WO2018045806A1

WO2018045806A1 - Motor speed adjustment system for multi-rotor aerial vehicle, and multi-rotor aerial vehicle

Info

Publication number: WO2018045806A1
Application number: PCT/CN2017/091875
Authority: WO
Inventors: 杜昊; 罗顺河
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2016-09-07
Filing date: 2017-07-05
Publication date: 2018-03-15
Also published as: CN107416212A

Abstract

The present invention relates to a motor speed adjustment system for a multi-rotor aerial vehicle, and a multi-rotor aerial vehicle. The motor speed adjustment system comprises a flight control unit, and further comprises a motor speed adjuster unit, a plurality of battery power sets, and a battery management unit. The motor speed adjuster unit comprises a plurality of motor speed adjusters, the plurality of motor speed adjusters being respectively connected in parallel to a power supply bus; the battery power sets are used for providing power supplies for the motor speed adjuster unit, and are respectively connected in parallel to the power supply bus; the battery management unit is connected to the plurality of battery power sets, and is further connected to a whole machine bus. When a fault occurs to a given battery power set, the other remaining battery power sets can still provide power supplies for the motor speed adjuster unit, so that the stability of the motor speed adjustment system of the multi-rotor aerial vehicle is improved.

Description

Motor governing system for multi-rotor aircraft and multi-rotor aircraft

[0001] The present invention relates to the field of aircraft technology, and more particularly to a motor speed governing system for a multi-rotor aircraft and a multi-rotor aircraft.

Background technique

[0002] The current multi-rotor electric aircraft is equipped with more than four motors, and the control signal used from the flight control unit of the aircraft to the motor governor (referred to as: ESC) is generally PWM (Pulse Width Modulation, Pulse width modulation) Signal or PPM (Pulse Position Modulation) signal. However, both of these signal transmission methods have short propagation distances and are susceptible to interference, which causes the existing multi-rotor aircraft to easily cause system signal transmission errors during signal transmission between the flight control unit and the motor speed control system. The problem is not conducive to the effective control of the motor governor by the flight control unit.

[0003] At the same time, the flight control unit must have one-to-one correspondence with the control signals of the respective motors, and the existing aircraft is provided with a plurality of corresponding flight control units 10 ports, and the structure and wiring of the motor speed control system of the aircraft are complicated. .

technical problem

Based on this, an embodiment of the present invention provides a motor speed control system for a multi-rotor aircraft and a multi-rotor aircraft, which can increase the stability of the motor speed control system of the multi-rotor aircraft.

Problem solution

Technical solution

[0005] An aspect of the present invention provides a motor speed control system for a multi-rotor aircraft, including a flight control unit connected to a whole machine bus, and a motor governor unit, the motor governor unit including a plurality of motors a governor, a plurality of the motor governors are respectively connected in parallel to the power bus; the motor governor unit is further connected to the flight control unit via a CAN bus;

[0006] further comprising a plurality of battery power units, wherein the battery power unit is configured to supply power to the motor governor unit, and the plurality of battery power units are respectively connected in parallel on the power bus; [0007] A battery management unit is further included. One end of the battery management unit is connected to the plurality of battery power groups via a CAN bus, and the other end of the battery management unit is connected to the entire machine bus.

The present invention also provides a multi-rotor aircraft comprising the motor speed control system described above.

[0009] The above technical solution provides power to the motor governor unit by connecting a plurality of the battery power units in parallel to the power bus, and the flight control unit is connected to the motor governor unit. The battery management unit is connected to the battery power unit, and the battery management unit is also connected to the entire machine bus. Because a plurality of battery power units are respectively connected in parallel on the power bus, the battery power group is used to supply power to the motor governor. When one of the battery power units fails, the remaining battery power units are still Power can be supplied to the motor governor, which increases the stability of the motor governing system of the multi-rotor aircraft. In the solution of the embodiment of the present invention, the flight control unit only needs to be hung on the C AN bus as a communication node, and the CAN bus communication mode can realize the same control of multiple motor governors, and the CAN bus communication mode can be realized. The control signal propagates over a long distance and has good signal immunity.

Advantageous effects of the invention

Beneficial effect

[0010] In the above technical solution, the plurality of the battery power units are respectively connected in parallel to the power bus, to supply power to the motor governor unit, and the flight control unit is connected to the motor governor unit. The battery management unit is connected to the battery power unit, and the battery management unit is also connected to the entire machine bus. Because a plurality of battery power units are respectively connected in parallel on the power bus, the battery power group is used to supply power to the motor governor. When one of the battery power units fails, the remaining battery power units are still Power can be supplied to the motor governor, which increases the stability of the motor governing system of the multi-rotor aircraft. In the solution of the embodiment of the present invention, the flight control unit only needs to be hung on the C AN bus as a communication node, and the CAN bus communication mode can realize the same control of multiple motor governors, and the CAN bus communication mode can be realized. The control signal propagates over a long distance and has good signal immunity.

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a motor speed control system of a multi-rotor aircraft according to an embodiment; 2 is a schematic structural view of a battery power unit of an embodiment.

Embodiments of the invention

The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0014] As shown in FIG. 1 , a motor speed control system for a multi-rotor aircraft includes: a flight control unit FCU (Flight control unit) connected to a whole bus, a motor governor unit, and a plurality of Battery power unit and a battery management unit. The motor governor unit includes a plurality of motor governors, wherein the plurality of motor governors are respectively connected in parallel to the power bus; the motor governor unit is further connected to the flight control unit FCU via a CAN bus connection. One end of the battery management unit is connected to the plurality of battery power groups via a CAN bus, and the other end of the battery management unit is further connected to the whole machine bus through a CAN bus, and the flight control unit also passes through the CAN bus and the whole machine. The buses are connected to form a primary network.

[0015] The motor speed control unit is connected to the flight control unit FCU through a CAN bus to form a first sub-network, and the motor speed control unit is provided with eight motor speed controllers (ESC1~ESC8 in FIG. 1) (In other embodiments, the motor governor can also be other numbers), the eight motor governors ESC are respectively connected in parallel on a power bus, and the positive terminal of the motor governor ESC is connected to a first fuse. FUSE, when the motor governor ESC is short-circuited, the first fuse FUSE connected to it is automatically blown, so that the motor governor is disconnected from the power bus, and the motor governor is protected from continuous short circuit. The fire also acts to protect the power bus. The flight control unit FCU and the motor speed control unit are connected to the CAN3 bus through two twisted pairs of C ANH and CANL, so that multiple motor governors ESC can be realized by two twisted pairs of CANH and CANL. The signal control, and the signal is stable and reliable, and the anti-interference ability is strong; and, the 10 ports for transmitting the FCU control signal of the flight control unit are reduced, and the wiring is simple.

[0016] Preferably, comprising 8 sets of battery power groups (BMU1)

BMU8), used to give the motor governor ESC1~

The ESC8 provides power, and the eight battery power units (BMU1~BMU8) are also connected to the battery management unit BMS via the CAN4 bus to form a second sub-network.

[0017] Further, each battery power group specifically includes: a battery BAT and a serial connection to the battery BAT positive electrode The second fuse F1 is protected by overcurrent. When the battery is short-circuited, the second fuse F1 is automatically blown, so that the battery is disconnected from the power bus, which can avoid external short circuit of the battery and does not affect the normal operation of the motor governor.

[0018] Further, as shown in FIG. 2, each battery power unit BMU further includes: a relay k1 for controlling battery disconnection in the battery abnormality. The anode of the battery BAT is connected to one end of the second fuse F1, the other end of the second fuse F1 is connected to the first contact of the relay k1, and the second contact of the relay k1 is connected to the positive output of the battery power unit. The first contact and the second contact form a set of connection contacts, and the negative pole of the battery is connected to the negative output terminal of the battery power group.

[0019] Preferably, each battery power unit BMU further includes: a battery detecting unit BCU (BATTERY CHECK UNIT) for detecting voltage, current and temperature of the battery, and the battery detecting unit BCU controls on and off of the relay k1 . For example: When the battery detection unit BCU detects that the battery voltage of the battery power unit in which it is located exceeds the normal voltage range (the normal voltage range is not higher than 90V), or detects that the battery temperature of the battery power unit in which it is located exceeds the normal temperature. Range (normal temperature range is not higher than 60 degrees Celsius) 吋, can control the relay break in the battery power group where it is located, so that the battery of the battery power unit BMU is disconnected from the power bus, and the battery is not protected. There will be problems such as over-discharge or overcharge. Further, a current sensor (e.g., Hall current sensor HI) for detecting the current of the battery power pack may be included in each of the battery power packs. In the battery power group, the positive output line of the battery BAT passes through the fuse and passes through the middle hole of the Hall current sensor HI and is connected to the first contact of the relay K1, so that the Hall current sensor HI can detect the BAT current of the battery. The second contact of the relay K1 is connected to the negative output terminal of the battery unit, and the first contact and the second contact form a set of connection contacts. The specific connection of the battery power unit can be seen in Figure 3.

[0020] Further, the motor speed control system of the multi-rotor aircraft further includes a charging interface CHARGE

PORT, the charging interface is connected in parallel on the power bus, and when the power of the battery power unit BMU is too low, the battery power unit BMU can be charged through the charging interface.

[0021] The battery management unit BMS is connected to the battery power group via a CAN bus (CAN4 in this embodiment), and based on the connection, the battery power group detects the voltage, current, temperature, etc. of the battery. The information is reported to the battery management unit BMS. In addition, the battery management unit BMS is also connected to the whole bus (CAN1 in this embodiment) through a CAN bus, and the battery management unit BMS counts each battery. The information of the pool power group is concurrently transmitted to the whole bus, so that other system devices in the aircraft can obtain each of the battery power groups from the whole bus, so according to the situation of each of the battery power groups and吋 Make adjustments accordingly. Specifically, each of the battery power groups can send information such as voltage, temperature, current, and the like of the battery detected by the battery detecting unit to the battery management unit BMS through a CAN bus software communication manner, and the battery management unit After the unit BMS counts the information of each of the battery power groups, the complete battery information of each of the battery power groups is sent to the whole bus through the CAN bus software communication mode, so that other system devices of the aircraft can be obtained from the whole machine. The current power, voltage, temperature and other information of each of the battery power groups are obtained on the bus.

[0022] wherein, since the flight control unit FCU is also connected to the whole bus, the battery management unit BMS concurrently counts each battery power group information on the whole bus, and the flight control unit FCU obtains from the whole bus. Each of the current battery power group information, and controlling the corresponding motor speed controller according to the current battery power group information.

[0023] In this embodiment, the number of the battery power units is eight. The flight control unit FCU obtains the relevant information sent by the current eight battery power groups to the whole bus from the whole bus. According to the current eight battery power groups, the flight control unit FCU passes the CAN bus (CAN3 in this embodiment). Connected to the eight parallel motor governors. The flight control unit FCU sends a control signal to the motor governor unit through a CAN bus communication mode, and each of the motor governors changes the motor by changing the number of stages, voltage, current, frequency, etc. of the motor according to the control signal. The speed of the motor allows the motor to achieve high performance. CAN is the abbreviation of Controller Area Network. The CAN bus communication method is ISO international standard serial communication protocol. It can adapt to the need to reduce the number of wire harnesses and carry out high-speed communication of large amounts of data. It appears as a distributed control system between nodes. Solid, reliable data communication provides strong technical support. The flight control unit FCU realizes the same-axis control of multiple motor speed controllers, and achieves longer-distance propagation of the control signals, and the signals are stable and reliable, and the anti-interference ability is strong.

[0024] As shown in FIG. 1, the positive output terminals of the eight battery power units are all connected to the positive pole of the power bus, such that eight sets of the battery power groups are connected in parallel on the power bus, correspondingly, 8 motor speed controllers (E

SC1-ESC8) The positive poles are all connected to the positive pole of the power bus, so that the eight motor governors are respectively connected in parallel on the power bus. When the battery of any one of the battery power units fails, the battery power group can be controlled to be disconnected from the power bus through a corresponding relay; The group can continue to output power to power the eight motor governors, thus preventing the aircraft from flying due to a battery failure. For example, even if the batteries of the four battery power groups fail, the power output from the other four battery power groups can ensure safe landing of the aircraft.

[0025] The motor speed control system of the multi-rotor aircraft of the present invention is respectively connected in parallel to a power bus by a plurality of the motor speed controllers, and a plurality of the battery power groups are respectively connected in parallel on the power bus. The flight control unit is connected to the motor governor unit via a CAN bus, the battery management unit is connected to the battery power unit via a CAN bus, and the battery management unit is connected to the entire machine bus via a CAN bus. Because a plurality of battery power units are respectively connected in parallel on the power bus, the battery power group is used to supply power to the motor governor. When one of the battery power units fails, the remaining battery power units are still Power can be supplied to the motor governor, which increases the stability of the motor governing system of the multi-rotor aircraft. In the solution of the embodiment of the present invention, the flight control unit only needs to be hung on the CAN bus as a communication node, and the CAN bus communication mode can realize the same control of multiple motor governors, and the CAN bus communication mode can realize the control. The signal travels over a longer distance and has better signal immunity.

The present invention also provides an embodiment of a multi-rotor aircraft in which the motor speed governing system described in the above embodiments is disposed.

[0027] The bottom of the multi-rotor aircraft is provided with a bottom compartment, and the motor speed control system is located in the bottom compartment. A rear compartment is disposed at a rear portion of the rotorcraft, and an air conditioning system is located at the rear compartment, and the air conditioning system is configured to cool the motor speed control system. The rotorcraft also includes a cabin in front of the rear compartment, the cabin being provided with a seat for use by a user, the air conditioning system for providing cold air to the cabin.

[0028] It should be noted that, in the above embodiments, only the parts related to the embodiments of the present invention are shown, and those skilled in the art can understand that the structure of the motor speed control system of the multi-rotor aircraft shown in the figure is not The invention is defined to include more or fewer devices than those illustrated, or some devices may be combined, or may have different device position arrangements.

The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and are not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims. Industrial applicability

In the above technical solution, the motor governor unit is powered by connecting a plurality of the battery power units to the power bus, and the flight control unit is connected to the motor governor unit. The unit is connected to the battery power unit, and the battery management unit is also connected to the entire machine bus. Because a plurality of battery power units are respectively connected in parallel on the power bus, the battery power group is used to supply power to the motor governor. When one of the battery power units fails, the remaining battery power units are still Power can be supplied to the motor governor, which increases the stability of the motor governing system of the multi-rotor aircraft. In the solution of the embodiment of the present invention, the flight control unit only needs to be hung on the C AN bus as a communication node, and the CAN bus communication mode can realize the same control of multiple motor governors, and the CAN bus communication mode can be realized. The control signal propagates over a long distance and has good signal immunity.

Claims

Claim

[Claim 1] A motor speed control system for a multi-rotor aircraft, comprising a flight control unit connected to a whole machine bus, further comprising:

a motor governor unit, the motor governor unit includes a plurality of motor governors, a plurality of the motor governors are respectively connected in parallel to the power bus; the motor governor unit also passes through a CAN bus Connected to the flight control unit;

a plurality of battery power units, wherein the battery power unit is configured to supply power to the motor governor unit, and the plurality of battery power units are respectively connected in parallel on the power bus line;

A battery management unit, one end of the battery management unit is connected to the plurality of battery power groups via a CAN bus, and the other end of the battery management unit is connected to the whole machine bus.

[Claim 2] The motor speed governing system of the multi-rotor aircraft according to claim 1, wherein the number of the motor governors is eight;

The flight control unit and the battery management unit are respectively connected to the whole bus through a CAN bus.

[Claim 3] The motor speed control system of the multi-rotor aircraft according to claim 1, wherein the number of the battery power units is eight.

[Claim 4] The motor speed control system of the multi-rotor aircraft according to claim 2, wherein the positive end of the motor governor is connected to the power bus via a first fuse, and the motor governor When a short circuit burnout occurs, the first fuse is automatically blown.

[Claim 5] The motor speed control system of the multi-rotor aircraft according to claim 1, wherein each battery power unit comprises: a battery, a second fuse connected to the positive pole of the battery for overcurrent protection; The battery is short-circuited and the second fuse is automatically blown.

[Claim 6] The motor speed control system of the multi-rotor aircraft according to claim 5, wherein each of the battery power units further comprises: a relay for controlling the battery to be broken at the battery abnormality The positive pole is connected to one end of the second fuse, the other end of the second fuse is connected to the first contact of the relay, and the second contact of the relay is connected to the positive output end of the battery power pack, and the first contact and the second contact constitute a set of connection contacts, the negative electrode of the battery is connected to the battery The negative output of the force group.

[Claim 7] The motor speed control system of the multi-rotor aircraft according to claim 6, wherein each of the battery power units further comprises: a battery for detecting a voltage, a current, a temperature of the battery, and controlling the on and off of the relay Detection unit.

[Claim 8] The motor speed control system of the multi-rotor aircraft according to claim 1, further comprising a charging interface, wherein the charging interface is connected to the power bus, when the power of the battery power group passes The battery power pack is charged through the charging interface.

[Claim 9] A multi-rotor aircraft comprising the motor speed control system according to any one of claims 1-8.

[Claim 10] The multi-rotor aircraft according to claim 9, wherein the bottom of the multi-rotor aircraft is provided with a bottom compartment, and the motor speed control system is located in the bottom compartment.

[Claim 11] The multi-rotor aircraft according to claim 9 or 10, wherein a rear compartment of the rotorcraft is provided, and an air conditioning system is provided in the rear compartment, and the air conditioning system is configured to The motor speed control system cools down.

[Claim 12] The multi-rotor aircraft according to claim 11, wherein the rotorcraft is further provided with a cabin, the cabin is located in front of the rear cabin, and a seat is provided in the cabin, the air conditioning system It is also used to provide cold air to the cabin.