WO2017128113A1 - Circuits de commande d'alimentation électrique, régulateur de vitesse électronique, véhicule aérien sans pilote et procédé de commande - Google Patents

Circuits de commande d'alimentation électrique, régulateur de vitesse électronique, véhicule aérien sans pilote et procédé de commande Download PDF

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Publication number
WO2017128113A1
WO2017128113A1 PCT/CN2016/072362 CN2016072362W WO2017128113A1 WO 2017128113 A1 WO2017128113 A1 WO 2017128113A1 CN 2016072362 W CN2016072362 W CN 2016072362W WO 2017128113 A1 WO2017128113 A1 WO 2017128113A1
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Prior art keywords
circuit
control circuit
resistor
capacitor
power
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PCT/CN2016/072362
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English (en)
Chinese (zh)
Inventor
倪锦云
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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/CN2016/072362 priority Critical patent/WO2017128113A1/fr
Priority to CN201680002467.7A priority patent/CN107078640B/zh
Publication of WO2017128113A1 publication Critical patent/WO2017128113A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
    • H02H9/02—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess current
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

Definitions

  • the invention relates to a power control circuit, an electronic governor, an unmanned aerial vehicle and a control method thereof, in particular to a power control circuit capable of being used for power-on and anti-sparking, and belongs to the technical field of aircraft.
  • the electronic governor is one of the most important components in the aircraft, used to drive the rotation of the motor in the aircraft to achieve the start and stop of the aircraft and speed regulation.
  • the electronic governor of the drone is used to drive the brushless motor by converting the DC voltage of the replaceable battery into an AC voltage.
  • the current during the conversion is large, and a large capacitor must be used to ensure the instantaneous energy supply.
  • the ESC is installed on the UAV, it is equivalent to a plurality of large capacitors in parallel. From the perspective of the total power supply plug, the capacitive load is large. In the process of battery replacement, the battery plug is often charged. When directly inserted into the battery compartment of the drone, the hot plug process will occur. When the power plug is plugged in, the plug touches a large spark, which reduces the life and performance of the plug.
  • preventing sparking during hot plugging is generally performed by first connecting a resistor to pre-charge a large capacitor for supplying a large current to the motor in the unmanned aerial vehicle, and then manually controlling the auxiliary switch.
  • the capacitor is connected in series to both ends of the power supply to prevent sparking.
  • the object of the present invention is to provide a power control circuit, an electronic governor, an unmanned aerial vehicle and a control method for solving the technical problem that the anti-sparking operation in the hot plugging process of the UAV battery in the prior art requires complicated operation.
  • the present invention provides the following technical solutions:
  • a power supply control circuit for an unmanned aerial vehicle including: a capacitive load Circuit, switching circuit and delay control circuit;
  • the input end of the capacitive load circuit is electrically connected to the positive pole of the power source
  • the switching circuit is connected in series between an output end of the load circuit and a power ground;
  • the power supply positive pole and the power ground are respectively connected between the input end and the output end of the delay control circuit, and the control end of the delay control circuit is electrically connected to the switch circuit;
  • the delay control circuit is configured to control the switch circuit to switch from a high impedance output state to a low impedance output state after the power-on time exceeds a preset time when the power source positive pole and the power source ground are in a power-on state.
  • an electronic governor including a motor drive circuit and a power control circuit, wherein the power control circuit is electrically connected to the motor drive circuit for supplying power to the motor drive circuit, and the power control circuit Including: capacitive load circuit switching circuit and delay control circuit;
  • the input end of the capacitive load circuit is electrically connected to the positive pole of the power source
  • the switching circuit is connected in series between an output end of the load circuit and a power ground;
  • the power supply positive pole and the power ground are respectively connected between the input end and the output end of the delay control circuit, and the control end of the delay control circuit is electrically connected to the switch circuit;
  • the delay control circuit is configured to control the switch circuit to switch from a high impedance output state to a low impedance output state after the power-on time exceeds a preset time when the power source positive pole and the power source ground are in a power-on state.
  • an unmanned aerial vehicle comprising: an electric motor and an electronic governor for providing flight power;
  • the electronic governor is electrically connected to the motor for controlling an operating state of the motor
  • the electronic governor includes: a motor drive circuit and a power control circuit;
  • the power control circuit is electrically connected to the motor driving circuit for supplying power to the motor driving circuit;
  • the power control circuit includes: a capacitive load circuit switch circuit and a delay control circuit;
  • the input end of the capacitive load circuit is electrically connected to the positive pole of the power source
  • the switching circuit is connected in series between an output end of the load circuit and a power ground;
  • the power supply positive pole and the power ground are respectively connected between the input end and the output end of the delay control circuit, and the control end of the delay control circuit is electrically connected to the switch circuit;
  • the delay control circuit is configured to control the switch circuit to switch from a high impedance output state to a low impedance output state after the power-on time exceeds a preset time when the power source positive pole and the power source ground are in a power-on state.
  • a control method of a power output circuit including a capacitive load circuit for providing a large current output to an unmanned aircraft motor, the power output circuit further comprising: a switch circuit, the switch The circuit is connected in series between the capacitive load circuit and the power ground;
  • a method of controlling the switching circuit includes:
  • the switching circuit is controlled to switch from a high impedance output state to a low impedance output state after a power-on time between the power source positive pole and the power source ground exceeds a preset time.
  • the power supply control circuit, the electronic governor, the unmanned aerial vehicle and the control method provided by the invention control the high-impedance output of the switching circuit after the power-on time between the positive pole and the power ground exceeds the preset time by the delay control circuit
  • the state switches to a low-impedance output state, which reduces the manual operation of the main power supply, enabling automatic control of spark-proof and high-current output.
  • FIG. 1 is a schematic diagram of a power supply control circuit according to Embodiment 1 of the present invention.
  • FIG. 2a is a schematic diagram of a power control circuit according to Embodiment 2 of the present invention.
  • FIG. 2b is a schematic diagram of another power control circuit according to Embodiment 2 of the present invention.
  • FIG. 3 is a schematic diagram of a power supply control circuit according to Embodiment 3 of the present invention.
  • FIG. 4 is a schematic diagram of a power supply control circuit according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic diagram of a power supply control circuit according to Embodiment 5 of the present invention.
  • FIG. 6a is a schematic diagram of a power control circuit according to Embodiment 6 of the present invention.
  • FIG. 6b is a schematic diagram of another power supply control circuit according to Embodiment 6 of the present invention.
  • FIG. 7a is a schematic diagram of a power control circuit according to Embodiment 7 of the present invention.
  • FIG. 7b is a schematic diagram of another power control circuit according to Embodiment 7 of the present invention.
  • Embodiment 8 is a schematic diagram of a power supply control circuit according to Embodiment 8 of the present invention.
  • FIG. 9 is a schematic diagram of a power supply control circuit according to Embodiment 9 of the present invention.
  • FIG. 10 is a schematic structural diagram of an electronic governor according to Embodiment 10 of the present invention.
  • FIG. 11 is a schematic flow chart of a control method of a power output circuit according to Embodiment 28 of the present invention.
  • Embodiment 1 of the present invention provides a power supply control circuit 1 for an unmanned aerial vehicle.
  • FIG. 1 is a schematic diagram of a power supply control circuit according to Embodiment 1.
  • the power control circuit 1 of the embodiment is used to prevent the unmanned aerial vehicle power supply from being hot-swapped Electric sparks.
  • the power control circuit 1 includes a capacitive load circuit 11, a switch circuit 12, and a delay control circuit 13.
  • the capacitive load circuit 11 and the switch circuit 12 are connected in series between the positive pole 14 of the power source and the power ground 15, that is, the input end of the capacitive load circuit 11 is connected to the positive pole 14 of the power supply, and the output end thereof is connected to the input end of the switch circuit 12, and the switch circuit 12 is connected.
  • the output is connected to the power ground 15.
  • the input end of the delay control circuit 13 is electrically connected to the positive pole 14 of the power supply, the output end thereof is connected to the power supply ground 15, and the control end thereof is electrically connected to the switch circuit 12 for controlling the operating state of the switch circuit 12.
  • the delay control circuit 13 controls the switch circuit 12 to switch the switch circuit 12 from the high-impedance output state to the power-on time after the power-on time exceeds the preset time. Low impedance output state.
  • the capacitive load circuit 11 is primarily used to provide a large current output to the motor of the unmanned aerial vehicle.
  • the capacitive load circuit 11 may be composed of a large capacitor, or may be composed of a plurality of parallel capacitors, or may be composed of a capacitor and other electronic components connected in series and in parallel.
  • the specific form of the capacitive load circuit 11 is not limited in this embodiment, and those skilled in the art can select according to actual needs.
  • the switching circuit 12 can be formed by a single crystal switching transistor, such as a bidirectional switching transistor.
  • the switch circuit 12 can also be composed of a circuit breaker and a resistor connected in parallel, or a circuit breaker and an inductor connected in parallel.
  • the switch circuit 12 can also be a CMOS (Complementary Metal Oxide Semiconductor), a complementary metal oxide semiconductor, an amplifier component of voltage control, and a basic unit constituting a CMOS digital integrated circuit. It should be clear to those skilled in the art that as long as the switch circuit 12 can be controlled by the delay control circuit 13 to change the impedance of its output, that is, it can be controlled by the delay control circuit 13 to switch from the high impedance output to the low impedance output. .
  • CMOS Complementary Metal Oxide Semiconductor
  • the specific form of the switch circuit 12 is not specifically limited in this embodiment, and those skilled in the art can specifically set as needed.
  • the high impedance means that the charging current of the capacitive load circuit 11 can be greatly reduced to satisfy the impedance for preventing the generation of the sparking function
  • the low impedance means that the impedance of the capacitive connecting circuit is small.
  • the charging current of the capacitive load circuit 11 when the power is dynamically supplied to the motor is not affected.
  • the high impedance can be the resistance or the impedance of the switching element when it is open or closed
  • the low impedance is the impedance of the guiding line or the impedance of the switching element when it is closed or turned on.
  • the delay control circuit 13 is not specifically limited in this embodiment, and may be connected in series. a timer between the positive pole 14 of the power source and the power ground 15 and whose control terminal is electrically connected to the switch circuit 12, the timer is activated when the power is turned on and is controlled until a predetermined time, that is, after the power-on time exceeds the preset time The switching circuit 12 is switched from a high impedance output state to a low impedance output state.
  • the delay control circuit 13 can also be implemented by a timing control chip or control software.
  • the working principle of the power control circuit 1 of the present embodiment is: when the power plug of the battery of the unmanned aerial vehicle is inserted into the power jack of the electronic governor, that is, when the positive and negative poles of the battery are connected to the input interface of the power control circuit 1
  • the voltage difference is input between the power source positive electrode 14 of the power supply control circuit 1 and the power source ground 15, and the capacitance in the capacitance load circuit 11 is charged by the high impedance output from the switch circuit 12. Since there is a high impedance output of the switching circuit 12, the charging current of the capacitor in the capacitive load circuit 11 is small, and no spark is generated at the power plug of the battery to prevent the electric sparking phenomenon.
  • the input and output terminals connected to the power supply positive electrode 14 and the power supply ground 15 respectively detect the differential pressure, and the power supply positive electrode 14 and the power supply ground 15 are in a power-on state.
  • the control terminal controls the switch circuit 12 to switch from the high impedance output state to the low impedance output state to prepare the capacitive load circuit 11 to output a large current to the motor.
  • the capacitive load circuit 11 can provide a large current output thereof, and after the output, the capacitive load circuit 11 can be quickly charged by the low impedance outputted by the switching circuit 12.
  • the dynamic charging and discharging efficiency of the capacitive load circuit 11 is improved.
  • the power supply control circuit 1 of the present embodiment controls the switch circuit 12 to switch from the high-impedance output state to the low-impedance output state after the power supply positive electrode 14 and the power supply ground 15 are powered on by the delay control circuit 13 for a predetermined time, thereby eliminating the need to manually
  • the main power supply and the large capacitor connection simplify the anti-ignition operation of the unmanned aerial vehicle battery during hot plugging, and realize the automatic control of the anti-spark.
  • the power control circuit 1 of the embodiment greatly reduces the current peak at the moment of power-on when the power plug is plugged in, reduces and eliminates the spark generated by the plug contact moment, and effectively prolongs the life of the power connector.
  • the power control circuit 1 of the present embodiment is very simple and easy to be integrated on hardware such as an electronic governor; it is very suitable for the smart battery to reduce the spark of the plug during hot plugging. At the same time, it can greatly reduce the current stress when the battery is powered on, and protect the battery. Suitable for application on high power drones.
  • Embodiment 2 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • FIG. 2 is a schematic diagram of a power control circuit according to Embodiment 2;
  • FIG. 2b is a schematic diagram of another power control circuit according to Embodiment 2.
  • This embodiment is based on the solution provided in Embodiment 1, and the switch circuit 12 is provided to include a MOS transistor 121 (metal-semiconductor-semiconductor field effect transistor).
  • MOS transistor 121 metal-semiconductor-semiconductor field effect transistor
  • the gate (G) of the MOS transistor 121 is electrically connected to the control terminal of the delay control circuit 13, and the drain (D) thereof is electrically connected to the output terminal of the capacitive load circuit 11 to have its source ( S) is electrically connected to the power ground 15 for turning on and off the MOS transistor 121 according to the voltage change of the gate.
  • the turn-on and turn-off of the MOS transistor 121 can be easily realized by controlling the voltage of the gate (G) by the delay control circuit 13. Switching between them to output high impedance or low impedance to the switching circuit 12. Moreover, the switch circuit 12 thus provided has a simple structure and a more stable performance.
  • the MOS transistor 121 is in an off state. Therefore, the switching circuit 12 outputs a high impedance, so that the charging current of the capacitive load circuit 11 is reduced to avoid generation. Instantaneous inrush current to prevent sparking at the joint.
  • the delay control circuit 13 increases the voltage of the gate (G) of the MOS transistor 121 to the turn-on voltage through the control terminal, for example, to 2.5V, thereby turning on the MOS transistor 121. Since the impedance when the MOS transistor 121 is turned on is small, the switching transistor circuit can output a low impedance after the MOS transistor 121 is turned on.
  • the turn-on voltage of the MOS transistor 121 is only an exemplary turn-on voltage of the embodiment. In actual settings, different MOS transistor 121 turn-on voltages may be selected according to circuit requirements.
  • raising the gate (G) voltage of the MOS transistor 121 to the turn-on voltage may be completed instantaneously or by a period of time.
  • the timer (G) is turned on immediately by the timer when the timing exceeds the preset time, or the voltage of the gate (G) is slowly increased over a period of time by the control chip and the control software until the preset is exceeded.
  • the turn-on voltage is reached after time.
  • a first resistor 123 connected in parallel with the MOS transistor 121 may be disposed in the switching circuit 12 for protecting the MOS transistor 121.
  • the first resistor 123 will function as a shunt, thereby avoiding excessive charging current at the time of power-on and thereby puncturing the MOS transistor. 121.
  • the switching circuit 12 may be connected in series with the capacitive load circuit 11 in a branch and in parallel with the delay control circuit 13, that is, the switching circuit 12 is disposed in the branch of the capacitive load circuit 11.
  • the turning on and off of the MOS transistor 121 does not affect the output of the power supply to the UAV motor.
  • the switch circuit 12 can also connect the branch formed by the parallel connection of the capacitive load circuit 11 and the delay control circuit 13 in series with the switch circuit 12, that is, the switch circuit 12 is connected in series in the trunk circuit.
  • the time during which the power supply control circuit 1 outputs to the UAV motor can be controlled by the turning on and off of the MOS transistor 121.
  • the effect of anti-sparking can be improved, and the voltage overshoot spike at the time of power-on can be eliminated, so that the overshoot spike is not output to the motor.
  • the power supply control circuit 1 of the present embodiment can make the structure of the switch circuit 12 simpler by providing the MOS transistor 121, and can also control the MOS transistor 121 from the off state to the time when the on-voltage is supplied to the gate (G). The time of the on state is easier and more convenient to control. Moreover, the parallel connection of the first resistor 123 for the MOS transistor 121 can protect the MOS transistor 121 and improve the stability of the entire power supply control circuit 1.
  • Embodiment 3 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • 3 is a schematic diagram of a power supply control circuit provided in Embodiment 3.
  • the switch circuit 12 is configured to include a relay 125 and a second resistor 127.
  • the control terminal of the delay control circuit 13 is electrically connected to the relay 125 for controlling the opening and closing state of the open end of the relay 125 to switch the switching circuit from the high impedance output state to the low impedance output state.
  • the delay control circuit 13 and the capacitive load circuit 11 are connected in parallel between the power source positive electrode 14 and the power source ground 15. That is, the input end of the delay control circuit 13 is connected to the positive pole 14 of the power supply, and the output end thereof is connected to the power supply ground 15; the input end of the capacitive load circuit 11 is also connected to the positive pole 14 of the power supply, and the input thereof is The outlet is also connected to the power ground 15. And the control end of the delay control circuit 13 is electrically connected to the input end of the relay 125, and the output end of the relay 125 is connected to the power supply ground 15. The switch of the relay 125 is connected in parallel with the second resistor 127, and the two ends thereof are respectively connected to the output end of the delay control circuit 13 and the output end of the capacitive load circuit 11.
  • the switch of the relay 125 is turned off.
  • the second resistor 127 serves as a high-impedance output of the switch circuit 12, thereby reducing the current charged by the capacitive load circuit 11 at the time of power-on, eliminating the instantaneous peak value of the capacitive load circuit 11 when charging, thereby preventing the power plug from being sparked.
  • the control terminal of the delay control circuit 13 turns on the relay 125.
  • the second resistor 127 When the relay 125 is turned on, the second resistor 127 is short-circuited by the relay 125, and the output end of the capacitive load circuit 11 is directly connected to the power ground 15 through the relay 125, that is, the capacitive load circuit 11 is dynamic through the low impedance outputted by the switch circuit 12. Charging, thereby shortening the time of dynamic charging, and improving the efficiency of outputting a large current by the capacitive load circuit 11.
  • the power supply control circuit 1 of the embodiment realizes the switching of the high-impedance output and the low-impedance output of the switch circuit 12 by setting the parallel relay 125 and the second resistor 127, which is convenient, simple, and easy to realize automatic anti-sparking during power-on. control. It is also possible to control the time at which the power control circuit 1 outputs to the unmanned aerial vehicle motor. And for higher voltages, the effect of anti-sparking can be improved, and the voltage overshoot spike at the time of power-on can be eliminated, so that the overshoot spike is not output to the motor.
  • Embodiment 4 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • 4 is a schematic diagram of a power supply control circuit provided in Embodiment 4.
  • the delay control circuit 13 is configured to include a first capacitor 1311 and a pull-up resistor 1313.
  • the first capacitor 1311 and the pull-up resistor 1313 are connected in series between the power source positive electrode 14 and the power source ground 15 and in parallel with the capacitive load circuit 11; and the anode of the first capacitor 1311 is electrically connected to the switch circuit 12.
  • the pull-up resistor 1313 may be directly connected in series to the positive pole 14 of the power supply, or may be indirectly connected in series with the positive pole 14 of the power supply.
  • the pull up resistor 1313 can be in series with the system power supply of the UAV that is divided by the power supply positive terminal 14.
  • the first capacitor 1311 is also charged by the pull-up resistor 1313 while the capacitive load circuit 11 is being charged. As the first capacitor 1311 is charged, the voltage across it is also gradually increased, thereby controlling the operating state of the switching circuit 12 by the voltage change between the positive and negative terminals of the first capacitor 1311.
  • the voltage between the positive electrode and the negative electrode of the first capacitor 1311 also increases with time. And rising, that is, the voltage between the input terminal and the output terminal of the relay 125 electrically connected to the two poles of the first capacitor 1311 increases as the power-on time increases.
  • the relay 125 is closed, and the output impedance of the switch circuit 12 is switched from high impedance to low impedance. .
  • the voltage between the input terminal and the output terminal of the load capacitor circuit gradually decreases as the capacitor in the load capacitor circuit discharges.
  • the first capacitor 1311 starts to discharge, and the voltage between the positive electrode and the negative terminal of the first capacitor 1311 also decreases, and the relay 125 inputs The voltage between the terminal and the output also decreases.
  • the relay 125 is turned off and the output impedance of the switching circuit 12 is switched from a low impedance to a high impedance.
  • the anode of the first capacitor 1311 when the anode of the first capacitor 1311 is electrically connected to the gate (G) of the MOS transistor 121, as the power-on time increases, the voltage between the anode and the cathode of the first capacitor 1311 also increases with time.
  • the rise that is, the voltage of the gate (G) of the MOS transistor 121 electrically connected to the positive electrode of the first capacitor 1311 also increases as the power-on time increases.
  • the MOS transistor 121 After the power-on time exceeds the preset time, after the voltage of the gate (G) of the MOS transistor 121 exceeds the turn-on voltage, the MOS transistor 121 is turned on, and the output impedance of the switch circuit 12 is switched from high impedance to low impedance. .
  • the voltage between the input terminal and the output terminal of the load capacitor circuit gradually decreases as the capacitor in the load capacitor circuit discharges.
  • the first capacitor 1311 starts to discharge, and the positive voltage of the first capacitor 1311 also decreases, and the gate of the MOS transistor 121 (G) The voltage is also reduced.
  • the MOS transistor 121 is turned off, and the output impedance of the switching circuit 12 is switched from the low impedance to the high resistance. anti.
  • the preset time when the switching circuit 12 is switched from the high-impedance output state to the low-impedance output state is the time during which the first capacitor 1311 is charged to the conduction voltage of the relay 125 or the MOS transistor 121, that is, the first capacitor. 1311 The time to charge to the preset voltage value.
  • different charging times of the first capacitor 1311 can be obtained, that is, different times when the control switch circuit 12 is switched from high impedance to low impedance, that is, pre- Set the time.
  • a third capacitor 1321 may be connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the conduction current of the MOS transistor 121.
  • Vgs refers to the voltage difference between the gate (G) and the source (S);
  • Vds refers to the voltage difference between the drain (D) and the source (S).
  • the third capacitor 1321 can also extend the discharge time of the first capacitor 1311, thereby increasing the turn-on time of the MOS transistor 121.
  • the first capacitor 1311 and the pull-up resistor 1313 connected in series between the power source positive electrode 14 and the power source ground 15 can control the switching circuit 12 in a very convenient manner by charging and discharging of the first capacitor 1311. Switching between high-impedance and low-impedance outputs automates the hot swapping of batteries.
  • the charging time of the first capacitor 1311 can be controlled by adjusting the parameters of the first resistor 123 and the first capacitor 1311, thereby controlling the switching circuit 12 to switch from the high-impedance output to the low-impedance output, thereby improving the capacitor at the time of power-on. The time during which the load circuit 11 is charged at a high impedance improves the effect of the power supply control circuit 1 against sparking.
  • Embodiment 5 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • FIG. 5 is a schematic diagram of a power supply control circuit according to Embodiment 5.
  • the pull-up resistor 1313 is connected in parallel with a diode 1331 for accelerating the discharge of the first capacitor 1311.
  • the anode of the diode 1331 is electrically connected to the anode of the first capacitor 1311, and the cathode and the pull-up of the diode 1331
  • the input of the resistor 1313 is electrically connected.
  • the first capacitor 1311 can be discharged through the diode 1331 to accelerate the discharge of the first capacitor 1311 to return to the initial state to be charged as soon as possible.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply connected to the pull-up resistor 1313 in FIG. 5 is divided by the power supply of the battery, that is, the power supply positive electrode 14 is divided, and the essence is that the pull-up resistor 1313 is indirectly connected to the power supply positive electrode 14.
  • the power supply control circuit 1 of the present embodiment accelerates the discharge of the first capacitor 1311 by connecting a diode 1331 in parallel with the pull-up resistor 1313, so that the circuit can quickly return to the initial state for the next access of the battery.
  • Embodiment 6 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • FIG. 6a is a schematic diagram of a power control circuit according to Embodiment 6.
  • FIG. 6b is a schematic diagram of a power control circuit according to Embodiment 6.
  • the first capacitor 1311 is connected in parallel with a third resistor 1333, and the third resistor 1333 is connected in series with the pull-up resistor 1313.
  • the third resistor 1333 is used for The pull resistor 1313 divides the power supply for protecting the switch circuit 12.
  • the power control circuit 1 of the embodiment when the power source positive electrode 14 and the power source ground 15 are in the power-on state, the power source is divided by the pull-up resistor 1313 and the third resistor 1333, and then the first capacitor 1311 is charged, thereby being protected.
  • a switching circuit 12 connected to the positive terminal of the first capacitor 1311.
  • the MOS transistor 121 when the MOS transistor 121 is connected to the positive electrode of the first capacitor 1311, since the Vgs of the MOS transistor 121 may be within 20V, and the voltage difference between the power source positive electrode 14 and the power source ground 15 may be higher than 20V, it may pass
  • the third resistor 1333 is connected to adjust the voltage of the gate (G) of the MOS transistor 121 such that the Vgs full voltage of the MOS transistor 121 approaches 12V, thereby protecting the MOS transistor 121. when However, based on the above principle, the third resistor 1333 can also protect the relay 125 or other switching components in the switch circuit 12.
  • the first capacitor 1311 When the power supply positive electrode 14 and the power supply ground 15 are in the power-off state, when the voltage of the input terminal and the output terminal of the load capacitance circuit is lowered to a preset voltage (for example, 6-7v), the first capacitor 1311 can be discharged through the third resistor 1333. Thereby, the discharge of the first capacitor 1311 is accelerated, so that it returns to the initial state to be charged as soon as possible.
  • a preset voltage for example, 6-7v
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply control circuit 1 of the present embodiment protects the switching circuit 12 by adjusting a voltage dividing ratio of the pull-up resistor 1313 and the third resistor 1333 by connecting a pull-up resistor 1313 in series with a third resistor 1333 in parallel with the first capacitor 1311. .
  • the third resistor 1333 can also accelerate its discharge when the first capacitor 1311 is discharged, so that the circuit can quickly return to the initial state for the next access of the battery.
  • Embodiment 7 of the present invention provides a power supply control circuit 1 for an unmanned aerial vehicle.
  • FIG. 7a is a schematic diagram of a power control circuit according to Embodiment 7.
  • FIG. 7b is a schematic diagram of a power control circuit according to Embodiment 7.
  • the first capacitor 1311 is connected in parallel with a Zener diode 1335, and the Zener diode 1335 is connected in series with the pull-up resistor 1313 for parallel connection with the pull-up resistor 1313.
  • the voltage stabilizing circuit protects the switching circuit 12.
  • the Zener diode 1335 will always stabilize the voltage of the positive electrode of the first capacitor 1311 at the regulated value of the diode 1331, thereby protecting the switch circuit 12 connected to the positive terminal of the first capacitor 1311.
  • the Zener diode 1335 of FIG. 7 can control the Vgs of the MOS transistor 121 to be within 12 V, thereby protecting the Zener diode 1335 from being burned out.
  • the Zener diode 1335 can also protect the relay 125 or other transistor components in the switching circuit 12.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output terminal of the capacitive load circuit 11 for reducing the on current of the MOS transistor 121.
  • the third capacitor 1321 refers to Embodiment 4.
  • the switching circuit 12 can be protected by connecting a Zener diode 1335 in parallel with the first capacitor 1311 for the pull-up resistor 1313.
  • Embodiment 8 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • FIG. 8 is a schematic diagram of a power supply control circuit according to Embodiment 8.
  • a discharge control circuit for controlling discharge of the first capacitor 1311 after the voltage of the capacitive load circuit 11 is lower than a preset voltage is provided.
  • the discharge control circuit includes a first transistor 1351, a fourth resistor 1353, and a fifth resistor 1355.
  • the emitter of the first transistor 1351 is electrically connected to the anode of the first capacitor 1311, the collector of the first transistor 1351 is connected to the power ground 15, and the base of the first transistor 1351 passes through the fourth resistor 1353.
  • the power supply positive electrode 14 is electrically connected, and the base of the first transistor 1351 is also electrically connected to the power supply ground 15 through the fifth resistor 1355.
  • the switch circuit 12 switches from the high-impedance output to the low-impedance output to achieve a large current output to the motor of the capacitive load circuit 11 and in the switch circuit 12 Dynamic charging is achieved at low impedance, reducing the time for dynamic charging.
  • the power-on time is longer than the time when the first capacitor 1311 is charged to the ON voltage of the MOS transistor 121, and the high impedance of the switch circuit 12 is provided by the impedance when the MOS transistor 121 is turned off and the first resistor 123.
  • the low impedance is mainly provided by the impedance of the MOS transistor 121 itself after the MOS transistor 121 is turned on.
  • the battery is in an off state throughout the time when the battery is connected to the power supply control circuit 1.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply control circuit 1 of the present embodiment can delay the time during which the switching circuit 12 is switched from the low impedance output state to the high impedance output state by setting the discharge control circuit including the first transistor 1351, thereby increasing the discharge time of the capacitive load circuit 11.
  • Embodiment 9 of the present invention provides a power supply control circuit for an unmanned aerial vehicle.
  • FIG. 9 is a schematic diagram of a power supply control circuit according to Embodiment 9.
  • a discharge control circuit for controlling discharge of the first capacitor 1311 after the voltage of the capacitive load circuit 11 is lower than a preset voltage is provided.
  • the discharge control circuit includes a second transistor 1371, a third transistor 1373, a sixth resistor 1375, a seventh resistor 1376, and an eighth resistor 1377.
  • the emitter of the second transistor 1371 is electrically connected to the power ground 15, the base of the second transistor 1371 is electrically connected to the power source positive electrode 14 through the sixth resistor 1375, and the collector of the second transistor 1371 is first.
  • the positive electrode of the capacitor 1311 is electrically connected.
  • the collector of the third transistor 1373 is electrically connected to the base of the second transistor 1371, the emitter of the third transistor 1373 is electrically connected to the power supply ground 15, and the base of the third transistor 1373 is connected to the positive pole of the power supply. 14 electrical connections.
  • the seventh resistor 1376 and the eighth resistor 1377 are connected in series between the base of the second transistor 1371 and the power source positive electrode 14.
  • the switch circuit 12 switches from the high-impedance output to the low-impedance output to achieve a large current output to the motor of the capacitive load circuit 11 and in the switch circuit 12 Dynamic charging is achieved at low impedance, reducing the time for dynamic charging.
  • the power-on time is longer than the time when the first capacitor 1311 is charged to the ON voltage of the MOS transistor 121, and the high impedance of the switch circuit 12 is provided by the impedance when the MOS transistor 121 is turned off and the first resistor 123.
  • the low impedance is mainly provided by the impedance of the MOS transistor 121 itself after the MOS transistor 121 is turned on.
  • the base voltage of the third transistor 1373 is greater than the voltage of the emitter electrode, and the third diode 1331 is in an on state. Since the third transistor 1331 is in an on state, the second transistor 1371 has a base voltage lower than a voltage drop between the base and the emitter, thereby causing the second transistor 1371 to be in an off state.
  • the base voltage of the third transistor 1373 is lowered to be less than its base.
  • the voltage drop between the electrode and the emitter electrode is such that the third transistor 1373 is turned off.
  • the third transistor 1373 is turned off, the base voltage of the second transistor 1371 is higher than the emitter voltage, the second transistor 1371 is turned on, and the first capacitor 1311 is rapidly discharged.
  • the gate voltage of the MOS transistor 121 also rapidly drops below the on-voltage, the MOS transistor 121 is turned off, and the switching circuit 12 returns to the state of outputting a high impedance.
  • a second capacitor 1379 is provided for improving the detection capability of the third diode 1331 for the voltage drop at the input and output of the capacitive load circuit 11.
  • the second capacitor 1379 is connected in parallel with the eighth resistor 1377 and in series with the seventh resistor 1376.
  • the voltage between the input terminal and the output terminal of the capacitive load circuit 11 when the first capacitor 1311 is discharged can be controlled by controlling the sixth resistor 1375, the seventh resistor 1376, and the eighth resistor 1377.
  • the sixth resistor 1375, the seventh resistor 1376, the eighth resistor 1377, and the second capacitor 1379 can be controlled to control the first A capacitor 1311 discharges a voltage between the input terminal and the output terminal of the capacitive load circuit 11 to improve control accuracy.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply connected to the pull-up resistor 1313 in FIG. 9 is divided by the power supply of the battery, that is, the power supply positive electrode 14 is divided, and the pull-up resistor 1313 is indirectly connected to the power supply positive electrode 14 in essence.
  • the double triode composed of the second transistor 1371 and the third transistor 1373 serves as a discharge control circuit, and the control effect of discharging the first capacitor 1311 can be improved.
  • Embodiment 10 of the present invention provides an electronic governor.
  • FIG. 10 is a schematic structural view of an electronic governor according to Embodiment 10.
  • the electronic governor of this embodiment includes a motor drive circuit 2 and a power supply control circuit 1.
  • the power control circuit 1 is electrically connected to the motor drive circuit 2 for supplying power to the motor drive circuit 2.
  • the power control circuit 1 is configured to prevent an electric spark from being generated when the UAV power supply is hot swapped.
  • the power control circuit 1 includes a capacitive load circuit 11, a switch circuit 12, and a delay control circuit 13.
  • the capacitive load circuit 11 and the switch circuit 12 are connected in series between the positive pole 14 of the power source and the power ground 15, that is, the input end of the capacitive load circuit 11 is connected to the positive pole 14 of the power supply, and the output end thereof is connected to the input end of the switch circuit 12, and the switch circuit 12 is connected.
  • the output is connected to the power ground 15.
  • the input end of the delay control circuit 13 is electrically connected to the positive pole 14 of the power supply, the output end thereof is connected to the power supply ground 15, and the control end thereof is electrically connected to the switch circuit 12 for controlling the operating state of the switch circuit 12.
  • the delay control circuit 13 controls the switch circuit 12 to switch the switch circuit 12 from the high-impedance output state to the power-on time after the power-on time exceeds the preset time. Low impedance output state.
  • the capacitive load circuit 11 is primarily used to provide a large current output to the motor of the unmanned aerial vehicle.
  • the capacitive load circuit 11 may be composed of a large capacitor, or may be composed of a plurality of parallel capacitors, or may be composed of a capacitor and other electronic components connected in series and in parallel.
  • the specific form of the capacitive load circuit 11 is not limited in this embodiment, and those skilled in the art can select according to actual needs.
  • the switching circuit 12 can be formed by a single crystal switching transistor, such as a bidirectional switching transistor.
  • the switch circuit 12 can also be composed of a circuit breaker and a resistor connected in parallel, or a circuit breaker and an inductor connected in parallel.
  • the switch circuit 12 can also be a CMOS (Complementary Metal Oxide Semiconductor), a complementary metal oxide semiconductor, an amplifier component of voltage control, and a basic unit constituting a CMOS digital integrated circuit. It should be clear to those skilled in the art that as long as the switch circuit 12 can be controlled by the delay control circuit 13 to change the impedance of its output, that is, it can be controlled by the delay control circuit 13 to switch from the high impedance output to the low impedance output. .
  • CMOS Complementary Metal Oxide Semiconductor
  • the specific form of the switch circuit 12 is not specifically limited in this embodiment, and those skilled in the art can specifically set as needed.
  • the high impedance means that the charging current of the capacitive load circuit 11 can be greatly reduced to satisfy the impedance for preventing the generation of the sparking function
  • the low impedance means that the impedance of the capacitive connecting circuit is small.
  • the charging current of the capacitive load circuit 11 when the power is dynamically supplied to the motor is not affected.
  • the high impedance can be the resistance or the impedance of the switching element when it is open or closed
  • the low impedance is the impedance of the guiding line or the impedance of the switching element when it is closed or turned on.
  • the delay control circuit 13 is not specifically limited in this embodiment, and may be a timer connected in series between the power source positive electrode 14 and the power source ground 15 and whose control terminal is electrically connected to the switch circuit 12, the timer being on the power supply. The power-on time is started and the timer switch circuit 12 is switched from the high-impedance output state to the low-impedance output state after timing up to a predetermined time, that is, after the power-on exceeds the preset time.
  • the delay control circuit 13 can also be implemented by a timing control chip or control software.
  • the working principle of the power control circuit 1 is: when the power plug of the battery of the UAV is inserted into the power jack of the electronic governor, that is, the positive and negative poles of the battery are connected to the power control circuit 1
  • the interface When the interface is input, a voltage difference is input between the power source positive electrode 14 of the power supply control circuit 1 and the power source ground 15, and the capacitance in the capacitance load circuit 11 is charged by the high impedance output from the switch circuit 12. Since there is a high impedance output of the switching circuit 12, the capacitive load The charging current of the capacitor in the circuit 11 is small, and no spark is generated at the power plug of the battery to prevent electric sparking.
  • the input and output terminals connected to the power supply positive electrode 14 and the power supply ground 15 respectively detect the differential pressure, and the power supply positive electrode 14 and the power supply ground 15 are in a power-on state.
  • the control terminal controls the switch circuit 12 to switch from the high impedance output state to the low impedance output state to prepare the capacitive load circuit 11 to output a large current to the motor.
  • the capacitive load circuit 11 can provide a large current output for the motor drive circuit 2, and after the output, the capacitive load circuit 11 can be performed by the low impedance outputted by the switch circuit 12.
  • the charging is fast to reduce the dynamic charging time of the capacitive load circuit 11 during the normal operation of the UAV, thereby improving the dynamic charging and discharging efficiency of the capacitive load circuit 11.
  • control switch circuit 12 is switched from the high impedance output state to the low impedance output after the power supply positive electrode 14 and the power supply ground 15 are powered on for a predetermined time by the delay control circuit 13 in the power supply control circuit 1.
  • the state eliminates the need to manually connect the main power source and the large capacitor, which simplifies the operation of the anti-sparking when the UAV battery is hot-swapped, and realizes the automatic control of the anti-spark.
  • the electronic governor of the embodiment greatly reduces the current peak at the moment of power-on when the power plug is plugged, reduces and eliminates the spark generated by the plug contact moment, and effectively prolongs the life of the power connector.
  • the power control circuit 1 of the electronic governor of the embodiment is very simple and easy to be integrated in hardware such as an electronic governor; it is very suitable for the smart battery to reduce the spark of the plug during hot plugging. Moreover, it can greatly reduce the current stress when the battery is powered on, and protect the battery, which is very suitable for application on high-power UAVs.
  • Embodiment 11 of the present invention provides an electronic governor.
  • the present embodiment is based on the solution provided in Embodiment 10, and the switch circuit 12 is arranged to include a MOS transistor 121 (metal-oxid-semiconductor field). Effect transistor).
  • MOS transistor 121 metal-oxid-semiconductor field. Effect transistor
  • the gate (G) of the MOS transistor 121 is electrically connected to the control terminal of the delay control circuit 13, and the drain (D) thereof is electrically connected to the output terminal of the capacitive load circuit 11 to have its source ( S) is electrically connected to the power ground 15 for realizing the conduction of the MOS transistor 121 according to the voltage change of the gate cutoff.
  • the turn-on and turn-off of the MOS transistor 121 can be easily realized by controlling the voltage of the gate (G) by the delay control circuit 13. Switching between them to output high impedance or low impedance to the switching circuit 12. Moreover, the switch circuit 12 thus provided has a simple structure and a more stable performance.
  • the MOS transistor 121 is in an off state. Therefore, the switching circuit 12 outputs a high impedance, so that the charging current of the capacitive load circuit 11 is reduced to avoid generation. Instantaneous inrush current to prevent sparking at the joint.
  • the delay control circuit 13 increases the voltage of the gate (G) of the MOS transistor 121 to the turn-on voltage through the control terminal, for example, to 2.5V, thereby turning on the MOS transistor 121. Since the impedance when the MOS transistor 121 is turned on is small, the switching transistor circuit can output a low impedance after the MOS transistor 121 is turned on.
  • the turn-on voltage of the MOS transistor 121 is only an exemplary turn-on voltage of the embodiment. In actual settings, different MOS transistor 121 turn-on voltages may be selected according to circuit requirements.
  • raising the gate (G) voltage of the MOS transistor 121 to the turn-on voltage may be completed instantaneously or by a period of time.
  • the timer (G) is turned on immediately by the timer when the timing exceeds the preset time, or the voltage of the gate (G) is slowly increased over a period of time by the control chip and the control software until the preset is exceeded.
  • the turn-on voltage is reached after time.
  • a first resistor 123 connected in parallel with the MOS transistor 121 may be disposed in the switching circuit 12 for protecting the MOS transistor 121.
  • the first resistor 123 will function as a shunt to avoid excessive charging current at the time of power-on, thereby puncturing the MOS transistor 121. .
  • the switching circuit 12 may be connected in series with the capacitive load circuit 11 in a branch and in parallel with the delay control circuit 13, that is, the switching circuit 12 is disposed in the branch of the capacitive load circuit 11.
  • the turning on and off of the MOS transistor 121 does not affect the output of the power supply to the UAV motor.
  • the switch circuit 12 can also connect the branch formed by the parallel connection of the capacitive load circuit 11 and the delay control circuit 13 in series with the switch circuit 12, that is, the switch circuit 12 is connected in series in the trunk circuit. in.
  • the time during which the power supply control circuit 1 outputs to the UAV motor can be controlled by the turning on and off of the MOS transistor 121.
  • the effect of anti-sparking can be improved, and the voltage overshoot spike at the time of power-on can be eliminated, so that the overshoot spike is not output to the motor.
  • the power supply control circuit 1 in the electronic governor of the present embodiment can make the structure of the switch circuit 12 simpler by providing the MOS transistor 121, and can also control the MOS by providing a turn-on voltage for the gate (G).
  • the time from the off state to the on state of the tube 121 is easier and more convenient to control.
  • the parallel connection of the first resistor 123 for the MOS transistor 121 can protect the MOS transistor 121 and improve the stability of the entire power supply control circuit 1.
  • Embodiment 12 of the present invention provides an electronic governor.
  • the present embodiment is based on the solution provided in Embodiment 11, and the switch circuit 12 is configured to include a relay 125 and a second resistor 127.
  • the control terminal of the delay control circuit 13 is electrically connected to the relay 125 for controlling the opening and closing state of the open end of the relay 125 to switch the switching circuit from the high impedance output state to the low impedance output state.
  • the delay control circuit 13 and the capacitive load circuit 11 are connected in parallel between the power source positive electrode 14 and the power source ground 15. That is, the input end of the delay control circuit 13 is connected to the positive pole 14 of the power supply, and the output end thereof is connected to the power supply ground 15; the input end of the capacitive load circuit 11 is also connected to the positive pole 14 of the power supply, and the output end thereof is also connected to the power supply ground 15. And the control end of the delay control circuit 13 is electrically connected to the input end of the relay 125, and the output end of the relay 125 is connected to the power supply ground 15. The switch of the relay 125 is connected in parallel with the second resistor 127, and the two ends thereof are respectively connected to the output end of the delay control circuit 13 and the output end of the capacitive load circuit 11.
  • the switch of the relay 125 is turned off.
  • the second resistor 127 serves as a high-impedance output of the switch circuit 12, thereby reducing the current charged by the capacitive load circuit 11 at the time of power-on, eliminating the instantaneous peak value of the capacitive load circuit 11 when charging, thereby preventing the power plug from being sparked.
  • the control terminal of the delay control circuit 13 turns on the relay 125.
  • the second resistor 127 When the relay 125 is turned on, the second resistor 127 is short-circuited by the relay 125, and the output end of the capacitive load circuit 11 is directly connected to the power ground 15 through the relay 125, that is, the capacitive load circuit 11 is dynamic through the low impedance outputted by the switch circuit 12. Charging, thereby shortening the time of dynamic charging and improving the capacitive load circuit 11 output high current efficiency.
  • the power supply control circuit 1 in the electronic governor of the embodiment realizes switching of the high-impedance output and the low-impedance output of the switch circuit 12 by setting the parallel relay 125 and the second resistor 127, which is convenient, simple, and easy to implement power-on. Automatic control of anti-electric sparks. It is also possible to control the time at which the power control circuit 1 outputs to the unmanned aerial vehicle motor. And for higher voltages, the effect of anti-sparking can be improved, and the voltage overshoot spike at the time of power-on can be eliminated, so that the overshoot spike is not output to the motor.
  • Embodiment 13 of the present invention provides an electronic governor.
  • the delay control circuit 13 is configured to include a first capacitor 1311 and a pull-up resistor 1313 on the basis of the technical solutions provided in Embodiment 10, Embodiment 11, or Embodiment 12.
  • the first capacitor 1311 and the pull-up resistor 1313 are connected in series between the power source positive electrode 14 and the power source ground 15 and in parallel with the capacitive load circuit 11; and the anode of the first capacitor 1311 is electrically connected to the switch circuit 12.
  • the pull-up resistor 1313 may be directly connected in series to the positive pole 14 of the power supply, or may be indirectly connected in series with the positive pole 14 of the power supply.
  • the pull up resistor 1313 can be in series with the system power supply of the UAV that is divided by the power supply positive terminal 14.
  • the first capacitor 1311 is also charged by the pull-up resistor 1313 while the capacitive load circuit 11 is being charged. As the first capacitor 1311 is charged, the voltage across it is also gradually increased, thereby controlling the operating state of the switching circuit 12 by the voltage change between the positive and negative terminals of the first capacitor 1311.
  • the voltage between the positive electrode and the negative electrode of the first capacitor 1311 also increases with time. And rising, that is, the voltage between the input terminal and the output terminal of the relay 125 electrically connected to the two poles of the first capacitor 1311 increases as the power-on time increases.
  • the relay 125 is closed, and the output impedance of the switch circuit 12 is switched from high impedance to low impedance. .
  • the voltage between the input terminal and the output terminal of the load capacitor circuit gradually decreases as the capacitor in the load capacitor circuit discharges.
  • the first capacitor 1311 begins to discharge, and the voltage between the positive and negative terminals of the first capacitor 1311 also decreases, and the voltage value between the input terminal and the output terminal of the relay 125 also decreases.
  • the relay 125 is turned off and the output impedance of the switching circuit 12 is switched from a low impedance to a high impedance.
  • the anode of the first capacitor 1311 when the anode of the first capacitor 1311 is electrically connected to the gate (G) of the MOS transistor 121, as the power-on time increases, the voltage between the anode and the cathode of the first capacitor 1311 also increases with time.
  • the rise that is, the voltage of the gate (G) of the MOS transistor 121 electrically connected to the positive electrode of the first capacitor 1311 also increases as the power-on time increases.
  • the MOS transistor 121 After the power-on time exceeds the preset time, after the voltage of the gate (G) of the MOS transistor 121 exceeds the turn-on voltage, the MOS transistor 121 is turned on, and the output impedance of the switch circuit 12 is switched from high impedance to low impedance. .
  • the voltage between the input terminal and the output terminal of the load capacitor circuit gradually decreases as the capacitor in the load capacitor circuit discharges.
  • the first capacitor 1311 starts to discharge, and the positive voltage of the first capacitor 1311 also decreases, and the gate of the MOS transistor 121 (G) The voltage is also reduced.
  • the MOS transistor 121 is turned off, and the output impedance of the switching circuit 12 is switched from a low impedance to a high impedance.
  • the preset time when the switching circuit 12 is switched from the high-impedance output state to the low-impedance output state is the time during which the first capacitor 1311 is charged to the conduction voltage of the relay 125 or the MOS transistor 121, that is, the first capacitor. 1311 The time to charge to the preset voltage value.
  • different charging times of the first capacitor 1311 can be obtained, that is, different times when the control switch circuit 12 is switched from high impedance to low impedance, that is, pre- Set the time.
  • a third capacitor 1321 may be connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the conduction current of the MOS transistor 121.
  • Vgs refers to the gate
  • Vds refers to the voltage difference between the drain (D) and the source (S).
  • the third capacitor 1321 can also extend the discharge time of the first capacitor 1311, thereby increasing the turn-on time of the MOS transistor 121.
  • the power supply control circuit 1 in the electronic governor of the present embodiment can conveniently charge and discharge through the first capacitor 1311 through the first capacitor 1311 and the pull-up resistor 1313 connected in series between the power source positive electrode 14 and the power source ground 15.
  • the switching circuit 12 to switch between the high impedance output and the low impedance output, the automation of the battery hot plug is realized.
  • the charging time of the first capacitor 1311 can be controlled by adjusting the parameters of the first resistor 123 and the first capacitor 1311, thereby controlling the switching circuit 12 to switch from the high-impedance output to the low-impedance output, thereby improving the capacitor at the time of power-on.
  • the time during which the load circuit 11 is charged at a high impedance improves the effect of the power supply control circuit 1 against sparking.
  • Embodiment 14 of the present invention provides an electronic governor.
  • the pull-up resistor 1313 is connected in parallel with a diode 1331 for accelerating the discharge of the first capacitor 1311.
  • the anode of the diode 1331 is electrically connected to the anode of the first capacitor 1311, and the cathode of the diode 1331 is electrically connected to the input end of the pull-up resistor 1313.
  • the first capacitor 1311 it is possible to discharge through the diode 1331 to accelerate the discharge of the first capacitor 1311 to return it to the initial state to be charged as soon as possible.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply control circuit 1 in the electronic governor of the embodiment accelerates the discharge of the first capacitor 1311 by connecting a diode 1331 in parallel with the pull-up resistor 1313, so that the circuit can quickly return to the initial state for the next battery. Access.
  • Embodiment 15 of the present invention provides an electronic governor.
  • the first capacitor 1311 is connected in parallel with a third resistor 1333, and the third resistor 1333 is connected in series with the pull-up resistor 1313.
  • the third resistor 1333 is for dividing the power supply with the pull-up resistor 1313 for protecting the switch circuit 12.
  • the power control circuit 1 of the electronic governor of the embodiment when the power source positive electrode 14 and the power source ground 15 are in a power-on state, the power source is divided by the pull-up resistor 1313 and the third resistor 1333 and then applied to the first capacitor 1311. Charging, thereby protecting the switching circuit 12 connected to the positive terminal of the first capacitor 1311.
  • the MOS transistor 121 when the MOS transistor 121 is connected to the positive electrode of the first capacitor 1311, since the Vgs of the MOS transistor 121 may be within 20V, and the voltage difference between the power source positive electrode 14 and the power source ground 15 may be higher than 20V, it may pass
  • the third resistor 1333 is connected to adjust the voltage of the gate (G) of the MOS transistor 121 such that the Vgs full voltage of the MOS transistor 121 approaches 12V, thereby protecting the MOS transistor 121.
  • the third resistor 1333 can also protect the relay 125 or other switching components in the switch circuit 12.
  • the first capacitor 1311 When the power supply positive electrode 14 and the power supply ground 15 are in the power-off state, when the voltage of the input terminal and the output terminal of the load capacitance circuit is lowered to a preset voltage (for example, 6-7v), the first capacitor 1311 can be discharged through the third resistor 1333. Thereby, the discharge of the first capacitor 1311 is accelerated, so that it returns to the initial state to be charged as soon as possible.
  • a preset voltage for example, 6-7v
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply control circuit 1 in the electronic governor of the embodiment can adjust the voltage division of the pull-up resistor 1313 and the third resistor 1333 by connecting a pull-up resistor 1313 in series with a third resistor 1333 in parallel with the first capacitor 1311.
  • the protection switch circuit 12 is compared.
  • the third resistor 1333 can also accelerate its discharge when the first capacitor 1311 is discharged, so that the circuit can quickly return to the initial state for the next access of the battery.
  • Embodiment 16 of the present invention provides an electronic governor.
  • this embodiment is the technical solution foundation provided in Embodiment 13.
  • the first capacitor 1311 is connected in parallel with a Zener diode 1335, and the Zener diode 1335 is connected in series with the pull-up resistor 1313 for forming a shunt regulator circuit with the pull-up resistor 1313, thereby protecting the switch circuit 12.
  • the Zener diode 1335 When the power control circuit 1 in the electronic governor of the embodiment is in operation, the Zener diode 1335 will always stabilize the voltage of the positive pole of the first capacitor 1311 at the voltage regulator value of the diode 1331, thereby protecting the positive pole of the first capacitor 1311.
  • Switch circuit 12 For example, when the MOS transistor 121 is connected to the positive terminal of the first capacitor 1311, the Zener diode 1335 of FIG. 7 can control the Vgs of the MOS transistor 121 to be within 12 V, thereby protecting the Zener diode 1335 from being burned out.
  • the Zener diode 1335 can also protect the relay 125 or other transistor components in the switching circuit 12.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the switching circuit 12 can be protected by connecting a Zener diode 1335 in parallel with the first capacitor 1311 for the pull-up resistor 1313.
  • Embodiment 17 of the present invention provides an electronic governor.
  • a discharge control circuit for controlling discharge of the first capacitor 1311 after the voltage of the capacitive load circuit 11 is lower than a preset voltage is provided.
  • the discharge control circuit includes a first transistor 1351, a fourth resistor 1353, and a fifth resistor 1355.
  • the emitter of the first transistor 1351 is electrically connected to the anode of the first capacitor 1311, the collector of the first transistor 1351 is connected to the power ground 15, and the base of the first transistor 1351 passes through the fourth resistor 1353.
  • the power supply positive electrode 14 is electrically connected, and the base of the first transistor 1351 is also electrically connected to the power supply ground 15 through the fifth resistor 1355.
  • the switch circuit 12 switches from the high-impedance output to the low-impedance output to achieve a large current output to the motor of the capacitive load circuit 11 and in the switch circuit 12 Dynamic charging is achieved at low impedance, reducing the time for dynamic charging.
  • the power-on time is longer than the time when the first capacitor 1311 is charged to the ON voltage of the MOS transistor 121, and the high impedance of the switch circuit 12 is provided by the impedance when the MOS transistor 121 is turned off and the first resistor 123.
  • the low impedance is mainly provided by the impedance of the MOS transistor 121 itself after the MOS transistor 121 is turned on.
  • the voltage drop between the base voltage of the first transistor 1351 and the emitter electrode is smaller than the conduction voltage of the first transistor 1351, and therefore, the battery is connected.
  • the power supply control circuit 1 is in an off state for the entire time.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the power supply control circuit 1 in the electronic governor of the present embodiment can delay the time when the switching circuit 12 is switched from the low impedance output state to the high impedance output state by setting the discharge control circuit including the triode, thereby increasing the discharge time of the capacitive load circuit 11. .
  • Embodiment 18 of the present invention provides an electronic governor.
  • a discharge control circuit for controlling discharge of the first capacitor 1311 after the voltage of the capacitive load circuit 11 is lower than a preset voltage is provided.
  • the discharge control circuit includes a second transistor 1371, a third transistor 1373, a sixth resistor 1375, a seventh resistor 1376, and an eighth resistor 1377.
  • the emitter of the second transistor 1371 is electrically connected to the power ground 15, the base of the second transistor 1371 is electrically connected to the power source positive electrode 14 through the sixth resistor 1375, and the collector of the second transistor 1371 is first.
  • the positive electrode of the capacitor 1311 is electrically connected.
  • the collector of the third transistor 1373 is electrically connected to the base of the second transistor 1371, the emitter of the third transistor 1373 is electrically connected to the power supply ground 15, and the base of the third transistor 1373 is connected to the positive pole of the power supply. 14 electrical connections.
  • the seventh resistor 1376 and the eighth resistor 1377 are connected in series between the base of the second transistor 1371 and the power source positive electrode 14.
  • the switch circuit 12 switches from the high-impedance output to the low-impedance output to achieve a large current output to the motor of the capacitive load circuit 11 and in the switch circuit 12 Dynamic charging is achieved at low impedance, reducing the time for dynamic charging.
  • the power-on time is longer than the time when the first capacitor 1311 is charged to the ON voltage of the MOS transistor 121, and the high impedance of the switch circuit 12 is provided by the impedance when the MOS transistor 121 is turned off and the first resistor 123.
  • the low impedance is mainly provided by the impedance of the MOS transistor 121 itself after the MOS transistor 121 is turned on.
  • the base voltage of the third transistor 1373 is greater than the voltage of the emitter electrode, and the third diode 1331 is in an on state. Since the third transistor 1331 is in an on state, the second transistor 1371 has a base voltage lower than a voltage drop between the base and the emitter, thereby causing the second transistor 1371 to be in an off state.
  • the base voltage of the third transistor 1373 is lowered to be less than its base.
  • the voltage drop between the electrode and the emitter electrode is such that the third transistor 1373 is turned off.
  • the base voltage of the second transistor 1371 is higher than the emitter electrode.
  • the voltage, the second transistor 1371 is turned on, and the first capacitor 1311 is rapidly discharged.
  • the gate voltage of the MOS transistor 121 also rapidly drops below the on-voltage, the MOS transistor 121 is turned off, and the switching circuit 12 returns to the state of outputting a high impedance.
  • a second capacitor 1379 is provided for improving the detection capability of the third diode 1331 for the voltage drop at the input and output of the capacitive load circuit 11.
  • the second capacitor 1379 is connected in parallel with the seventh resistor 1376 and in series with the sixth resistor 1375.
  • the voltage between the input terminal and the output terminal of the capacitive load circuit 11 when the first capacitor 1311 is discharged can be controlled by controlling the sixth resistor 1375, the seventh resistor 1376, and the eighth resistor 1377.
  • the input and output of the capacitive load circuit 11 when the first capacitor 1311 is discharged can be controlled by controlling the sixth resistor 1375, the seventh resistor 1376, the eighth resistor 1377, and the second capacitor 1379. The voltage between the ends to improve control accuracy.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the principle and effect of the third capacitor 1321, refer to Embodiment 4.
  • the double triode formed by the second triode 1371 and the third triode 1373 serves as a discharge control circuit, and the control effect on the discharge of the first capacitor 1311 can be improved.
  • Embodiment 19 of the present invention provides an unmanned aerial vehicle.
  • the unmanned aerial vehicle of this embodiment includes an electric motor and an electronic governor.
  • the electronic governor is electrically connected to the motor, the motor is used to provide flight power, and the electronic governor is used to control the working state of the motor.
  • the electronic governor includes a motor drive circuit 2 and a power control circuit 1.
  • the power control circuit 1 is electrically connected to the motor drive circuit 2 for supplying power to the motor drive circuit 2.
  • the power control circuit 1 is configured to prevent an electric spark from being generated when the UAV power supply is hot swapped.
  • the power control circuit 1 includes a capacitive load circuit 11 and a switch circuit 12 And a delay control circuit 13.
  • the capacitive load circuit 11 and the switch circuit 12 are connected in series between the positive pole 14 of the power source and the power ground 15, that is, the input end of the capacitive load circuit 11 is connected to the positive pole 14 of the power supply, and the output end thereof is connected to the input end of the switch circuit 12, and the switch circuit 12 is connected.
  • the output is connected to the power ground 15.
  • the input end of the delay control circuit 13 is electrically connected to the positive pole 14 of the power supply, the output end thereof is connected to the power supply ground 15, and the control end thereof is electrically connected to the switch circuit 12 for controlling the operating state of the switch circuit 12.
  • the delay control circuit 13 controls the switch circuit 12 to switch the switch circuit 12 from the high-impedance output state to the power-on time after the power-on time exceeds the preset time. Low impedance output state.
  • the capacitive load circuit 11 is primarily used to provide a large current output to the motor of the unmanned aerial vehicle.
  • the capacitive load circuit 11 may be composed of a large capacitor, or may be composed of a plurality of parallel capacitors, or may be composed of a capacitor and other electronic components connected in series and in parallel.
  • the specific form of the capacitive load circuit 11 is not limited in this embodiment, and those skilled in the art can select according to actual needs.
  • the switching circuit 12 can be formed by a single crystal switching transistor, such as a bidirectional switching transistor.
  • the switch circuit 12 can also be composed of a circuit breaker and a resistor connected in parallel, or a circuit breaker and an inductor connected in parallel.
  • the switch circuit 12 can also be a CMOS (Complementary Metal Oxide Semiconductor), a complementary metal oxide semiconductor, an amplifier component of voltage control, and a basic unit constituting a CMOS digital integrated circuit. It should be clear to those skilled in the art that as long as the switch circuit 12 can be controlled by the delay control circuit 13 to change the impedance of its output, that is, it can be controlled by the delay control circuit 13 to switch from the high impedance output to the low impedance output. .
  • CMOS Complementary Metal Oxide Semiconductor
  • the specific form of the switch circuit 12 is not specifically limited in this embodiment, and those skilled in the art can specifically set as needed.
  • the high impedance means that the charging current of the capacitive load circuit 11 can be greatly reduced to satisfy the impedance for preventing the generation of the sparking function
  • the low impedance means that the impedance of the capacitive connecting circuit is small.
  • the charging current of the capacitive load circuit 11 when the power is dynamically supplied to the motor is not affected.
  • the high impedance can be the resistance or the impedance of the switching element when it is open or closed
  • the low impedance is the impedance of the guiding line or the impedance of the switching element when it is closed or turned on.
  • the delay control circuit 13 is not specifically limited in this embodiment, and may be a timing connected in series between the positive pole 14 of the power source and the power ground 15 and whose control terminal is electrically connected to the switch circuit 12.
  • the timer is activated when the power is turned on and is timed to a predetermined time, that is, after the power is turned on for a preset time, the control switch circuit 12 is switched from the high impedance output state to the low impedance output state.
  • the delay control circuit 13 can also be implemented by a timing control chip or control software.
  • the working principle of the power control circuit 1 is: when the power plug of the battery of the UAV is inserted into the power jack of the electronic governor, that is, the positive and negative poles of the battery are connected to the power control circuit 1
  • the interface When the interface is input, a voltage difference is input between the power source positive electrode 14 of the power supply control circuit 1 and the power source ground 15, and the capacitance in the capacitance load circuit 11 is charged by the high impedance output from the switch circuit 12. Since there is a high impedance output of the switching circuit 12, the charging current of the capacitor in the capacitive load circuit 11 is small, and no spark is generated at the power plug of the battery to prevent the electric sparking phenomenon.
  • the input and output terminals connected to the power supply positive electrode 14 and the power supply ground 15 respectively detect the differential pressure, and the power supply positive electrode 14 and the power supply ground 15 are in a power-on state.
  • the control terminal controls the switch circuit 12 to switch from the high impedance output state to the low impedance output state to prepare the capacitive load circuit 11 to output a large current to the motor.
  • the capacitive load circuit 11 can provide a large current output for the motor drive circuit 2, and after the output, the capacitive load circuit 11 can be performed by the low impedance outputted by the switch circuit 12.
  • the charging is fast to reduce the dynamic charging time of the capacitive load circuit 11 during the normal operation of the UAV, thereby improving the dynamic charging and discharging efficiency of the capacitive load circuit 11.
  • control switch circuit 12 is switched from the high-impedance output state to the low-impedance output state after the power supply positive electrode 14 and the power supply ground 15 are powered on for a predetermined time by the delay control circuit 13 in the power supply control circuit 1. Therefore, it is no longer necessary to manually connect the main power source and the large capacitor, which simplifies the operation of the anti-sparking when the UAV battery is hot-swapped, and realizes the automatic control of the anti-spark.
  • the UAV of the embodiment greatly reduces the current peak at the moment of power-on when the power plug is plugged in, reduces and eliminates the spark generated when the plug contacts, and effectively extends the life of the power connector.
  • the power control circuit 1 of the UAV of the present embodiment is very simple and easy to be integrated on hardware such as an electronic governor; it is very suitable for the smart battery to reduce the spark of the plug during hot plugging. Moreover, it can greatly reduce the current stress when the battery is powered on, and protect the battery, which is very suitable for application on high-power UAVs.
  • Embodiment 20 of the present invention provides an unmanned aerial vehicle.
  • the present embodiment is based on the solution provided in Embodiment 10, and the switch circuit 12 is arranged to include a MOS transistor 121 (metal-oxid-semiconductor field). Effect transistor).
  • MOS transistor 121 metal-oxid-semiconductor field. Effect transistor
  • the gate (G) of the MOS transistor 121 is electrically connected to the control terminal of the delay control circuit 13, and the drain (D) thereof is electrically connected to the output terminal of the capacitive load circuit 11 to have its source ( S) is electrically connected to the power ground 15 for turning on and off the MOS transistor 121 according to the voltage change of the gate.
  • the turn-on and turn-off of the MOS transistor 121 can be easily realized by controlling the voltage of the gate (G) by the delay control circuit 13. Switching between them to output high impedance or low impedance to the switching circuit 12. Moreover, the switch circuit 12 thus provided has a simple structure and a more stable performance.
  • the MOS transistor 121 is in an off state. Therefore, the switching circuit 12 outputs a high impedance, so that the charging current of the capacitive load circuit 11 is reduced to avoid generation. Instantaneous inrush current to prevent sparking at the joint.
  • the delay control circuit 13 increases the voltage of the gate (G) of the MOS transistor 121 to the turn-on voltage through the control terminal, for example, to 2.5V, thereby turning on the MOS transistor 121. Since the impedance when the MOS transistor 121 is turned on is small, the switching transistor circuit can output a low impedance after the MOS transistor 121 is turned on.
  • the turn-on voltage of the MOS transistor 121 is only an exemplary turn-on voltage of the embodiment. In actual settings, different MOS transistor 121 turn-on voltages may be selected according to circuit requirements.
  • raising the gate (G) voltage of the MOS transistor 121 to the turn-on voltage may be completed instantaneously or by a period of time.
  • the timer (G) is turned on immediately by the timer when the timing exceeds the preset time, or the voltage of the gate (G) is slowly increased over a period of time by the control chip and the control software until the preset is exceeded.
  • the turn-on voltage is reached after time.
  • a first resistor 123 connected in parallel with the MOS transistor 121 may be disposed in the switching circuit 12 for protecting the MOS transistor 121.
  • the capacitive load circuit 11 when the power source positive electrode 14 and the power source ground 15 are powered on, the capacitive load circuit 11 During the charging process, the first resistor 123 will function as a shunt to avoid excessive charging current at the time of power-on to break through the MOS transistor 121.
  • the switching circuit 12 may be connected in series with the capacitive load circuit 11 in a branch and in parallel with the delay control circuit 13, that is, the switching circuit 12 is disposed in the branch of the capacitive load circuit 11.
  • the turning on and off of the MOS transistor 121 does not affect the output of the power supply to the UAV motor.
  • the switch circuit 12 can also connect the branch formed by the parallel connection of the capacitive load circuit 11 and the delay control circuit 13 in series with the switch circuit 12, that is, the switch circuit 12 is connected in series in the trunk circuit.
  • the time during which the power supply control circuit 1 outputs to the UAV motor can be controlled by the turning on and off of the MOS transistor 121.
  • the effect of anti-sparking can be improved, and the voltage overshoot spike at the time of power-on can be eliminated, so that the overshoot spike is not output to the motor.
  • the power supply control circuit 1 in the UAV of the present embodiment can make the structure of the switch circuit 12 simpler by providing the MOS transistor 121, and can also control the MOS transistor by providing a turn-on voltage for the gate (G). 121 The time from the off state to the on state is easier and more convenient to control. Moreover, the parallel connection of the first resistor 123 for the MOS transistor 121 can protect the MOS transistor 121 and improve the stability of the entire power supply control circuit 1.
  • Embodiment 21 of the present invention provides an unmanned aerial vehicle.
  • the present embodiment is based on the solution provided in Embodiment 11, and the switch circuit 12 is configured to include a relay 125 and a second resistor 127.
  • the control terminal of the delay control circuit 13 is electrically connected to the relay 125 for controlling the opening and closing state of the open end of the relay 125 to switch the switching circuit from the high impedance output state to the low impedance output state.
  • the delay control circuit 13 and the capacitive load circuit 11 are connected in parallel between the power source positive electrode 14 and the power source ground 15. That is, the input end of the delay control circuit 13 is connected to the positive pole 14 of the power supply, and the output end thereof is connected to the power supply ground 15; the input end of the capacitive load circuit 11 is also connected to the positive pole 14 of the power supply, and the output end thereof is also connected to the power supply ground 15. And the control end of the delay control circuit 13 is electrically connected to the input end of the relay 125, and the output end of the relay 125 is connected to the power supply ground 15. The switch of the relay 125 is connected in parallel with the second resistor 127, and the two ends thereof are respectively connected to the output end of the delay control circuit 13 and the output end of the capacitive load circuit 11.
  • the switch of the relay 125 is turned off.
  • the second resistor 127 serves as a high-impedance output of the switch circuit 12, thereby reducing the current charged by the capacitive load circuit 11 at the time of power-on, eliminating the instantaneous peak value of the capacitive load circuit 11 when charging, thereby preventing the power plug from being sparked.
  • the control terminal of the delay control circuit 13 turns on the relay 125.
  • the second resistor 127 When the relay 125 is turned on, the second resistor 127 is short-circuited by the relay 125, and the output end of the capacitive load circuit 11 is directly connected to the power ground 15 through the relay 125, that is, the capacitive load circuit 11 is dynamic through the low impedance outputted by the switch circuit 12. Charging, thereby shortening the time of dynamic charging, and improving the efficiency of outputting a large current by the capacitive load circuit 11.
  • the power supply control circuit 1 in the UAV of the present embodiment realizes switching of the high-impedance output and the low-impedance output of the switch circuit 12 by providing the parallel relay 125 and the second resistor 127, which is convenient, simple, and easy to implement when powering up. Automatic control of anti-sparking. It is also possible to control the time at which the power control circuit 1 outputs to the unmanned aerial vehicle motor. And for higher voltages, the effect of anti-sparking can be improved, and the voltage overshoot spike at the time of power-on can be eliminated, so that the overshoot spike is not output to the motor.
  • Embodiment 22 of the present invention provides an unmanned aerial vehicle.
  • the delay control circuit 13 is configured to include a first capacitor 1311 and a pull-up resistor 1313 on the basis of the technical solutions provided in Embodiment 19, Embodiment 20 or Embodiment 21.
  • the first capacitor 1311 and the pull-up resistor 1313 are connected in series between the power source positive electrode 14 and the power source ground 15 and in parallel with the capacitive load circuit 11; and the anode of the first capacitor 1311 is electrically connected to the switch circuit 12.
  • the pull-up resistor 1313 may be directly connected in series to the positive pole 14 of the power supply, or may be indirectly connected in series with the positive pole 14 of the power supply.
  • the pull up resistor 1313 can be in series with the system power supply of the UAV that is divided by the power supply positive terminal 14.
  • the first capacitor 1311 is also charged by the pull-up resistor 1313 while the capacitive load circuit 11 is being charged. As the first capacitor 1311 is charged, the voltage across it is also gradually increased, thereby controlling the operating state of the switching circuit 12 by the voltage change between the positive and negative terminals of the first capacitor 1311.
  • the voltage between the positive pole and the negative pole of the first capacitor 1311 also increases with time, that is, the relay 125 electrically connected to the two poles of the first capacitor 1311
  • the voltage between the input and output increases as the power-up time increases.
  • the relay 125 is closed, and the output impedance of the switch circuit 12 is switched from high impedance to low impedance. .
  • the voltage between the input terminal and the output terminal of the load capacitor circuit gradually decreases as the capacitor in the load capacitor circuit discharges.
  • the first capacitor 1311 starts to discharge, and the voltage between the positive electrode and the negative terminal of the first capacitor 1311 also decreases, and the relay 125 inputs The voltage between the terminal and the output also decreases.
  • the relay 125 is turned off and the output impedance of the switching circuit 12 is switched from a low impedance to a high impedance.
  • the anode of the first capacitor 1311 when the anode of the first capacitor 1311 is electrically connected to the gate (G) of the MOS transistor 121, as the power-on time increases, the voltage between the anode and the cathode of the first capacitor 1311 also increases with time.
  • the rise that is, the voltage of the gate (G) of the MOS transistor 121 electrically connected to the positive electrode of the first capacitor 1311 also increases as the power-on time increases.
  • the MOS transistor 121 After the power-on time exceeds the preset time, after the voltage of the gate (G) of the MOS transistor 121 exceeds the turn-on voltage, the MOS transistor 121 is turned on, and the output impedance of the switch circuit 12 is switched from high impedance to low impedance. .
  • the voltage between the input terminal and the output terminal of the load capacitor circuit gradually decreases as the capacitor in the load capacitor circuit discharges.
  • the first capacitor 1311 starts to discharge, and the positive voltage of the first capacitor 1311 also decreases, and the gate of the MOS transistor 121 (G) The voltage is also reduced.
  • the MOS transistor 121 is turned off, and the output impedance of the switching circuit 12 is switched from a low impedance to a high impedance.
  • the preset time when the switching circuit 12 is switched from the high-impedance output state to the low-impedance output state is the time during which the first capacitor 1311 is charged to the conduction voltage of the relay 125 or the MOS transistor 121, that is, the first capacitor. 1311 The time to charge to the preset voltage value. And, by controlling the parameters of the first capacitor 1311 and the pull-up resistor 1313, different firsts can be obtained.
  • the charging time of the capacitor 1311 that is, the time at which the different control switching circuit 12 is switched from high impedance to low impedance, that is, the preset time, is obtained.
  • a third capacitor 1321 may be connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the conduction current of the MOS transistor 121.
  • Vgs refers to the voltage difference between the gate (G) and the source (S);
  • Vds refers to the voltage difference between the drain (D) and the source (S).
  • the third capacitor 1321 can also extend the discharge time of the first capacitor 1311, thereby increasing the turn-on time of the MOS transistor 121.
  • the power supply control circuit 1 in the UAV of the present embodiment can pass the charging and discharging of the first capacitor 1311 very conveniently by the first capacitor 1311 and the pull-up resistor 1313 connected in series between the power source positive electrode 14 and the power source ground 15.
  • the control switch circuit 12 switches between a high impedance output and a low impedance output to automate the hot swapping of the battery.
  • the charging time of the first capacitor 1311 can be controlled by adjusting the parameters of the first resistor 123 and the first capacitor 1311, thereby controlling the switching circuit 12 to switch from the high-impedance output to the low-impedance output, thereby improving the capacitor at the time of power-on.
  • the time during which the load circuit 11 is charged at a high impedance improves the effect of the power supply control circuit 1 against sparking.
  • Embodiment 23 of the present invention provides an unmanned aerial vehicle.
  • the pull-up resistor 1313 is connected in parallel with a diode 1331 for accelerating the discharge of the first capacitor 1311.
  • the anode of the diode 1331 is electrically connected to the anode of the first capacitor 1311, and the cathode of the diode 1331 is electrically connected to the input end of the pull-up resistor 1313.
  • the first capacitor 1311 it is possible to discharge through the diode 1331 to accelerate the discharge of the first capacitor 1311 to return it to the initial state to be charged as soon as possible.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the operation principle and effect of the third capacitor 1321, refer to Embodiment 22.
  • the discharge of the first capacitor 1311 is accelerated by connecting a pull-up resistor 1313 in parallel with a diode 1331, so that the circuit can be quickly restored to the initial state for the next battery connection.
  • Embodiment 24 of the present invention provides an unmanned aerial vehicle.
  • the first capacitor 1311 is connected in parallel with a third resistor 1333, and the third resistor 1333 is connected in series with the pull-up resistor 1313.
  • the third resistor 1333 is for dividing the power supply with the pull-up resistor 1313 for protecting the switch circuit 12.
  • the power control circuit 1 of the UAV of the present embodiment when the power source positive electrode 14 and the power source ground 15 are in a power-on state, the power source is divided by the pull-up resistor 1313 and the third resistor 1333 to charge the first capacitor 1311.
  • the switching circuit 12 connected to the positive terminal of the first capacitor 1311 can be protected.
  • the MOS transistor 121 when the MOS transistor 121 is connected to the positive electrode of the first capacitor 1311, since the Vgs of the MOS transistor 121 may be within 20V, and the voltage difference between the power source positive electrode 14 and the power source ground 15 may be higher than 20V, it may pass
  • the third resistor 1333 is connected to adjust the voltage of the gate (G) of the MOS transistor 121 such that the Vgs full voltage of the MOS transistor 121 approaches 12V, thereby protecting the MOS transistor 121.
  • the third resistor 1333 can also protect the relay 125 or other switching components in the switch circuit 12.
  • the first capacitor 1311 When the power supply positive electrode 14 and the power supply ground 15 are in the power-off state, when the voltage of the input terminal and the output terminal of the load capacitance circuit is lowered to a preset voltage (for example, 6-7v), the first capacitor 1311 can be discharged through the third resistor 1333. Thereby, the discharge of the first capacitor 1311 is accelerated, so that it returns to the initial state to be charged as soon as possible.
  • a preset voltage for example, 6-7v
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the operation principle and effect of the third capacitor 1321, refer to Embodiment 22.
  • the power supply control circuit 1 in the UAV of the present embodiment can adjust the voltage dividing ratio of the pull-up resistor 1313 and the third resistor 1333 by connecting a pull-up resistor 1313 in series with a third resistor 1333 in parallel with the first capacitor 1311. To protect the switch circuit 12. At the same time, the third resistor 1333 can also accelerate its discharge when the first capacitor 1311 is discharged, so that the circuit can quickly return to the initial state for the next access of the battery.
  • Embodiment 25 of the present invention provides an unmanned aerial vehicle.
  • the first capacitor 1311 is connected in parallel with a Zener diode 1335, and the Zener diode 1335 is connected in series with the pull-up resistor 1313.
  • the parallel regulator circuit is formed in parallel with the pull-up resistor 1313 to protect the switch circuit 12.
  • the Zener diode 1335 When the power control circuit 1 in the electronic governor of the embodiment is in operation, the Zener diode 1335 will always stabilize the voltage of the positive pole of the first capacitor 1311 at the voltage regulator value of the diode 1331, thereby protecting the positive pole of the first capacitor 1311.
  • Switch circuit 12 For example, when the MOS transistor 121 is connected to the positive terminal of the first capacitor 1311, the Zener diode 1335 of FIG. 7 can control the Vgs of the MOS transistor 121 to be within 12 V, thereby protecting the Zener diode 1335 from being burned out.
  • the Zener diode 1335 can also protect the relay 125 or other transistor components in the switching circuit 12.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the operation principle and effect of the third capacitor 1321, refer to Embodiment 22.
  • the switching circuit 12 can be protected by connecting a Zener diode 1335 in parallel with the first capacitor 1311 for the pull-up resistor 1313.
  • Embodiment 26 of the present invention provides an unmanned aerial vehicle.
  • this embodiment is based on the technical solution provided in Embodiment 22, and a discharge control circuit for controlling discharge of the first capacitor 1311 after the voltage of the capacitive load circuit 11 is lower than a preset voltage is provided.
  • the discharge control circuit includes a first transistor 1351, a fourth resistor 1353, and a fifth resistor 1355.
  • the emitter of the first transistor 1351 is electrically connected to the anode of the first capacitor 1311, the collector of the first transistor 1351 is connected to the power ground 15, and the base of the first transistor 1351 passes through the fourth resistor 1353.
  • the power supply positive electrode 14 is electrically connected, and the base of the first transistor 1351 is also electrically connected to the power supply ground 15 through the fifth resistor 1355.
  • the switch circuit 12 switches from the high-impedance output to the low-impedance output to achieve a large current output to the motor of the capacitive load circuit 11 and in the switch circuit 12 Dynamic charging is achieved at low impedance, reducing the time for dynamic charging.
  • the power-on time is longer than the time when the first capacitor 1311 is charged to the ON voltage of the MOS transistor 121, and the high impedance of the switch circuit 12 is provided by the impedance when the MOS transistor 121 is turned off and the first resistor 123.
  • the low impedance is mainly provided by the impedance of the MOS transistor 121 itself after the MOS transistor 121 is turned on.
  • the voltage drop between the base voltage of the first transistor 1351 and the emitter electrode is smaller than the conduction voltage of the first transistor 1351, and therefore, the battery is connected.
  • the power supply control circuit 1 is in an off state for the entire time.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the operation principle and effect of the third capacitor 1321, refer to Embodiment 22.
  • the power supply control circuit 1 in the UAV of the present embodiment can delay the time during which the switching circuit 12 is switched from the low impedance output state to the high impedance output state by setting the discharge control circuit including the triode, thereby increasing the discharge time of the capacitive load circuit 11.
  • Embodiment 27 of the present invention provides an unmanned aerial vehicle.
  • this embodiment is based on the technical solution provided in Embodiment 22, and a discharge control circuit for controlling discharge of the first capacitor 1311 after the voltage of the capacitive load circuit 11 is lower than a preset voltage is provided.
  • the discharge control circuit includes a second transistor 1371, a third transistor 1373, a sixth resistor 1375, a seventh resistor 1376, and an eighth resistor 1377.
  • the emitter of the second transistor 1371 is electrically connected to the power ground 15, the base of the second transistor 1371 is electrically connected to the power source positive electrode 14 through the sixth resistor 1375, and the collector of the second transistor 1371 is first.
  • the positive electrode of the capacitor 1311 is electrically connected.
  • the collector of the third transistor 1373 is electrically connected to the base of the second transistor 1371, the emitter of the third transistor 1373 is electrically connected to the power supply ground 15, and the base of the third transistor 1373 is connected to the positive pole of the power supply. 14 electrical connections.
  • the seventh resistor 1376 and the eighth resistor 1377 are connected in series between the base of the second transistor 1371 and the power source positive electrode 14.
  • the switch circuit 12 switches from the high-impedance output to the low-impedance output to achieve a large current output to the motor of the capacitive load circuit 11 and in the switch circuit 12 Dynamic charging is achieved at low impedance, reducing the time for dynamic charging.
  • the power-on time is longer than the time when the first capacitor 1311 is charged to the ON voltage of the MOS transistor 121, and the high impedance of the switch circuit 12 is provided by the impedance when the MOS transistor 121 is turned off and the first resistor 123.
  • the low impedance is mainly provided by the impedance of the MOS transistor 121 itself after the MOS transistor 121 is turned on.
  • the base voltage of the third transistor 1373 is greater than the voltage of the emitter electrode, and the third diode 1331 is in an on state. Since the third transistor 1331 is in an on state, the second transistor 1371 has a base voltage lower than a voltage drop between the base and the emitter, thereby causing the second transistor 1371 to be in an off state.
  • the base voltage of the third transistor 1373 is lowered to be less than its base.
  • the voltage drop between the electrode and the emitter electrode is such that the third transistor 1373 is turned off.
  • the third transistor 1373 is turned off, the base voltage of the second transistor 1371 is higher than the emitter voltage, the second transistor 1371 is turned on, and the first capacitor 1311 is rapidly discharged.
  • the gate voltage of the MOS transistor 121 also rapidly drops below the on-voltage, the MOS transistor 121 is turned off, and the switching circuit 12 returns to the state of outputting a high impedance.
  • a second capacitor 1379 is provided for improving the detection capability of the third diode 1331 for the voltage drop at the input and output of the capacitive load circuit 11.
  • the second capacitor 1379 is connected in parallel with the seventh resistor 1376 and in series with the sixth resistor 1375.
  • the voltage between the input terminal and the output terminal of the capacitive load circuit 11 when the first capacitor 1311 is discharged can be controlled by controlling the sixth resistor 1375, the seventh resistor 1376, and the eighth resistor 1377.
  • the input and output of the capacitive load circuit 11 when the first capacitor 1311 is discharged can be controlled by controlling the sixth resistor 1375, the seventh resistor 1376, the eighth resistor 1377, and the second capacitor 1379. The voltage between the ends to improve control accuracy.
  • a third capacitor 1321 is connected between the anode of the first capacitor 1311 and the output end of the capacitive load circuit 11 for reducing the MOS.
  • the conduction current of the tube 121 For the operation principle and effect of the third capacitor 1321, refer to Embodiment 22.
  • the double triode composed of the second triode 1371 and the third triode 1373 serves as a discharge control circuit, and the control effect on the discharge of the first capacitor 1311 can be improved.
  • Embodiment 28 of the present invention provides a control method of a power supply output circuit.
  • 11 is a schematic flow chart of a method for controlling a power output circuit according to Embodiment 28 of the present invention.
  • the control method of the present embodiment includes a capacitive load circuit 11 and a switching circuit 12 for providing a large current output to the unmanned aerial vehicle motor.
  • the switch circuit 12 is connected in series between the capacitive load circuit 11 and the power ground 15 .
  • the method for controlling the switch circuit 12 in the power output circuit control method of this embodiment includes:
  • the switch circuit 12 is controlled to switch from the high impedance output state to the low impedance output state after the power supply positive electrode 14 and the power supply ground 15 are powered on for more than a preset time.
  • the method of controlling the switching circuit 12 to switch from the high impedance output state to the low impedance output state can be implemented by software or hardware circuits, and chips.
  • the operating state of the switching circuit 12 can be controlled by controlling the turning on and off of the relay 125 in the switching circuit 12. It is also possible to control the switching circuit 12 by the MOS transistor 121 which may be included in the switching circuit 12 from the off state to the on state.
  • the control of time can be realized by a timer or a timing circuit and timing software.
  • the control MOS transistor 121 is switched from the off state to the on state after the preset time, thereby switching the switch circuit 12 from the high impedance output state to The purpose of the low impedance output state.
  • the method for controlling the switch circuit 12 further includes: controlling the discharge of the first capacitor 1311, and then controlling the switch circuit 12 to switch from a low impedance output state to a high impedance after the voltage of the capacitive load circuit 11 is lower than a preset voltage. Output status.
  • controlling the discharge of the first capacitor 1311 and controlling the switching circuit 12 to switch from the low impedance output state to the high impedance output state can be implemented by a chip.
  • the switch circuit 12 can be connected to a control chip, the first capacitor discharge is controlled by the voltage change of the capacitive load circuit 11 detected on the chip, and the switch circuit 12 is controlled after the voltage of the capacitive load circuit 11 is lower than the preset voltage. Switch from low impedance output state to high impedance output state.
  • the above control method can also be implemented by a circuit.
  • a sampling control circuit connected to the first capacitor 1311 is provided.
  • the sampling control circuit acquires the voltage of the capacitive load circuit 11 and decreases to a preset value
  • the first capacitor 1311 is controlled to discharge to control the working state of the switching circuit 12.
  • the discharge of the first capacitor 1311 and the switching circuit 12 can also be implemented by software. Control from low impedance output state to high impedance output state.
  • control method the principle, and the process of the control method in this embodiment are the same as the control method, the principle, and the operation process described in the foregoing embodiments, and those skilled in the art may refer to all the above embodiments. This will not be repeated here.
  • the control method of the power output circuit of the embodiment switches the high-impedance output state to the low-impedance output state after the power-on exceeds the preset time by the control switch circuit 12, so that the battery hot plugging process can be realized very conveniently and simply. Anti-sparking purposes, and no manual operation.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • a computer readable storage medium comprising instructions for causing a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Direct Current Feeding And Distribution (AREA)
  • Electronic Switches (AREA)

Abstract

Circuits de commande d'alimentation électrique comprenant : un circuit de charge capacitive (11), un circuit de commutation (12) et un circuit de commande de retard temporel (13). Le circuit de charge capacitive (11) et le circuit de commande de retard temporel (13) sont connectés en parallèle entre une électrode positive d'alimentation électrique (14) et une masse d'alimentation électrique (15), et le circuit de commutation (12) et le circuit de charge capacitive (11) sont connectés en série et sont électriquement connectés à une borne de commande du circuit de commande de retard temporel (13). Le circuit de commande de retard temporel (13) est utilisé pour commander, après qu'un temps de mise sous tension entre l'électrode positive d'alimentation électrique (14) et la masse d'alimentation électrique (15) dépasse une durée prédéfinie, le circuit de commutation (12) afin de passer d'une sortie à haute impédance à une sortie à faible impédance. L'invention concerne également un procédé de commande pour un circuit de sortie d'alimentation électrique, comprenant : après que le temps de mise sous tension dépasse une durée prédéfinie, la commande d'un circuit de commutation (12) afin de passer d'une sortie à haute impédance à une sortie à faible impédance. L'invention concerne en outre un régulateur de vitesse électronique et un véhicule aérien sans pilote utilisant les circuits de commande d'alimentation électrique ou sur un procédé de commande. Les circuits de commande d'alimentation électrique, un régulateur de vitesse électronique, un véhicule aérien sans pilote et un procédé de commande d'alimentation électrique selon la présente invention permettent de simplifier les opérations de prévention d'allumage électrique durant la connexion à chaud d'un véhicule aérien sans pilote.
PCT/CN2016/072362 2016-01-27 2016-01-27 Circuits de commande d'alimentation électrique, régulateur de vitesse électronique, véhicule aérien sans pilote et procédé de commande WO2017128113A1 (fr)

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CN201680002467.7A CN107078640B (zh) 2016-01-27 2016-01-27 电源控制电路、电子调速器、无人飞行器及控制方法

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CN109378811A (zh) * 2018-12-05 2019-02-22 杭州士腾科技有限公司 基于大电容的防打火控制器
CN114211991A (zh) * 2021-12-15 2022-03-22 沃飞长空科技(成都)有限公司 用于无线充电无人机的控制单元、无人机及控制方法
CN114368485A (zh) * 2022-03-18 2022-04-19 珠海奕博科技有限公司 一种微型无人机控制电路
CN116927978A (zh) * 2023-07-19 2023-10-24 东方空间技术(山东)有限公司 一种火箭发动机安全机构的控制系统及方法

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CN107889319A (zh) * 2017-12-14 2018-04-06 李顺华 一种镇流式led灯的驱动电源的过流保护电路
CN109164746A (zh) * 2018-11-14 2019-01-08 上海英恒电子有限公司 一种下电时序控制电路及电源电路
CN109378811A (zh) * 2018-12-05 2019-02-22 杭州士腾科技有限公司 基于大电容的防打火控制器
CN114211991A (zh) * 2021-12-15 2022-03-22 沃飞长空科技(成都)有限公司 用于无线充电无人机的控制单元、无人机及控制方法
CN114211991B (zh) * 2021-12-15 2023-08-04 四川傲势科技有限公司 用于无线充电无人机的控制单元、无人机及控制方法
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