功率元件，以将与所述电机的连接方式切换至星形接法或三角形接法。
  20. 如权利要求19所述的电机控制方法，其特征在于，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机切换至三角形接法；
    或者
    当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的的功率单元的通断情况一致时，所述电机切换至星形接法。
  21. 如权利要求17所述的电机控制方法，其特征在于，通过操作一按钮而触发所述触发信号；
    或者
    通过感应所述电机的当前输出功率，并根据所述电机的当前输出功率输出所述触发信号。
  22. 一种电机的控制装置，其特征在于：所述装置包括一个或多个处理器，所述一个或多个处理器用于：
    获取一触发信号；
    根据所述触发信号输出相应的控制信号；
    根据所述控制信号，控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
  23. 如权利要求22所述的电机的控制装置，其特征在于，根据所述控制信号，通过多个功率单元控制电机的多个绕组的进线端及出线端的驱动信号相同或不同，以将所述电机的连接方式切换至星形接法或三角形接法。
  24. 如权利要求22所述的电机的控制装置，其特征在于，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；根据所述控制信号断开或导通多个功率单元中的第一功率元件及第二功率元件，以将与所述电机的连接方式切换至星形接法或三角形接法。
  25. 如权利要求24所述的电机的控制装置，其特征在于，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机的连接方式切换至三角形接法；
    或者
    当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的的功率单元的通断情况一致时，所述电机的连接方式切换至星形接法。
  26. 如权利要求23所述的电机的控制装置，其特征在于，通过操作一按钮而触发所述触发信号；
    或者
    通过感应所述电机的当前输出功率，并根据所述当前输出功率输出所述触发信号。
  27. 一种无人机的控制方法，其特征在于，
    获取无人机的电机的当前输出功率；
    根据所述电机的当前输出功率，将所述电机的连接方式切换至星形接法或三角形接法。
  28. 一种无人机，其特征在于，包括：
    电机，用于提供无人机飞行的动力；
    电调，与所述电机电连接，用于控制所述电机的运行状态；
    控制单元，与所述电调电连接，用于通过所述电调控制所述电机；
    其中，所述控制单元根据所述电机的当前输出功率，将所述电机的连接方式切换至星形接法或三角形接法。
  29. 如权利要求28所述的无人机，其特征在于，所述电调包括：
    功率单元，为多个，每一功率单元均包括第一功率元件及与所述第一功率元件串联的第二功率元件，所述第一功率元件与所述第二功率元件之间的连接点分别电连接至所述电机的各绕组的进线端及出线端；
    其中，通过控制所述多个功率单元中第一功率元件及第二功率元件的导通或断开，以将所述电机的连接方式切换至星形接法或三角形接法。
  30. 如权利要求29所述的无人机，其特征在于，所述第一功率元件及所述第二功率元件均为绝缘栅双极型晶体管（IGBT）、金属氧化物半导体场效应管（MOSFET）或者晶闸管。
  31. 如权利要求30所述的无人机，其特征在于，所述第一功率元件的栅极与第二功率元件的栅极均为信号控制端，用以接收一控制信号，进而导通或断开所述第一功率元件或/及所述第二功率元件；所述第一功率元件的集电极与所述第二功率元件的发射极均为电流输入端，用以电连接至一电源；所述第一功率元件的发射极与所述第二功率元件的集电极均为电流输出端，用以电连接至所述电机的各绕组的进线端或出线端。
  32. 如权利要求31所述的无人机，其特征在于，所述第一功率元件的电流输入端与电流输出端之间连接有二极管；所述第二功率元件的电流输入端与电流输出端之间连接有二极管。
  33. 如权利要求29所述的无人机，其特征在于，所述电机为三相电机，包括第一绕组、第二绕组以及第三绕组，当电连接至所述第一绕组的进线端的功率单元与电连接至第二绕组的出线端的功率单元、电连接至第一绕组的出线端的功率单元与电连接至第三绕组的进线端的功率单元、以及电连接至第二绕组的进线端的功率单元与电连接至第三绕组的出线端的功率单元的通断情况分别一致时，所述电机切换至三角形接法；
    或者
    当电连接至所述电机的第一绕组的出线端的功率单元、电连接至第二绕组的出线端的功率单元以及电连接至第三绕组的出线端的功率单元的通断情况一致时，所述电机切换至星形接法。
  34. 如权利要求29所述的无人机，其特征在于，所述功率单元按照六步换相法对所述电机换相。
  35. 如权利要求29所述的无人机，其特征在于，所述电调还包括控制单元，所述控制单元用以接收一触发信号，并根据所述触发信号输出相应的控制信号，以控制所述多个功率单元中第一功率元件及所述第二功率元件的导通或断开。
  36. 如权利要求35所述的无人机，其特征在于，所述无人机还包括遥控器，通过所述遥控器以输出所述触发信号；
    或者
    所述无人机还包括感应单元，所述感应单元用以感应所述电机的当前输出功率，并根据所述电机的当前输出功率输出所述触发信号。
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