WO2018082524A1 - 过流保护方法、过流保护系统及无人飞行器 - Google Patents

过流保护方法、过流保护系统及无人飞行器 Download PDF

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Publication number
WO2018082524A1
WO2018082524A1 PCT/CN2017/108386 CN2017108386W WO2018082524A1 WO 2018082524 A1 WO2018082524 A1 WO 2018082524A1 CN 2017108386 W CN2017108386 W CN 2017108386W WO 2018082524 A1 WO2018082524 A1 WO 2018082524A1
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Prior art keywords
current
overcurrent protection
overcurrent
permanent magnet
synchronous motor
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PCT/CN2017/108386
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English (en)
French (fr)
Inventor
陈毅东
颜世智
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深圳市道通智能航空技术有限公司
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Publication of WO2018082524A1 publication Critical patent/WO2018082524A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/027—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an over-current

Definitions

  • the invention relates to the technical field of permanent magnet synchronous motor control, in particular to an overcurrent protection method, an overcurrent protection system and an unmanned aerial vehicle.
  • Permanent magnet synchronous motors have been widely used in high-performance control systems due to their high power density, small size, no excitation, high power factor and high position control accuracy.
  • a permanent magnet synchronous motor can be used as a power unit on an Unmanned Aerial Vehicle (UAV).
  • UAV Unmanned Aerial Vehicle
  • the embodiment of the present application provides an overcurrent protection method, an overcurrent protection system, and an unmanned aerial vehicle, which can protect a permanent magnet synchronous motor and reduce a burning probability of the permanent magnet synchronous motor.
  • an embodiment of the present application provides an overcurrent protection method, including:
  • an overcurrent control signal is sent to the inverter to control the current output by the inverter to the permanent magnet synchronous motor.
  • an overcurrent protection system including:
  • An acquisition module configured to sample an input current provided by the DC side
  • a filtering module configured to filter the sampling current after sampling by the acquiring module
  • a determining module configured to determine whether the filtered current of the filtering module is greater than a threshold current
  • a control module configured to: if the determination result of the determining module is yes, issue an overcurrent control signal to the inverter to control a current output by the inverter to the permanent magnet synchronous motor.
  • an unmanned aerial vehicle including:
  • An overcurrent protection system wherein the permanent magnet synchronous motor overcurrent protection system is disposed within the center housing or the arm;
  • a permanent magnet synchronous motor wherein the permanent magnet synchronous motor is disposed on the arm, and the permanent magnet synchronous motor is connected to the overcurrent protection system;
  • overcurrent protection system is used to perform the method as in the first aspect.
  • the input current provided by the DC side is sampled and filtered, and it can be determined whether the filtered filter current is greater than a threshold current. If it is greater than, the overcurrent control signal can be sent to the inverter to achieve accurate The overcurrent phenomenon of the permanent magnet synchronous motor is found, and the overcurrent phenomenon is controlled in time to ensure the safety of the permanent magnet synchronous motor when overcurrent occurs.
  • FIG. 1 is a schematic structural view of a control system of a permanent magnet synchronous motor according to an embodiment of the present application.
  • FIG. 2 is a schematic structural view of a control system of a permanent magnet synchronous motor including an overcurrent protection system provided by the present application.
  • FIG. 3 is a schematic flowchart diagram of an overcurrent protection method according to an embodiment of the present application.
  • FIG. 4 is a schematic flow chart of another overcurrent protection method according to an embodiment of the present application.
  • FIG. 5 is an experimental result of an overcurrent condition after using an overcurrent protection system according to an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • Fig. 1 is a view showing the structure of a control system of a permanent magnet synchronous motor.
  • the control system of the permanent magnet synchronous motor 100 may include a DC side 101, an inverter 103, a controller 105, and the like.
  • the DC side 101 may be a DC power source, or the DC side 101 may include an AC power source and a rectifier, and the rectifier may be used to rectify the AC power output from the AC power source into DC power.
  • the DC side 101 is used to provide direct current.
  • the DC power source 101 can output a DC current to the inverter 103.
  • the inverter 103 can include a plurality of switching devices that can be used to turn on or off current.
  • inverter 103 can include six or other number of switching devices.
  • the inverter 103 can determine an open or closed state of the plurality of switching devices, and an opening or closing time according to a control signal sent by the controller 105, so as to output a three-phase alternating current to the permanent magnet synchronous motor 100, thereby driving the permanent magnet.
  • the rotational speed of the synchronous motor 100 can be used to turn on or off current.
  • the controller 105 can output a control signal to the inverter 103.
  • the controller 105 can output a Pulse Width Modulation (PWM) control signal.
  • PWM Pulse Width Modulation
  • the controller 105 can control the opening and closing time of one or more switching devices in the inverter by the duty ratio of the output PWM control signal, thereby controlling the output current of the inverter to control the rotational speed of the permanent magnet synchronous motor.
  • the controller 105 can also receive instructions from other devices or systems and generate control signals based on the instructions. For example, if the control system is applied to an unmanned aerial vehicle, the controller 105 can receive an instruction of a flight control processor or a flight controller in the flight control system, the command can be used to indicate flight speed, etc., and the controller 105 can The command determines a control signal to be output, and the control signal is used to control the rotational speed of the permanent magnet synchronous motor, thereby implementing the flight speed of the unmanned aerial vehicle.
  • control signal sent by the controller 105 under normal conditions can be understood as a normal control signal for controlling the rotational speed of the permanent magnet synchronous motor by controlling the inverter.
  • FIG. 2 illustrates a control system of a permanent magnet synchronous motor including the overcurrent protection system 300 provided by the embodiment of the present application.
  • the overcurrent protection system 300 can include an obtaining module 301, a filtering module 302, a determining module 303, and a control module 305.
  • the input end of the acquisition module 301 can be connected to the output end of the DC side 101.
  • the acquisition module 301 can be used to sample the input current provided by the DC side 101.
  • the obtaining module 301 may include a single resistance sampling module or a multi-resistance sampling module.
  • a three-resistance sampling module, or other sampling device such as a sampling sensor.
  • the single resistance sampling module may include a single resistor and peripheral logic circuits based on the single resistor.
  • the function of the obtaining module 301 can also be implemented by software having a sampling algorithm, which is not limited herein.
  • the acquisition module 301 samples the input current provided by the DC side 101, the obtained sampling current can be embodied as a pulse signal.
  • the output of the acquisition module 301 can be connected to the input of the filtering module 302.
  • the filtering module 302 is configured to filter the sampling current sampled by the obtaining module 301.
  • the filtering module 302 filters the sampling current through limiting filtering or median filtering.
  • the filtering module filters the sampling current by other means to obtain a filtering current, which is not limited herein.
  • the filtered current obtained by the filtering module 302 can be embodied as a smooth current signal displayed on the oscilloscope.
  • the current value of the filtered current obtained by the filtering module 302 can be used to indicate the magnitude of the input current. That is to say, the overcurrent protection system 300 can monitor the input current of the DC side 101 through the acquisition module 301 and the filtering module 302, thereby enabling accurate and direct acquisition and monitoring of the input current of the DC side 101.
  • the function of the filtering module 302 can be implemented by hardware or by software with a filtering algorithm, which is not limited herein.
  • the filtering module 302 may include a filter, and the type of the filter is not limited herein.
  • the filtering module 302 can include a processor in which the functions of the filtering module 302 can be implemented by computer instructions.
  • the filtering module 302 can be integrated in the controller 105, which is not limited herein.
  • the output of the filtering module 302 can be connected to the input of the determining module 303.
  • the determining module 303 can be configured to determine whether the filtered current filtered by the filtering module 302 is greater than a threshold current. For example, the determination module 303 compares the current values of the filtered current and the threshold current to compare the magnitudes of the two currents. If the filter current is greater than the threshold current, it is judged that an overcurrent phenomenon occurs; if it is less than, it is judged that no overcurrent phenomenon occurs.
  • the determining module 303 may further determine whether the duration of the filtered current greater than the threshold current is greater than a preset time, and if yes, determine that an overcurrent phenomenon occurs; If no, it is judged that there is no overcurrent phenomenon. In this way It is possible to determine more accurately whether an overcurrent phenomenon has occurred.
  • the function of the determining module 303 can be implemented by hardware or by software. If the function of the determining module 303 is implemented by hardware, the determining module may include one or more comparing components, etc., at this time, the threshold current may be a current input to one end of the comparing component; if the function of the determining module 303 is implemented by software, Module 303 can include a processor that can implement the functionality of decision module 303 by computer instructions, in which case the threshold current can be a threshold pre-stored in memory.
  • the determination module 303 can be integrally disposed in the controller 105, as shown in FIG. 3, thereby reducing the hardware design volume of the control system of the permanent magnet synchronous motor 100. It can be understood that the judging module 303 may not be disposed in the controller 105.
  • the output of the determination module 303 is connected to the input of the control module 305.
  • the control module 305 is configured to: when the judgment module 303 determines that an overcurrent phenomenon occurs, issue an overcurrent control signal, where the overcurrent control signal is used to control the current output by the inverter to the permanent magnet synchronous motor to avoid the output of the inverter. The current is too large and an overcurrent phenomenon occurs.
  • the control module 305 may be integrally disposed in the controller 105, and the control module 305 may function as a control unit of the controller 105 to implement the above functions, thereby reducing the hardware design volume of the control system of the permanent magnet synchronous motor 100. In this case, the control module 305 may also send a normal control signal to the inverter 103 when the determining module 303 determines that an overcurrent phenomenon has not occurred.
  • control module 305 can exist independently of controller 105.
  • the output of the determination module 303 can also be connected to the controller 105. If the determining module 303 determines that an overcurrent phenomenon occurs, the result may be sent to the control module 305 to enable the control module 305 to generate an overcurrent control signal. If the determining module 303 determines that no overcurrent phenomenon occurs, the result may be Signals are sent to controller 105 to cause controller 105 to issue a normal control signal.
  • the overcurrent control signal sent by the control module 305 can be used to cut off the output current of the inverter output to the permanent magnet synchronous motor, or to reduce the output current, which is not limited herein.
  • a Programmable Disk Array (PDA), a Field-Programmable Gate Array, Application-Specific Integrated Circuits, and Programmable Logic can be used. Any of the Programmable Logic Device (PLD), Complex Programmable Logic Device (CPLD), and Processing Unit Meaning a hardware implementation.
  • the function of the overcurrent protection system can also be implemented by software.
  • the function of the overcurrent protection system can be implemented by computer instructions executed by the controller, or the function of the overcurrent protection system is implemented by the chip dedicated to the overcurrent protection system. achieve.
  • the function of the overcurrent protection system can also be implemented by the above hardware and software, which is not limited herein.
  • FIG. 4 shows an overcurrent protection method provided by an embodiment of the present application.
  • the protection method may include the following steps:
  • the overcurrent protection system may sample the input current through the acquisition module 301.
  • the overcurrent protection system may filter the sampled current after sampling by the filtering module 302.
  • the filtered filter current can be expressed as the input current collected by the overcurrent protection system, and the overcurrent protection system knows the current value of the input current by the current value of the filtered current.
  • S12 Determine whether the filtered filter current is greater than a threshold current.
  • the overcurrent protection system may determine, by the foregoing determining module 303, whether the filtered filter current is greater than a threshold current. When the filtered current is greater than the threshold current, it is determined to be an overcurrent; when the filtered current is less than or equal to the threshold current, it is determined that there is no overcurrent.
  • the magnitude of the threshold current may be set according to requirements.
  • the current value of the threshold current is 1.2 times the current value of the full load input current.
  • the full load input current of the permanent magnet synchronous motor refers to the maximum operating current corresponding to the permanent magnet synchronous motor at the maximum speed.
  • the overcurrent protection system can send an overcurrent control signal to the inverter through the control module 305 to avoid excessive current output by the inverter, that is, greater than the current that the permanent magnet synchronous motor can withstand, resulting in Damage to the permanent magnet synchronous motor.
  • the permanent magnet synchronous motor 100 normal control signal may be output by the control module 305 or the controller 105; when the comparison result sent by the determining module 303 is over-current, the control module 305 outputs Overcurrent control signal.
  • control signal for performing the overcurrent protection action may be a control signal for cutting off the output current or a control signal for reducing the output current.
  • the overcurrent control signal may be a control signal for cutting off the output current, so that when the comparison result sent by the determining module 303 is an overcurrent, the control module 305 outputs a control signal for performing an overcurrent protection action.
  • the permanent magnet synchronous motor 100 is stopped by cutting off the current, which ensures the safety of the permanent magnet synchronous motor 100 when overcurrent is generated.
  • the overcurrent control signal may also be a control signal for reducing the output current.
  • the overcurrent control signal is a PWM control signal
  • the output current can be reduced by reducing the duty cycle of the PWM control signal. If the duty cycle of the PWM control signal is reduced to zero, then the overcurrent control signal is a control signal that can be used to cut off the output current.
  • the duty ratio of the PWM control signal can determine the on-time of the switching device in the inverter. If the duty ratio of the PWM control signal decreases, the conduction time of the switching device decreases, thereby causing the inverter to The output current is reduced.
  • the input current provided by the DC side is sampled and filtered, and it can be determined whether the filtered filter current is greater than a threshold current. If it is greater than, the overcurrent control signal can be sent to the inverter to achieve accurate The overcurrent phenomenon of the permanent magnet synchronous motor is found, and the overcurrent phenomenon is controlled in time to ensure the safety of the permanent magnet synchronous motor when overcurrent occurs.
  • an embodiment of the present application provides another overcurrent protection method, including the following steps:
  • step S22 determining whether the filtered filter current is greater than a threshold current; if yes, proceeding to step S24; if not, proceeding to step S23.
  • the control module 305 when it is determined that the filter current is less than or equal to the threshold current, that is, when the comparison result sent by the determining module 303 is not over-current, the control module 305 outputs a control signal for normal operation, and the controller 105 controls the module.
  • the normal control signal outputted by 305 is output to the inverter 103, and the inverter 103 outputs an output current to the permanent magnet synchronous motor according to the normal control signal, thereby causing the permanent magnet synchronous motor to operate normally.
  • step S25 If yes, go to step S25; if no, go to step S23.
  • the filter current when it is determined in S22 that the filter current is greater than the threshold current, further, it is further determined whether the duration is greater than or equal to the preset time.
  • the sampling current is greater than the threshold current for a duration greater than or equal to the preset time, it is determined that there is a risk of burning the motor.
  • the value range of the preset time value may be set to [0.8, 1], and if the filter current is determined to be smaller than the threshold current within the preset time, the overcurrent phenomenon may be avoided. Misjudgment; if the filter current continues to be greater than the threshold current during the preset time, the risk of burning the motor can be avoided. It can be understood that the preset time can also set different values according to specific needs.
  • the control module 305 outputs an overcurrent control signal that can control the inverter to cut off the output current or reduce the output current, thereby protecting the safety of the permanent magnet synchronous motor or its control system.
  • FIG. 5 is an experimental result of an overcurrent condition after using an overcurrent protection system according to an embodiment of the present application. It can be seen from the figure that when the input current on the DC side generates an overcurrent, the phase current waveform in the figure has a magnitude of 0 at a, that is, when the input current on the DC side generates an overcurrent, the permanent magnet is synchronized. The motor 100 is shut down due to the cut-off current, thereby effectively protecting the permanent magnet synchronous motor 100 and its control system.
  • an embodiment of the present application further provides an unmanned aerial vehicle.
  • the UAV 600 can include a center housing 601, a boom 602, a control system 603, and a permanent magnet synchronous motor 604.
  • the central casing 601 and the arm 602 can be mechanically connected.
  • a permanent magnet synchronous motor 604 is disposed on the arm 602.
  • the unmanned aerial vehicle may include a plurality of arms, and each of the arms may be provided with a permanent magnet synchronous motor.
  • a control system 603 can be disposed within the center housing 601 or the arm 602. In FIG. 6, the control system 603 is illustratively disposed within the center housing 601.
  • Control system 603 is electrically coupled to permanent magnet synchronous machine 604, which may send electrical signals to permanent magnet synchronous machine 604 to control permanent magnet synchronous machine 604.
  • Control system 603 includes an overcurrent protection system 6031 that can be used to perform the methods described above.
  • overcurrent protection system 6031 can be integrated into an electronic governor configured in the unmanned aerial vehicle (Electronic Speed Controller, ESC) is not limited herein.
  • the overcurrent protection system 6031 can be used to protect the permanent magnet synchronous motor in the drone to avoid overcurrent damage.
  • the UAV 600 may also include other components, such as a flight control system, an image transmission system, a pan-tilt camera, etc., which are not limited herein.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
  • Protection Of Generators And Motors (AREA)

Abstract

一种过流保护方法，包括以下步骤：对直流侧提供的输入电流进行采样（S10）；对采样后的采样电流进行滤波（S11）；判断滤波后的滤波电流是否大于阈值电流（S12）；若所述滤波电流大于所述阈值电流，发出过流控制信号至逆变器（S14），以控制所述逆变器对永磁同步电机输出的电流。实现了精确地发现永磁同步电机的过流现象，并及时对过流现象做出控制处理，从而保障了过流产生时永磁同步电机的安全。

Description

过流保护方法、过流保护系统及无人飞行器
本申请要求于2016年11月02日提交中国专利局、申请号为201610950975.X、申请名称为“永磁同步电机过流保护方法、过流保护系统及无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及永磁同步电机控制技术领域，特别是涉及一种过流保护方法、过流保护系统及无人飞行器。
背景技术
永磁同步电机由于具备功率密度高、体积小、不需要励磁、功率因素高以及位置控制精度高等优点，在高性能控制系统中得到了越来越广泛的应用。例如，永磁同步电机可以作为动力装置应用在无人飞行器(Unmanned Aerial Vehicle，UAV)上。
然而，使用永磁同步电机的过程中，若永磁同步电机或用于控制永磁同步电机的控制器件出现异常情况，例如，永磁同步电机出现堵转现象等，则容易导致为永磁同步电机提供的电流过大的问题，即过流(Over Current)现象，进而可能烧毁电机。
发明内容
本申请实施例提供一种过流保护方法、过流保护系统及无人飞行器，其能够对永磁同步电机进行保护，降低永磁同步电机的烧机概率。
第一方面，本申请实施例提供了一种过流保护方法，包括：
对直流侧提供的输入电流进行采样；
对采样后的采样电流进行滤波；
判断滤波后的滤波电流是否大于阈值电流；
若所述滤波电流大于所述阈值电流，发出过流控制信号至逆变器，以控制所述逆变器对永磁同步电机输出的电流。
第二方面，本申请实施例提供了一种过流保护系统，包括：
获取模块，用于对所述直流侧提供的输入电流进行采样；
滤波模块，用于对所述获取模块采样后的采样电流进行滤波；
判断模块，用于判断所述滤波模块滤波后的滤波电流是否大于阈值电流；以及
控制模块，用于若所述判断模块的判断结果为是，发出过流控制信号至逆变器，以控制所述逆变器对永磁同步电机输出的电流。
第三方面，本申请实施例提供了一种无人飞行器，包括：
中心机壳；
机臂；
过流保护系统；其中，所述永磁同步电机过流保护系统设置在所述中心机壳或所述机臂内；以及
永磁同步电机；其中，所述永磁同步电机设置在所述机臂上，所述永磁同步电机与所述过流保护系统连接；
其中，所述过流保护系统用于执行如第一方面中的方法。
本申请实施例中，通过对直流侧提供的输入电流进行采样和过滤，并可以判断过滤后的过滤电流是否大于阈值电流，若大于，则可以发出过流控制信号至逆变器，实现了精确地发现永磁同步电机的过流现象，并及时对过流现象做出控制处理，从而保障了过流产生时永磁同步电机的安全。
附图说明
图1是本申请实施例涉及的一种永磁同步电机的控制系统的结构示意图。
图2是本申请提供的一种包括过流保护系统的永磁同步电机的控制系统的结构示意图。
图3是本申请实施例提供的一种过流保护方法的流程示意图。
图4是本申请实施例提供的另一种过流保护方法的流程示意图。
图5是本申请实施例提供的一种使用过流保护系统后过流情况下的实验结果；
图6是本申请实施例提供的一种无人飞行器的结构示意图。
具体实施方式
下面将结合附图，对本申请实施例中的技术方案进行描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。
图1示出了永磁同步电机的控制系统的结构示意图。永磁同步电机100的控制系统可以包括直流侧101、逆变器103和控制器105等。
其中，直流侧101可以是直流电源，或者直流侧101可以包括交流电源与整流器，整流器可以用于将交流电源输出的交流电整流为直流电。直流侧101用于提供直流电。直流电源101可以输出直流电流至逆变器103。
其中，逆变器103可以包括多个开关器件，该开关器件可以用于导通或截断电流。例如，逆变器103可以包括6个或其他数量的开关器件。逆变器103可以根据控制器105发送的控制信号，确定这多个开关器件的开启或闭合状态，以及开启或闭合时间，以实现向永磁同步电机100输出三相交流电流，从而驱动永磁同步电机100的转速。
其中，控制器105可以输出控制信号至逆变器103。例如，控制器105可以输出脉冲宽度调制(Pulse Width Modulation，PWM)控制信号。控制器105可以通过输出的PWM控制信号的占空比来控制逆变器中一个或多个开关器件的开合时间，进而能够控制逆变器的输出电流，以控制永磁同步电机的转速。
进一步地，控制器105还可以接收来自其他器件或系统的指令，并根据该指令生成控制信号。例如，若该控制系统应用于无人飞行器中时，控制器105可以接收飞行控制系统中飞行控制处理器或飞行控制器的指令，该指令可以用于指示飞行速度等，则控制器105可以根据该指令，确定所要输出的控制信号，该控制信号用于控制永磁同步电机的转速，进而实现控制无人飞行器的飞行速度。
在此，本申请实施例中，控制器105在正常情况下发出的控制信号可以理解为是正常控制信号，该正常控制信号用于通过控制逆变器来控制永磁同步电机的转速。
请参阅图2，图2示出了包括本申请实施例提供的过流保护系统300的永磁同步电机的控制系统。其中，过流保护系统300可以包括获取模块301、过滤模块302、判断模块303和控制模块305。
其中，获取模块301的输入端可以连接直流侧101的输出端。获取模块301可以用于对直流侧101提供的输入电流进行采样。
可选地，获取模块301可以包括单电阻采样模块，或者多电阻采样模块， 例如三电阻采样模块，或者其他采样装置，例如采样传感器等。在此不予限定。其中，单电阻采样模块可包括单个电阻以及基于该单电阻的外围逻辑电路等。当然，获取模块301的功能也可以由具备采样算法的软件实现，在此不予限定。
获取模块301对上述直流侧101提供的输入电流进行采样后，得到的采样电流可以体现为一个脉冲信号。
获取模块301的输出端可以连接滤波模块302的输入端。
其中，滤波模块302用于对获取模块301采样后的采样电流进行滤波。
一种实现方式为，滤波模块302对采样电流进行滤波可以通过限幅滤波或中位滤波等。或者，滤波模块通过其他方式对采样电流进行滤波，以得到滤波电流，在此不予限定。
示例性地，滤波模块302所得到的滤波电流可以体现为示波器上显示的平稳电流信号。滤波模块302所得到的滤波电流的电流值可以用于表示上述输入电流的大小。也就是说，过流保护系统300可以通过获取模块301和滤波模块302来监测直流侧101的输入电流，从而能够实现精确且直接地对直流侧101的输入电流进行获取并监测。
滤波模块302的功能可以由硬件实现，或由具备滤波算法的软件实现，在此不予限定。示例性地，若滤波模块302的功能由硬件实现，则滤波模块302可以包括滤波器，在此对滤波器的类型不予限定。若滤波模块302的功能由软件实现，则滤波模块302可以包括处理器，该处理器中可以通过计算机指令来实现滤波模块302的功能。
可选地，滤波模块302可以集成在控制器105中，在此不予限定。
滤波模块302的输出端可以连接判断模块303的输入端。
判断模块303可以用于判断滤波模块302滤波后的滤波电流是否大于阈值电流。例如，判断模块303比较滤波电流和阈值电流的电流值，进而比较出这两个电流的大小。若滤波电流大于阈值电流，则判断出现过流现象；若小于，则判断未出现过流现象。
可选地，判断模块303若判断出滤波电流大于阈值电流，判断模块303还可以进一步判断该滤波电流大于阈值电流的持续时间是否大于预设时间，若为是，则判断出现过流现象；若为否，则判断未出现过流现象。通过该种方式 可以更加精确地确定是否出现过流现象。
其中，判断模块303的功能可以由硬件实现，或由软件实现。若判断模块303的功能由硬件实现，判断模块可以包括一个或多个对比元件等，此时，阈值电流可以是输入至一个对比元件的一端的电流；若判断模块303的功能由软件实现，判断模块303可以包括处理器，该处理器可以通过计算机指令来实现判断模块303的功能，此时，阈值电流可以是预存储在存储器中的一个阈值。
可选地，判断模块303可以集成设置于控制器105中，如图3中所示，从而减小永磁同步电机100的控制系统的硬件设计体积。可以理解的是，判断模块303也可以不设置于控制器105中。
判断模块303的输出端连接控制模块305的输入端。
控制模块305用于当判断模块303的判断出现过流现象时，发出过流控制信号，该过流控制信号用于控制逆变器对永磁同步电机输出的电流，以避免逆变器输出的电流过大，产生过流现象。可选地，控制模块305可以集成设置于控制器105中，控制模块305可以作为控制器105的一个控制单元来实现上述功能，从而减小永磁同步电机100的控制系统的硬件设计体积。在此种情况下，控制模块305还可以在判断模块303判断未出现过流现象时，向逆变器103发出正常控制信号。
可选地，控制模块305可以独立于控制器105存在。在此种情况下，判断模块303的输出端还可以连接控制器105。其中，若判断模块303判断出现过流现象，可以将该结果通过信号发送给控制模块305，以使控制模块305发出过流控制信号；若判断模块303判断未出现过流现象，可以将该结果通过信号发送给控制器105，以使控制器105发出正常控制信号。
其中，控制模块305发出的过流控制信号可以用于切断逆变器输出给永磁同步电机的输出电流，或者用于减小该输出电流，在此不予限定。
对于上述过流保护系统的功能，可以通过可编程磁盘阵列(Programmable Disk Array，PDA)、现场可编程门阵列(Field-Programmable Gate Array)、专用集成电路(Application-Specific Integrated Circuits)、可编程逻辑器件(Programmable Logic Device，PLD)、复杂可编程逻辑器件(Complex Programmable Logic Device，CPLD)、处理单元(Processing Unit)中的任 意一种硬件实现。其中，过流保护系统的功能也可以由软件实现，例如，过流保护系统的功能可以由上述控制器执行的计算机指令实现，或者，过流保护系统的功能由该过流保护系统专用的芯片实现。当然，过流保护系统的功能还可以由上述硬件结合软件的方式实现，在此不予限定。
结合上述结构说明，下面介绍几种本申请实施例提供的过流保护方法。
图4示出了本申请实施例提供的一种过流保护方法。所述保护方法可以包括以下步骤：
S10：对直流侧提供的输入电流进行采样。
本发明实施方式中，过流保护系统可以通过上述获取模块301来对该输入电流进行采样。
S11：对采样后的采样电流进行滤波。
本发明实施例方式中，过流保护系统可以通过上述滤波模块302对采样后的采样电流进行滤波。滤波后的滤波电流可以表示为过流保护系统所采集的输入电流，过流保护系统通过滤波电流的电流值来得知输入电流的电流值。
S12：判断滤波后的滤波电流是否大于阈值电流。
本发明实施例方式中，过流保护系统可以通过上述判断模块303判断滤波后的滤波电流是否大于阈值电流。当所述滤波电流大于所述阈值电流时，即判断为过流；当所述滤波电流小于或者等于所述阈值电流时，即判断为未过流。
其中，所述阈值电流的大小可以根据需求进行设置，例如，所述阈值电流的电流值是满负荷输入电流的电流值的1.2倍。具体的，永磁同步电机的满负荷输入电流是指永磁同步电机在转速最大时对应的最大工作电流。
S13：若所述滤波电流大于所述阈值电流，发出过流控制信号至逆变器，以控制所述逆变器对永磁同步电机输出的电流。
本发明实施例方式中，过流保护系统可以通过上述控制模块305发出过流控制信号至逆变器，以避免逆变器输出的电流过大，即大于永磁同步电机能够承受的电流，导致永磁同步电机的损坏。
当判断模块303发出的比较结果为未过流时，可以由控制模块305或控制器105输出永磁同步电机100正常控制信号；当判断模块303发出的比较结果为过流时，控制模块305输出过流控制信号。
可以理解的是，所述执行过流保护动作的控制信号可以为用于切断输出电流的控制信号或者是用于减小输出电流的控制信号。
本发明实施方式中，所述过流控制信号可以为用于切断输出电流的控制信号，从而当判断模块303发出的比较结果为过流时，控制模块305输出执行过流保护动作的控制信号，使永磁同步电机100因切断电流而停机，保障了过流产生时永磁同步电机100的安全。
本发明实施方式中，过流控制信号也可以是用于减小输出电流的控制信号。例如，当过流控制信号为PWM控制信号时，可以通过减小PWM控制信号的占空比，来实现减小输出电流。若PWM控制信号的占空比减小为0，则此时该过流控制信号为可以用于切断输出电流的控制信号。具体的，PWM控制信号的占空比可以决定逆变器中开关器件的导通时长，若PWM控制信号的占空比减小，则开关器件的导通时长减小，进而导致逆变器的输出电流减小。
本申请实施例中，通过对直流侧提供的输入电流进行采样和过滤，并可以判断过滤后的过滤电流是否大于阈值电流，若大于，则可以发出过流控制信号至逆变器，实现了精确地发现永磁同步电机的过流现象，并及时对过流现象做出控制处理，从而保障了过流产生时永磁同步电机的安全。
请参阅图4，本申请实施例提供了另一种过流保护方法，包括以下步骤：
S20：对直流侧提供的输入电流进行采样。
S21：对采样后的采样电流进行滤波。
S22：判断滤波后的滤波电流是否大于阈值电流；若是，进行步骤S24；若否，进行步骤S23。
S23：发出正常控制信号。
本发明实施方式中，当判断滤波电流小于或者等于阈值电流时，也即，当判断模块303发出的比较结果为未过流时，控制模块305输出正常运行的控制信号，控制器105将控制模块305输出的正常控制信号输出至逆变器103，逆变器103根据正常控制信号向永磁同步电机发出输出电流，从而使永磁同步电机正常运行。
S24：确定所述滤波电流大于或等于所述阈值电流的持续时间；
判断所述持续时间是否大于或等于预设时间；
若是，进行步骤S25；若否，进行步骤S23。
示例性地，当S22中判断滤波电流大于阈值电流时，进一步地，继续判断持续时间是否大于或等于预设时间。当所述采样电流大于所述阈值电流的持续时间大于或者等于预设时间时，确定存在烧坏电机的风险。
本发明实施方式中，所述预设时间的值的取值范围可以设置为[0.8，1]，若在该预设时间内，判断出滤波电流小于阈值电流，则可以避免对过流现象的误判；若在该预设时间内，判断滤波电流持续大于阈值电流，也可以避免烧坏电机的风险。可以理解的是，所述预设时间也可以根据具体需求设置不同的值。
S25：发出过流控制信号。
控制模块305输出过流控制信号，该过流控制信号可以控制逆变器切断输出电流或减小输出电流，从而保护永磁同步电机或其控制系统的安全。
请参阅图5，图5是本申请实施例提供的一种使用过流保护系统后过流情况下的实验结果。从图中可以看出，当直流侧的输入电流产生过流时，图中的相电流波形在a处的大小为0，也就是说，当直流侧的输入电流产生过流时，永磁同步电机100因切断电流而停机，从而有效地实现了对永磁同步电机100和其控制系统的保护。
请参阅图6，本申请实施例还提供一种无人飞行器。
如图6所示，该无人飞行器600可以包括中心机壳601、机臂602、控制系统603及永磁同步电机604。
其中，中心机壳601与机臂602可以通过机械连接。
机臂602上设置有永磁同步电机604。无人飞行器可以包括多个机臂，每个机臂上可以设置有一个永磁同步电机。
中心机壳601或机臂602内可以设置控制系统603，图6中，控制系统603示例性地设置在中心机壳601内。
控制系统603与永磁同步电机604电连接，控制系统603可以向永磁同步电机604发送电信号以控制永磁同步电机604。
控制系统603包括过流保护系统6031，过流保护系统6031可以用于执行上述方法。过流保护系统6031的实现方式可以参见上述描述，在此不予赘述。进一步地，过流保护系统6031可以集成在无人飞行器中配置的电子调速器 (Electronic Speed Controller，ESC)中，在此不予限定。
在此，过流保护系统6031可以用于保护无人机中的永磁同步电机，避免过流损坏。
当然，该无人飞行器600还可以包括其他部件，如飞行控制系统、图像传输系统、云台相机等，在此不予限定。
以上所述仅为本发明的实施方式，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (13)

  1. 一种过流保护方法，其特征在于，包括：
    对直流侧提供的输入电流进行采样；
    对采样后的采样电流进行滤波；
    判断滤波后的滤波电流是否大于阈值电流；
    若所述滤波电流大于所述阈值电流，发出过流控制信号至逆变器，以控制所述逆变器对永磁同步电机输出的电流。
  2. 根据权利要求1所述的过流保护方法，其特征在于，所述判断滤波后的滤波电流是否大于阈值电流之后，所述方法还包括：
    若所述滤波电流大于所述阈值电流，确定所述滤波电流大于所述阈值电流的持续时间；
    判断所述持续时间是否大于预设时间。
  3. 根据权利要求2所述的过流保护方法，其特征在于，所述发出所述过流控制信号，包括：
    若所述持续时间大于所述预设时间，发出所述过流控制信号至所述逆变器。
  4. 根据权利要求2或3所述的过流保护方法，其特征在于，所述预设时间的值的范围为[0.8s，1s]。
  5. 根据权利要求1-4中任一项所述的过流保护方法，其特征在于，所述阈值电流的电流值是永磁同步电机的满负荷输入电流的电流值的1.2倍，所述永磁同步电机的满负荷输入电流是指永磁同步电机在转速最大时对应的最大工作电流。
  6. 根据权利要求1-5任一项所述的过流保护方法，其特征在于：
    所述过流控制信号用于控制所述逆变器切断所述逆变器输出的电流；或者，
    所述过流控制信号用于控制所述逆变器减小所述逆变器输出的电流。
  7. 一种过流保护系统，其特征在于，包括：
    获取模块，用于对所述直流侧提供的输入电流进行采样；
    滤波模块，用于对所述获取模块采样后的采样电流进行滤波；
    判断模块，用于判断所述滤波模块滤波后的滤波电流是否大于阈值电流； 以及
    控制模块，用于若所述判断模块的判断结果为是，发出过流控制信号至逆变器，以控制所述逆变器对永磁同步电机输出的电流。
  8. 根据权利要求7所述的过流保护系统，其特征在于，所述获取模块包括单电阻采样模块或三电阻采样模块。
  9. 一种无人飞行器，其特征在于，包括：
    中心机壳；
    机臂；
    过流保护系统；其中，所述永磁同步电机过流保护系统设置在所述中心机壳或所述机臂内；以及
    永磁同步电机；其中，所述永磁同步电机设置在所述机臂上，所述永磁同步电机与所述过流保护系统连接；
    其中，所述过流保护系统用于：
    对直流侧提供的输入电流进行采样；
    对采样后的采样电流进行滤波；
    判断滤波后的滤波电流是否大于阈值电流；
    若所述滤波电流大于所述阈值电流，发出过流控制信号至逆变器，以控制所述逆变器对永磁同步电机输出的电流。
  10. 根据权利要求9所述的无人飞行器，其特征在于，所述过流保护系统还用于：
    若所述滤波电流大于所述阈值电流，确定所述滤波电流大于所述阈值电流的持续时间；
    判断所述持续时间是否大于预设时间。
  11. 根据权利要求10所述的无人飞行器，其特征在于，所述过流保护系统还用于：
    若所述持续时间大于所述预设时间，发出所述过流控制信号至所述逆变器。
  12. 根据权利要求9-11任一项所述的无人飞行器，其特征在于，所述过流保护系统集成在电子调速器ESC中。
  13. 根据权利要求12所述的无人飞行器，其特征在于，所述过流保护系统 是下述任意之一：
    可编程磁盘阵列PDA、现场可编程门阵列FPGA、专用集成电路ASIC、可编程逻辑器件PLD、复杂可编程逻辑器件CPLD、处理单元(processing unit)。
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