WO2018082526A1 - Electronic speed controller, motor assembly and unmanned aerial vehicle - Google Patents

Electronic speed controller, motor assembly and unmanned aerial vehicle Download PDF

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Publication number
WO2018082526A1
WO2018082526A1 PCT/CN2017/108392 CN2017108392W WO2018082526A1 WO 2018082526 A1 WO2018082526 A1 WO 2018082526A1 CN 2017108392 W CN2017108392 W CN 2017108392W WO 2018082526 A1 WO2018082526 A1 WO 2018082526A1
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WIPO (PCT)
Prior art keywords
driver
electronic governor
motor
signal
power
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PCT/CN2017/108392
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French (fr)
Chinese (zh)
Inventor
陈毅东
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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 WO2018082526A1 publication Critical patent/WO2018082526A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms

Definitions

  • Embodiments of the present invention relate to the field of motor control technologies, and in particular, to an electronic governor, a motor assembly, and an unmanned aerial vehicle.
  • the power devices of the existing unmanned aerial vehicles generally include a motor and a propeller connected to the motor, and the motor drives the propeller to rotate to provide lift for the unmanned aerial vehicle.
  • an electronic governor is generally used to adjust the speed of the motor.
  • the existing electronic governor includes a power module, a microcontroller, a pre-driver, and a three-phase full-bridge circuit composed of six MOS (Metal-Oxide-Semiconductor) tubes.
  • the microcontroller generates six pulse signals according to the pulse signal of the input port and the collected voltage and current signals.
  • the six pulse signals are enhanced by the pre-driver and output to the three-phase full-bridge circuit, thereby generating an alternating signal for adjusting the motor speed. .
  • the pre-driver is a separate device.
  • One pre-driver provides protection and control functions for all MOS tubes of the three-phase full-bridge circuit.
  • the pre-driver and the three-port full-bridge circuit composed of six MOS tubes are separately set, which makes the existing electronic tuning
  • the speed device has the defects of low integration, cumbersome circuit, many components, weak anti-interference ability and large volume.
  • the technical problem mainly solved by the embodiments of the present invention is to provide an electronic governor, a motor assembly with high integration, small volume, strong anti-interference ability, and the use of the electronic governor or electric Aircraft unmanned aerial vehicle.
  • one technical solution adopted by the embodiment of the present invention is:
  • An electronic governor is provided for adjusting the speed of the motor, including:
  • a controller configured to generate a control signal according to an operating state of the motor
  • a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
  • the driver includes three of the power units, each of the power units including one of the pre-drivers and two of the semiconductor power devices.
  • the driver includes one of the power units, and the power unit includes one of the pre-drivers and six of the semiconductor power devices.
  • a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
  • the semiconductor power device is a MOSFET.
  • the controller includes:
  • a signal processor for detecting a voltage signal and a current signal of the driver
  • a microcontroller configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
  • the microcontroller includes a microcontroller.
  • the signal processor comprises:
  • a voltage detecting unit configured to detect a voltage signal of the driver
  • a current detecting unit is configured to detect a current signal of the driver.
  • a motor assembly including a motor and an electronic governor for adjusting the rotational speed of the motor and electrically connected to the motor, the electronic governor comprising:
  • a controller configured to generate a control signal according to an operating state of the motor
  • a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
  • the driver includes three of the power units, each of the power units including one of the pre-drivers and two of the semiconductor power devices.
  • the driver includes one of the power units, and the power unit includes one of the pre-drivers and six of the semiconductor power devices.
  • a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
  • the semiconductor power device is a MOSFET.
  • the controller includes:
  • a signal processor for detecting a voltage signal and a current signal of the driver
  • a microcontroller configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
  • the microcontroller includes a microcontroller.
  • the signal processor comprises:
  • a voltage detecting unit configured to detect a voltage signal of the driver
  • a current detecting unit is configured to detect a current signal of the driver.
  • an unmanned aerial vehicle including a fuselage, a power unit mounted on the fuselage, a flight controller, and an electronic governor coupled to the flight controller, the power
  • the device includes a motor, a propeller coupled to the motor, the electronic governor being electrically coupled to the motor, the electronic governor comprising:
  • a controller configured to generate a control signal according to an operating state of the motor
  • a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
  • the driver includes three of the power units, each of the power units including one of the pre-drivers and two of the semiconductor power devices.
  • the driver includes one of the power units, and the power unit includes one of the pre-drivers and six of the semiconductor power devices.
  • a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
  • the semiconductor power device is a MOSFET.
  • the controller includes:
  • a signal processor for detecting a voltage signal and a current signal of the driver
  • a microcontroller configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
  • the microcontroller includes a microcontroller.
  • the signal processor comprises:
  • a voltage detecting unit configured to detect a voltage signal of the driver
  • a current detecting unit is configured to detect a current signal of the driver.
  • the embodiment of the invention improves the anti-interference ability and integration degree of the electronic governor, and reduces the volume and occupied space of the electronic governor.
  • 1 is a circuit diagram of a conventional electronic governor
  • FIG. 2 is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG 3 is a functional block diagram of the electronic governor in the unmanned aerial vehicle shown in Figure 2;
  • Figure 4 is a schematic circuit diagram of the electronic governor of Figure 3;
  • Figure 5 is a block diagram showing the structure of a power unit in the electronic governor shown in Figure 3.
  • FIG. 2 is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present application.
  • the UAV is a quadrotor. It can be understood that the UAV in the embodiment of the present invention may also be a single-rotor unmanned aerial vehicle, a three-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, etc., and only a four-rotor aircraft is taken as an example, and It does not constitute a limitation on the unmanned aerial vehicle in the embodiment of the present invention.
  • the unmanned aerial vehicle includes a fuselage 11, an arm 12 connected to the fuselage 11, a motor assembly 13 mounted on the arm 12, A platform 15 connected to the body 11, an imaging device 14 connected to the platform 15, and a flight controller 16 provided in the body 11.
  • the flight controller 16 may include a plurality of functional units, such as a flight control unit for controlling the flight attitude of the aircraft, a target recognition unit for identifying the target, a tracking unit for tracking a specific target, a navigation unit for navigating the aircraft (For example, GPS (Global Positioning System), Beidou), and a data processing unit for processing environmental information acquired by a related airborne device (for example, the imaging device 14).
  • a flight control unit for controlling the flight attitude of the aircraft
  • a target recognition unit for identifying the target
  • a tracking unit for tracking a specific target
  • a navigation unit for navigating the aircraft (For example, GPS (Global Positioning System), Beidou)
  • a data processing unit for processing environmental information acquired by a related airborne device (for example, the imaging device 14).
  • the motor 13 includes a motor 132 disposed at one end of the arm 12, a propeller 131 coupled to a rotating shaft of the motor 132, and an electronic governor 17.
  • the rotating shaft of the motor 132 rotates to drive the propeller 131 to rotate to provide lift to the unmanned aerial vehicle, and the electronic governor 17 is electrically connected to the flight controller 16 to adjust the rotational speed of the motor 132.
  • the pan/tilt 15 is used to mitigate or even eliminate the vibration transmitted by the motor assembly 13 to the image device 14 to ensure that the image device 14 can capture a stable and clear image or video.
  • the imaging device 14 may be a binocular camera, a monocular camera, an infrared imaging device, an ultraviolet imaging device, a camcorder, or the like.
  • the imaging device 14 may be directly mounted on the UAV 10 or may be mounted on the UAV by the PTZ 15 as shown in this embodiment.
  • the PTZ 15 allows the imaging device 14 to rotate relative to the UAV around at least one axis. .
  • electronic governor 17 includes a controller 50 and a driver 30 coupled to controller 50.
  • the controller 50 generates a control signal based on the operating state of the motor 132, and the driver 30 outputs an alternating signal for adjusting the rotational speed of the motor based on the control signal generated by the controller 50.
  • controller 50 includes a signal processor 40 and a microcontroller 20.
  • the signal processor 40 is for detecting a voltage signal and a current signal of the driver 30, and the microcontroller 20 generates the control signal based on the voltage signal and the current signal collected by the signal processor 40.
  • the signal processing module 40 mainly includes a voltage detecting unit 41 and a current detecting unit 42 for detecting the voltage signal and the current signal output by the driver 30 and feeding back to the microcontroller 20.
  • the voltage detecting unit 41 and the current detecting unit 42 may employ sampling resistors. In other embodiments, the voltage detecting unit 41 and the current detecting unit 42 may also employ sampling circuits or even sensors.
  • the output of the number processing module 40 is coupled to the microcontroller 20.
  • the microcontroller 20 estimates the magnitude of the rotational speed of the motor 50 based on the feedback voltage signal and current signal, controls the operating state of the motor 50 in real time, and performs closed loop control.
  • the microcontroller 20 may further include a power supply circuit 10, and the microcontroller 20 may be a single-chip microcomputer, which is controlled by a single-chip microcomputer, and can detect the working current of the motor and its change, thereby better controlling the motor. Rotating speed.
  • driver 30 includes at least one power unit, each power unit including a pre-driver and a semiconductor power device coupled to and integrated with the pre-driver.
  • the semiconductor power device comprises a power MOSFET.
  • a power unit can include two MOSFET tubes and a pre-driver integrated with the two MOSFET tubes.
  • the pre-driver is a gate drive of the MOSFET, and is used to drive a switch of the MOSFET.
  • a driving resistor (not shown) may be electrically connected between the pre-driver and the MOSFET, and the driving resistor is used for suppressing oscillation and limiting current to protect the MOSFET.
  • the driver 30 includes three power units 32, 34, and 36. In other possible embodiments, the driver 30 may also include only one power unit including a pre-driver and six MOSFET tubes electrically coupled to the pre-driver.
  • the output of the power supply circuit 10 is coupled to the input of the microcontroller 20, and the output of the microcontroller 20 is coupled to the input of the driver 30. After the DC input is regulated by the power supply circuit 10, the DC input is converted by the driver 30 into an AC output required to drive the rotor of the motor under the control of the microcontroller 20.
  • the power supply circuit 10 produces the voltage required by the microcontroller 20, typically 3.3V or 5V.
  • the microcontroller 20 generates six PWM (Pulse Width Modulation) signals according to the pulse signal of the input port and the collected voltage and current signals, which are respectively used to control the switches of the six MOSFET tubes.
  • PWM Pulse Width Modulation
  • a scheme of combining two N-type MOSFETs and a pre-driver is used, and three power units are used to replace the six transistors and one pre-driver of the full-bridge circuit of the prior art electronic governor.
  • this embodiment integrates two N-type MOSFETs and a pre-driver to separate the original Module integration processing.
  • the integrated MOSFET can also have two implementations, one using three P-channel MOSFETs and three N-channel MOSFETs.
  • the full-bridge driver consists of six N-channel MOSFETs that make up the upper and lower arms, respectively, and then set up the boost circuit.
  • the boost circuit can be DC-DC boosted.
  • pre-driver can be integrated with multiple MOSFETs, the number of which is specifically determined by the final circuit function module.
  • the new electronic governor used in the unmanned aerial vehicle integrates the pre-driver with the MOSFET tube according to the needs of full-bridge circuit protection and control, and then combines to form a three-phase full-bridge circuit.
  • the added pre-driver improves the electronic governor.
  • the anti-interference ability also increases the integration of the governor, reducing the volume and space occupied by the electronic governor.
  • the UAV using the electronic governor can be made smaller and lighter.
  • the electronic governor integrates the pre-driver with the MOSFET tube, which improves the anti-interference ability and integration degree of the electronic governor, and reduces the volume and occupied space of the electronic governor.
  • the motor assembly of the embodiment of the present application does not provide a separate pre-driver, but integrates the pre-driver and the MOSFET tube to form an intelligent power module, and then combines the smart power module to form a circuit with independent functions, thereby reducing the motor component in the drone. Take up space.
  • the unmanned aerial vehicle of the embodiment of the present application integrates the pre-driver and the MOSFET tube to form an intelligent power module, and then combines the intelligent power module to form a circuit with independent functions, so that the unmanned aerial vehicle is more compact and convenient.

Abstract

An electronic speed controller (17), used for regulating rotational speed of a motor (13) and comprising: a controller (50), used for generating a control signal according to the operating state of the motor (13); and a driver (30), used for outputting an alternating signal for adjusting the rotational speed of the motor (13) according to the control signal generated by the controller (50). The driver (30) comprises at least one power unit which comprises a pre-driver and a semiconductor power device that is electrically connected to the pre-driver. The electronic speed controller (17) integrates the pre-driver and the semiconductor power device into the power unit, thereby increasing an anti-interference capability of the electronic speed controller (17) and reducing the size of and space occupied by the electronic speed controller (17).

Description

一种电子调速器、电机组件以及无人飞行器Electronic governor, motor assembly and unmanned aerial vehicle
相关申请案的交叉引用Cross-reference to related applications
本申请主张申请号为201610959536.5，申请日为2016年11月3日的中国专利申请的优先权，且该中国专利申请的全文通过引用结合于本文。The present application claims the priority of the Chinese Patent Application No. 201610959536.5, the entire disclosure of which is hereby incorporated by reference.
技术领域Technical field
本发明实施方式涉及电机控制技术领域，特别是涉及一种电子调速器、电机组件以及无人飞行器。Embodiments of the present invention relate to the field of motor control technologies, and in particular, to an electronic governor, a motor assembly, and an unmanned aerial vehicle.
背景技术Background technique
目前，现有的无人飞行器的动力装置一般包括电机和与电机相连的螺旋桨，由电机驱动螺旋桨旋转从而为无人飞行器提供升力。为了获得不同的飞行姿态和飞行速度，一般采用电子调速器来调节电机的转速。At present, the power devices of the existing unmanned aerial vehicles generally include a motor and a propeller connected to the motor, and the motor drives the propeller to rotate to provide lift for the unmanned aerial vehicle. In order to obtain different flight attitudes and flight speeds, an electronic governor is generally used to adjust the speed of the motor.
请参阅图1，现有的电子调速器包括电源模块、微控制器、预驱动器、六个MOS(Metal-Oxide-Semiconductor，金属-氧化物-半导体)管组成的三相全桥电路。微控制器根据其输入端口的脉冲信号和采集的电压及电流信号，产生六路脉冲信号，六路脉冲信号通过预驱动器增强后输出至三相全桥电路，从而产生用于调节电机转速的交变信号。Referring to FIG. 1 , the existing electronic governor includes a power module, a microcontroller, a pre-driver, and a three-phase full-bridge circuit composed of six MOS (Metal-Oxide-Semiconductor) tubes. The microcontroller generates six pulse signals according to the pulse signal of the input port and the collected voltage and current signals. The six pulse signals are enhanced by the pre-driver and output to the three-phase full-bridge circuit, thereby generating an alternating signal for adjusting the motor speed. .
预驱动器是单独的器件，一个预驱动器为三相全桥电路的所有MOS管提供保护和控制功能，预驱动器和六个MOS管组成的三项全桥电路分开设置，这使得现有的电子调速器具有集成度不高，电路繁琐、元器件较多、抗干扰能力不强、体积大等缺陷。The pre-driver is a separate device. One pre-driver provides protection and control functions for all MOS tubes of the three-phase full-bridge circuit. The pre-driver and the three-port full-bridge circuit composed of six MOS tubes are separately set, which makes the existing electronic tuning The speed device has the defects of low integration, cumbersome circuit, many components, weak anti-interference ability and large volume.
因此，现有技术还有待于改进和发展。Therefore, the prior art has yet to be improved and developed.
发明内容Summary of the invention
本发明实施方式主要解决的技术问题是提供一种集成度高、体积小、抗干扰能力强的电子调速器、电机组件以及使用该电子调速器或电 机组件的无人飞行器。The technical problem mainly solved by the embodiments of the present invention is to provide an electronic governor, a motor assembly with high integration, small volume, strong anti-interference ability, and the use of the electronic governor or electric Aircraft unmanned aerial vehicle.
为解决上述技术问题，本发明实施例采用的一个技术方案是：In order to solve the above technical problem, one technical solution adopted by the embodiment of the present invention is:
提供一种电子调速器，用于调节电机的转速，包括：An electronic governor is provided for adjusting the speed of the motor, including:
控制器：用于根据所述电机的运行状态生成控制信号；a controller: configured to generate a control signal according to an operating state of the motor;
驱动器：用于根据所述控制器生成的控制信号输出用于调节所述电机的转速的交变信号，包括至少一个功率单元，所述功率单元包括预驱动器和与所述预驱动器电连接的半导体功率器件。a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
在本发明的一实施例中，所述驱动器包括3个所述功率单元，每一个所述功率单元均包括1个所述预驱动器和2个所述半导体功率器件。In an embodiment of the invention, the driver includes three of the power units, each of the power units including one of the pre-drivers and two of the semiconductor power devices.
在本发明的一实施例中，所述驱动器包括1个所述功率单元，所述功率单元包括1个所述预驱动器和6个所述半导体功率器件。In an embodiment of the invention, the driver includes one of the power units, and the power unit includes one of the pre-drivers and six of the semiconductor power devices.
在本发明的一实施例中，所述预驱动器和所述半导体功率器件之间还电连接有驱动电阻。In an embodiment of the invention, a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
在本发明的一实施例中，所述半导体功率器件为MOSFET管。In an embodiment of the invention, the semiconductor power device is a MOSFET.
在本发明的一实施例中，所述控制器包括：In an embodiment of the invention, the controller includes:
信号处理器：用于检测所述驱动器的电压信号和电流信号；a signal processor: for detecting a voltage signal and a current signal of the driver;
微控制器：用于根据所述信号处理器检测的电压信号和电流信号，生成所述控制信号。a microcontroller: configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
在本发明的一实施例中，所述微控制器包括单片机。In an embodiment of the invention, the microcontroller includes a microcontroller.
在本发明的一实施例中，所述信号处理器包括：In an embodiment of the invention, the signal processor comprises:
电压检测单元，用于检测所述驱动器的电压信号；a voltage detecting unit, configured to detect a voltage signal of the driver;
电流检测单元，用于检测所述驱动器的电流信号。A current detecting unit is configured to detect a current signal of the driver.
本发明实施例采用的又一技术方案为：提供一种电机组件，包括电机和用于调节所述电机的转速并与所述电机电连接的电子调速器，所述电子调速器包括：Another technical solution adopted by the embodiment of the present invention is to provide a motor assembly including a motor and an electronic governor for adjusting the rotational speed of the motor and electrically connected to the motor, the electronic governor comprising:
控制器：用于根据所述电机的运行状态生成控制信号；a controller: configured to generate a control signal according to an operating state of the motor;
驱动器：用于根据所述控制器生成的控制信号输出用于调节所述电机的转速的交变信号，包括至少一个功率单元，所述功率单元包括预驱动器和与所述预驱动器电连接的半导体功率器件。 a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
在本发明的一实施例中，所述驱动器包括3个所述功率单元，每一个所述功率单元均包括1个所述预驱动器和2个所述半导体功率器件。In an embodiment of the invention, the driver includes three of the power units, each of the power units including one of the pre-drivers and two of the semiconductor power devices.
在本发明的一实施例中，所述驱动器包括1个所述功率单元，所述功率单元包括1个所述预驱动器和6个所述半导体功率器件。In an embodiment of the invention, the driver includes one of the power units, and the power unit includes one of the pre-drivers and six of the semiconductor power devices.
在本发明的一实施例中，所述预驱动器和所述半导体功率器件之间还电连接有驱动电阻。In an embodiment of the invention, a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
在本发明的一实施例中，所述半导体功率器件为MOSFET管。In an embodiment of the invention, the semiconductor power device is a MOSFET.
在本发明的一实施例中，所述控制器包括：In an embodiment of the invention, the controller includes:
信号处理器：用于检测所述驱动器的电压信号和电流信号；a signal processor: for detecting a voltage signal and a current signal of the driver;
微控制器：用于根据所述信号处理器检测的电压信号和电流信号，生成所述控制信号。a microcontroller: configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
在本发明的一实施例中，所述微控制器包括单片机。In an embodiment of the invention, the microcontroller includes a microcontroller.
在本发明的一实施例中，所述信号处理器包括：In an embodiment of the invention, the signal processor comprises:
电压检测单元，用于检测所述驱动器的电压信号；a voltage detecting unit, configured to detect a voltage signal of the driver;
电流检测单元，用于检测所述驱动器的电流信号。A current detecting unit is configured to detect a current signal of the driver.
本发明采用的再一实施例为：提供一种无人飞行器，包括机身、安装在机身上的动力装置、飞行控制器以及与所述飞行控制器相连的电子调速器，所述动力装置包括电机、与所述电机相连的螺旋桨，所述电子调速器与所述电机电连接，所述电子调速器包括：Yet another embodiment of the present invention provides an unmanned aerial vehicle including a fuselage, a power unit mounted on the fuselage, a flight controller, and an electronic governor coupled to the flight controller, the power The device includes a motor, a propeller coupled to the motor, the electronic governor being electrically coupled to the motor, the electronic governor comprising:
控制器：用于根据所述电机的运行状态生成控制信号；a controller: configured to generate a control signal according to an operating state of the motor;
驱动器：用于根据所述控制器生成的控制信号输出用于调节所述电机的转速的交变信号，包括至少一个功率单元，所述功率单元包括预驱动器和与所述预驱动器电连接的半导体功率器件。a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
在本发明的一实施例中，所述驱动器包括3个所述功率单元，每一个所述功率单元均包括1个所述预驱动器和2个所述半导体功率器件。In an embodiment of the invention, the driver includes three of the power units, each of the power units including one of the pre-drivers and two of the semiconductor power devices.
在本发明的一实施例中，所述驱动器包括1个所述功率单元，所述功率单元包括1个所述预驱动器和6个所述半导体功率器件。In an embodiment of the invention, the driver includes one of the power units, and the power unit includes one of the pre-drivers and six of the semiconductor power devices.
在本发明的一实施例中，所述预驱动器和所述半导体功率器件之间还电连接有驱动电阻。 In an embodiment of the invention, a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
在本发明的一实施例中，所述半导体功率器件为MOSFET管。In an embodiment of the invention, the semiconductor power device is a MOSFET.
在本发明的一实施例中，所述控制器包括：In an embodiment of the invention, the controller includes:
信号处理器：用于检测所述驱动器的电压信号和电流信号；a signal processor: for detecting a voltage signal and a current signal of the driver;
微控制器：用于根据所述信号处理器检测的电压信号和电流信号，生成所述控制信号。a microcontroller: configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
在本发明的一实施例中，所述微控制器包括单片机。In an embodiment of the invention, the microcontroller includes a microcontroller.
在本发明的一实施例中，所述信号处理器包括：In an embodiment of the invention, the signal processor comprises:
电压检测单元，用于检测所述驱动器的电压信号；a voltage detecting unit, configured to detect a voltage signal of the driver;
电流检测单元，用于检测所述驱动器的电流信号。A current detecting unit is configured to detect a current signal of the driver.
本发明实施例提高了电子调速器的抗干扰能力和集成度，减小了电子调速器的体积和占用的空间。The embodiment of the invention improves the anti-interference ability and integration degree of the electronic governor, and reduces the volume and occupied space of the electronic governor.
附图说明DRAWINGS
图1是现有的电子调速器的电路示意图；1 is a circuit diagram of a conventional electronic governor;
图2是本发明实施例提供的一种无人飞行器的结构示意图；2 is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present invention;
图3是图2所示的无人机飞行器中电子调速器的功能模块图；Figure 3 is a functional block diagram of the electronic governor in the unmanned aerial vehicle shown in Figure 2;
图4是图3所述的电子调速器的电路简图；Figure 4 is a schematic circuit diagram of the electronic governor of Figure 3;
图5是图3所示的电子调速器中功率单元的结构简图。Figure 5 is a block diagram showing the structure of a power unit in the electronic governor shown in Figure 3.
具体实施方式detailed description
为使本发明实施例的目的、技术方案和优点更加清楚明白，下面结合附图对本发明实施例做进一步详细说明。在此，本发明的示意性实施例及其说明用于解释本发明，但并不作为对本发明的限定。The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. The illustrative embodiments of the present invention and the description thereof are intended to explain the present invention, but are not intended to limit the invention.
请参考2，所示为本申请实施例无人飞行器的结构示意图。Please refer to FIG. 2, which is a schematic structural view of an unmanned aerial vehicle according to an embodiment of the present application.
在本发明的一实施例中，无人飞行器为四旋翼飞行器。可以理解的是，本发明实施例中的无人飞行器还可以是单旋翼无人飞行器、三旋翼无人飞行器、六旋翼无人飞行器等等，这里仅是以四旋翼飞行器为例进行说明，并不构成对本发明实施例中无人飞行器的限定。无人飞行器包括机身11、与机身11相连的机臂12、安装在机臂12上的电机组件13、 与机身11相连的云台15、与云台15相连的影像设备14以及设于机身11内的飞行控制器16。In an embodiment of the invention, the UAV is a quadrotor. It can be understood that the UAV in the embodiment of the present invention may also be a single-rotor unmanned aerial vehicle, a three-rotor unmanned aerial vehicle, a six-rotor unmanned aerial vehicle, etc., and only a four-rotor aircraft is taken as an example, and It does not constitute a limitation on the unmanned aerial vehicle in the embodiment of the present invention. The unmanned aerial vehicle includes a fuselage 11, an arm 12 connected to the fuselage 11, a motor assembly 13 mounted on the arm 12, A platform 15 connected to the body 11, an imaging device 14 connected to the platform 15, and a flight controller 16 provided in the body 11.
飞行控制器16可以包括多个功能性单元，如，用于控制飞行器飞行姿态的飞行控制单元、用于识别目标的目标识别单元、用于跟踪特定目标的跟踪单元、用于导航飞行器的导航单元(例如GPS(Global Positioning System)、北斗)、以及用于处理相关机载设备(如，影像设备14)所获取的环境信息的数据处理单元等。The flight controller 16 may include a plurality of functional units, such as a flight control unit for controlling the flight attitude of the aircraft, a target recognition unit for identifying the target, a tracking unit for tracking a specific target, a navigation unit for navigating the aircraft (For example, GPS (Global Positioning System), Beidou), and a data processing unit for processing environmental information acquired by a related airborne device (for example, the imaging device 14).
电机13包括设置在机臂12一端的电机132、与电机132的转轴相连的螺旋桨131和电子调速器17。电机132的转轴转动以带动螺旋桨131旋转从而给无人飞行器提供升力，电子调速器17与飞行控制器16电连接以调节电机132的转速。The motor 13 includes a motor 132 disposed at one end of the arm 12, a propeller 131 coupled to a rotating shaft of the motor 132, and an electronic governor 17. The rotating shaft of the motor 132 rotates to drive the propeller 131 to rotate to provide lift to the unmanned aerial vehicle, and the electronic governor 17 is electrically connected to the flight controller 16 to adjust the rotational speed of the motor 132.
云台15用于减轻甚至消除电机组件13传递给影像设备14的振动，以保证影像设备14能够拍摄出稳定清晰的图像或视频。The pan/tilt 15 is used to mitigate or even eliminate the vibration transmitted by the motor assembly 13 to the image device 14 to ensure that the image device 14 can capture a stable and clear image or video.
影像设备14可以是双目摄像头、单目摄像头、红外线影像设备、紫外线影像设备、摄录机等类似的设备。影像设备14可以直接搭载在无人飞行器10上，也可以通过如本实施例所示的云台15搭载在无人飞行器上，云台15允许影像设备14相对于无人飞行器绕至少一个轴转动。The imaging device 14 may be a binocular camera, a monocular camera, an infrared imaging device, an ultraviolet imaging device, a camcorder, or the like. The imaging device 14 may be directly mounted on the UAV 10 or may be mounted on the UAV by the PTZ 15 as shown in this embodiment. The PTZ 15 allows the imaging device 14 to rotate relative to the UAV around at least one axis. .
如图3所示，在本发明的一实施例中，电子调速器17包括控制器50和与控制器50相连的驱动器30。控制器50根据电机132的运行状态生成控制信号，驱动器30根据控制器50生成的控制信号输出用于调节电机转速的交变信号。As shown in FIG. 3, in an embodiment of the invention, electronic governor 17 includes a controller 50 and a driver 30 coupled to controller 50. The controller 50 generates a control signal based on the operating state of the motor 132, and the driver 30 outputs an alternating signal for adjusting the rotational speed of the motor based on the control signal generated by the controller 50.
在本发明的一实施例中，控制器50包括信号处理器40和微控制器20。信号处理器40用于检测驱动器30的电压信号和电流信号，微控制器20根据信号处理器40采集的电压信号和电流信号生成所述控制信号。作为该信号处理模块的一种实施例，该信号处理模块40主要包括电压检测单元41和电流检测单元42，用于检测驱动器30输出的电压信号和电流信号，并反馈给微控制器20。在本发明的一实施例中，电压检测单元41和电流检测单元42可以采用采样电阻。在其他实施例中，电压检测单元41和电流检测单元42还可以采用采样电路甚至传感器。信 号处理模块40的输出连接微控制器20。微控制器20根据反馈回来的电压信号和电流信号，估算电机50的转速大小，实时控制电机50的运行状态，实行闭环控制。In an embodiment of the invention, controller 50 includes a signal processor 40 and a microcontroller 20. The signal processor 40 is for detecting a voltage signal and a current signal of the driver 30, and the microcontroller 20 generates the control signal based on the voltage signal and the current signal collected by the signal processor 40. As an embodiment of the signal processing module, the signal processing module 40 mainly includes a voltage detecting unit 41 and a current detecting unit 42 for detecting the voltage signal and the current signal output by the driver 30 and feeding back to the microcontroller 20. In an embodiment of the invention, the voltage detecting unit 41 and the current detecting unit 42 may employ sampling resistors. In other embodiments, the voltage detecting unit 41 and the current detecting unit 42 may also employ sampling circuits or even sensors. Letter The output of the number processing module 40 is coupled to the microcontroller 20. The microcontroller 20 estimates the magnitude of the rotational speed of the motor 50 based on the feedback voltage signal and current signal, controls the operating state of the motor 50 in real time, and performs closed loop control.
在本发明的一实施例中，微控制器20还可以包括电源电路10，微控制器20可以为单片机，利用单片机进行控制，可以实施检测电机工作电流及其变化，从而更好地控制电机的转速。In an embodiment of the present invention, the microcontroller 20 may further include a power supply circuit 10, and the microcontroller 20 may be a single-chip microcomputer, which is controlled by a single-chip microcomputer, and can detect the working current of the motor and its change, thereby better controlling the motor. Rotating speed.
如图4所示，在本发明的一实施例中，驱动器30包括至少一个功率单元，每个功率单元均包括预驱动器和与预驱动器相连并集成在一起的半导体功率器件。在本发明的一实施例中，半导体功率器件包括功率MOSFET。在本发明的其中一种实施例中，一个功率单元可以包括两个MOSFET管和与这两个MOSFET管集成的预驱动器。其中，预驱动器为MOSFET管的门极驱动，用于驱动MOSFET管的开关。在本发明的一实施例中，预驱动器和MOSFET管之间还可以电连接驱动电阻(图中未示出)，该驱动电阻用于抑制震荡，限制电流，以对MOSFET管起到保护作用。如图5所示，由于本发明实施例提供的电机132为三相交流电机，因此，驱动器30包括三个功率单元32、34和36。在其他可能的实施例中，驱动器30也可以只包括一个功率单元，该功率单元包括一个预驱动器和与该预驱动器电连接的6个MOSFET管。电源电路10的输出端连接微控制器20的输入端，微控制器20的输出端连接驱动器30的输入端。直流输入经由电源电路10调整电压后，在微控制器20的控制下，通过该驱动器30将直流输入转换为驱动电机的转子所需要的交流输出。电源电路10产生微控制器20所需的电压，通常为3.3V或5V。微控制器20根据输入端口的脉冲信号和采集的电压电流信号，产生六路PWM(Pulse Width Modulation，脉冲宽度调制)信号，分别用于控制六个MOSFET管的开关。As shown in FIG. 4, in an embodiment of the invention, driver 30 includes at least one power unit, each power unit including a pre-driver and a semiconductor power device coupled to and integrated with the pre-driver. In an embodiment of the invention, the semiconductor power device comprises a power MOSFET. In one of the embodiments of the present invention, a power unit can include two MOSFET tubes and a pre-driver integrated with the two MOSFET tubes. The pre-driver is a gate drive of the MOSFET, and is used to drive a switch of the MOSFET. In an embodiment of the invention, a driving resistor (not shown) may be electrically connected between the pre-driver and the MOSFET, and the driving resistor is used for suppressing oscillation and limiting current to protect the MOSFET. As shown in FIG. 5, since the motor 132 provided by the embodiment of the present invention is a three-phase alternating current motor, the driver 30 includes three power units 32, 34, and 36. In other possible embodiments, the driver 30 may also include only one power unit including a pre-driver and six MOSFET tubes electrically coupled to the pre-driver. The output of the power supply circuit 10 is coupled to the input of the microcontroller 20, and the output of the microcontroller 20 is coupled to the input of the driver 30. After the DC input is regulated by the power supply circuit 10, the DC input is converted by the driver 30 into an AC output required to drive the rotor of the motor under the control of the microcontroller 20. The power supply circuit 10 produces the voltage required by the microcontroller 20, typically 3.3V or 5V. The microcontroller 20 generates six PWM (Pulse Width Modulation) signals according to the pulse signal of the input port and the collected voltage and current signals, which are respectively used to control the switches of the six MOSFET tubes.
本实施例中，采用将两个N型MOSFET管与预驱动器结合在一起的方案，用3个功率单元替代了现有技术中电子调速器的全桥电路的六个晶体管和一个预驱动器，提高了电路集成，减少了器件所占空间。并且，本实施例将两个N型MOSFET管和预驱动器集成在一起能够将原先分离 的模块集成化处理。在本发明的一实施例中，集成的MOSFET管也可以有两种实施方式，一种方案是采用3个P沟道MOSFET管和3个N沟道MOSFET管。另一种方案是全桥驱动由六个N沟道MOSFET组成，分别组成上臂和下臂，再设置升压电路。该升压电路可以采用DC-DC升压。In this embodiment, a scheme of combining two N-type MOSFETs and a pre-driver is used, and three power units are used to replace the six transistors and one pre-driver of the full-bridge circuit of the prior art electronic governor. Improved circuit integration and reduced space occupied by devices. Moreover, this embodiment integrates two N-type MOSFETs and a pre-driver to separate the original Module integration processing. In an embodiment of the invention, the integrated MOSFET can also have two implementations, one using three P-channel MOSFETs and three N-channel MOSFETs. Another solution is that the full-bridge driver consists of six N-channel MOSFETs that make up the upper and lower arms, respectively, and then set up the boost circuit. The boost circuit can be DC-DC boosted.
对本领域一般技术人员来说，可以理解的是预驱动器可以和多个MOSFET管集成，具体集成MOSFET管的数量由最终的电路功能模块决定。It will be understood by one of ordinary skill in the art that the pre-driver can be integrated with multiple MOSFETs, the number of which is specifically determined by the final circuit function module.
该运用在无人飞行器上的新型电子调速器根据全桥电路保护和控制的需要将预驱动器与MOSFET管集成，再组合形成三相全桥电路，增加的预驱动器提高了电子调速器的抗干扰能力，也增加了调速器的集成度，减小了电子调速器的体积和占用的空间。同时，使得使用该种电子调速器的无人飞行器也可以制作得更小巧轻便。The new electronic governor used in the unmanned aerial vehicle integrates the pre-driver with the MOSFET tube according to the needs of full-bridge circuit protection and control, and then combines to form a three-phase full-bridge circuit. The added pre-driver improves the electronic governor. The anti-interference ability also increases the integration of the governor, reducing the volume and space occupied by the electronic governor. At the same time, the UAV using the electronic governor can be made smaller and lighter.
本技术方案中：该电子调速器将预驱动器与MOSFET管集成，提高了电子调速器的抗干扰能力和集成度，减小了电子调速器的体积和占用的空间。本申请实施例的电机组件，不设置单独预驱动器，而是将预驱动器与MOSFET管集成形成智能功率模块，再组合智能功率模块形成具有独立功能的电路，减少了电机组件在无人机中所占空间。本申请实施例的无人飞行器，将预驱动器与MOSFET管集成形成智能功率模块，再组合智能功率模块形成具有独立功能的电路使得无人飞行器更小巧方便。In the technical solution: the electronic governor integrates the pre-driver with the MOSFET tube, which improves the anti-interference ability and integration degree of the electronic governor, and reduces the volume and occupied space of the electronic governor. The motor assembly of the embodiment of the present application does not provide a separate pre-driver, but integrates the pre-driver and the MOSFET tube to form an intelligent power module, and then combines the smart power module to form a circuit with independent functions, thereby reducing the motor component in the drone. Take up space. The unmanned aerial vehicle of the embodiment of the present application integrates the pre-driver and the MOSFET tube to form an intelligent power module, and then combines the intelligent power module to form a circuit with independent functions, so that the unmanned aerial vehicle is more compact and convenient.
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。 The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims (24)

  1. 一种电子调速器，用于调节电机的转速，其特征在于，包括：An electronic governor for adjusting the rotational speed of a motor is characterized by comprising:
    控制器：用于根据所述电机的运行状态生成控制信号；a controller: configured to generate a control signal according to an operating state of the motor;
    驱动器：用于根据所述控制器生成的控制信号输出用于调节所述电机的转速的交变信号，包括至少一个功率单元，所述功率单元包括预驱动器和与所述预驱动器电连接的半导体功率器件。a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
  2. 根据权利要求1所述的电子调速器，其特征在于，所述驱动器包括3个所述功率单元，每一个所述功率单元均包括1个所述预驱动器和2个所述半导体功率器件。The electronic governor of claim 1 wherein said driver comprises three of said power units, each of said power units comprising one of said pre-drivers and two of said semiconductor power devices.
  3. 根据权利要求1所述的电子调速器，其特征在于，所述驱动器包括1个所述功率单元，所述功率单元包括1个所述预驱动器和6个所述半导体功率器件。The electronic governor of claim 1 wherein said driver comprises one of said power units, said power unit comprising one of said pre-drivers and six of said semiconductor power devices.
  4. 根据权利要求1-3任一项所述的电子调速器，其特征在于，所述预驱动器和所述半导体功率器件之间还电连接有驱动电阻。The electronic governor according to any one of claims 1 to 3, characterized in that a drive resistor is electrically connected between the pre-driver and the semiconductor power device.
  5. 根据权利要求1-4任一项所述的电子调速器，其特征在于，所述半导体功率器件为MOSFET管。The electronic governor according to any one of claims 1 to 4, wherein the semiconductor power device is a MOSFET.
  6. 根据权利要求1-5任一项所述的电子调速器，其特征在于，所述控制器包括：The electronic governor according to any one of claims 1 to 5, wherein the controller comprises:
    信号处理器：用于检测所述驱动器的电压信号和电流信号；a signal processor: for detecting a voltage signal and a current signal of the driver;
    微控制器：用于根据所述信号处理器检测的电压信号和电流信号，生成所述控制信号。a microcontroller: configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
  7. 根据权利要求6所述的电子调速器，其特征在于，所述微控制器包括单片机。The electronic governor of claim 6 wherein said microcontroller comprises a microcontroller.
  8. 根据权利要求6或7所述的电子调速器，其特征在于，所述信号处理器包括：The electronic governor according to claim 6 or 7, wherein the signal processor comprises:
    电压检测单元，用于检测所述驱动器的电压信号；a voltage detecting unit, configured to detect a voltage signal of the driver;
    电流检测单元，用于检测所述驱动器的电流信号。A current detecting unit is configured to detect a current signal of the driver.
  9. 一种电机组件，包括电机和用于调节所述电机的转速并与所述 电机电连接的电子调速器，其特征在于，所述电子调速器包括：A motor assembly including a motor and a speed for adjusting the motor and An electronic governor electrically connected to the motor, characterized in that the electronic governor comprises:
    控制器：用于根据所述电机的运行状态生成控制信号；a controller: configured to generate a control signal according to an operating state of the motor;
    驱动器：用于根据所述控制器生成的控制信号输出用于调节所述电机的转速的交变信号，包括至少一个功率单元，所述功率单元包括预驱动器和与所述预驱动器电连接的半导体功率器件。a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
  10. 根据权利要求9所述的电子调速器，其特征在于，所述驱动器包括3个所述功率单元，每一个所述功率单元均包括1个所述预驱动器和2个所述半导体功率器件。The electronic governor of claim 9 wherein said driver comprises three of said power units, each of said power units comprising one of said pre-drivers and two of said semiconductor power devices.
  11. 根据权利要求9所述的电子调速器，其特征在于，所述驱动器包括1个所述功率单元，所述功率单元包括1个所述预驱动器和6个所述半导体功率器件。The electronic governor of claim 9 wherein said driver comprises one of said power units, said power unit comprising one of said pre-drivers and six of said semiconductor power devices.
  12. 根据权利要求9-11任一项所述的电子调速器，其特征在于，所述预驱动器和所述半导体功率器件之间还电连接有驱动电阻。The electronic governor according to any one of claims 9-11, wherein a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
  13. 根据权利要求9-12任一项所述的电子调速器，其特征在于，所述半导体功率器件为MOSFET管。An electronic governor according to any of claims 9-12, wherein said semiconductor power device is a MOSFET.
  14. 根据权利要求9-13任一项所述的电子调速器，其特征在于，所述控制器包括：The electronic governor according to any one of claims 9 to 13, wherein the controller comprises:
    信号处理器：用于检测所述驱动器的电压信号和电流信号；a signal processor: for detecting a voltage signal and a current signal of the driver;
    微控制器：用于根据所述信号处理器检测的电压信号和电流信号，生成所述控制信号。a microcontroller: configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
  15. 根据权利要求14所述的电子调速器，其特征在于，所述微控制器包括单片机。The electronic governor of claim 14 wherein said microcontroller comprises a microcontroller.
  16. 根据权利要求14或15所述的电子调速器，其特征在于，所述信号处理器包括：The electronic governor according to claim 14 or 15, wherein the signal processor comprises:
    电压检测单元，用于检测所述驱动器的电压信号；a voltage detecting unit, configured to detect a voltage signal of the driver;
    电流检测单元，用于检测所述驱动器的电流信号。A current detecting unit is configured to detect a current signal of the driver.
  17. 一种无人飞行器，包括机身、安装在机身上的动力装置、飞行控制器以及与所述飞行控制器相连的电子调速器，所述动力装置包括电机、与所述电机相连的螺旋桨，所述电子调速器与所述电机电连接，其 特征在于，所述电子调速器包括：An unmanned aerial vehicle includes a fuselage, a power unit mounted on the fuselage, a flight controller, and an electronic governor coupled to the flight controller, the power unit including a motor and a propeller coupled to the motor The electronic governor is electrically connected to the motor, The electronic governor is characterized in that:
    控制器：用于根据所述电机的运行状态生成控制信号；a controller: configured to generate a control signal according to an operating state of the motor;
    驱动器：用于根据所述控制器生成的控制信号输出用于调节所述电机的转速的交变信号，包括至少一个功率单元，所述功率单元包括预驱动器和与所述预驱动器电连接的半导体功率器件。a driver for outputting an alternating signal for adjusting a rotational speed of the motor according to a control signal generated by the controller, comprising at least one power unit, the power unit including a pre-driver and a semiconductor electrically connected to the pre-driver power component.
  18. 根据权利要求17所述的电子调速器，其特征在于，所述驱动器包括3个所述功率单元，每一个所述功率单元均包括1个所述预驱动器和2个所述半导体功率器件。The electronic governor of claim 17 wherein said driver comprises three of said power units, each of said power units comprising one of said pre-drivers and two of said semiconductor power devices.
  19. 根据权利要求17所述的电子调速器，其特征在于，所述驱动器包括1个所述功率单元，所述功率单元包括1个所述预驱动器和6个所述半导体功率器件。The electronic governor of claim 17 wherein said driver comprises one of said power units, said power unit comprising one of said pre-drivers and six of said semiconductor power devices.
  20. 根据权利要求17-19任一项所述的电子调速器，其特征在于，所述预驱动器和所述半导体功率器件之间还电连接有驱动电阻。The electronic governor according to any one of claims 17 to 19, wherein a driving resistor is electrically connected between the pre-driver and the semiconductor power device.
  21. 根据权利要求17-20任一项所述的电子调速器，其特征在于，所述半导体功率器件为MOSFET管。An electronic governor according to any one of claims 17 to 20, wherein the semiconductor power device is a MOSFET.
  22. 根据权利要求17-21任一项所述的电子调速器，其特征在于，所述控制器包括：The electronic governor according to any one of claims 17 to 21, wherein the controller comprises:
    信号处理器：用于检测所述驱动器的电压信号和电流信号；a signal processor: for detecting a voltage signal and a current signal of the driver;
    微控制器：用于根据所述信号处理器检测的电压信号和电流信号，生成所述控制信号。a microcontroller: configured to generate the control signal according to a voltage signal and a current signal detected by the signal processor.
  23. 根据权利要求22所述的电子调速器，其特征在于，所述微控制器包括单片机。The electronic governor of claim 22 wherein said microcontroller comprises a microcontroller.
  24. 根据权利要求22或23所述的电子调速器，其特征在于，所述信号处理器包括：The electronic governor according to claim 22 or 23, wherein said signal processor comprises:
    电压检测单元，用于检测所述驱动器的电压信号；a voltage detecting unit, configured to detect a voltage signal of the driver;
    电流检测单元，用于检测所述驱动器的电流信号。 A current detecting unit is configured to detect a current signal of the driver.
PCT/CN2017/108392 2016-11-03 2017-10-30 Electronic speed controller, motor assembly and unmanned aerial vehicle WO2018082526A1 (en)

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