WO2018095159A1

WO2018095159A1 - Unmanned aerial vehicle and control method therefor

Info

Publication number: WO2018095159A1
Application number: PCT/CN2017/106210
Authority: WO
Inventors: 胡华智; 胡海辉; 陈星敏
Original assignee: 亿航智能设备（广州）有限公司
Priority date: 2016-11-25
Filing date: 2017-10-13
Publication date: 2018-05-31
Also published as: CN106672224A; CN106672224B

Abstract

An unmanned aerial vehicle and control method therefor, the unmanned aerial vehicle comprising: a flight control system (101), an electronic governor (102), a plurality of motors (103) and a propeller connected to the motors (103); the electronic governor (102) comprises a pulse width modulation signal input terminal and a plurality of motor rotation speed signal output terminals, the pulse width modulation signal input terminal being connected to the flight control system (101), and the plurality of motor rotation speed signal output terminals being connected to the plurality of motors (103) respectively; and the electronic governor (102) is used to receive a pulse width modulation signal decomposed by the flight control system (101), to generate multiple motor speed signals according to the pulse width modulation signal, and to output the generated multiple motor speed signals to the plurality of motors (103). The unmanned aerial vehicle and control method therefor integrate various independent electronic governors into one electronic governor (102), which may omit multiple power lines and signal lines on the premise of not changing an original operation mode, thereby reducing the size and weight of an unmanned aerial vehicle.

Description

Title of Invention: A UAV and Its Control Method

Technical field

[0001] The present invention relates to the field of drone technology, and in particular, to a drone and a control method thereof.

Background technique

[0002] A drone (unmanned aerial vehicle) is an aircraft that has been gradually put into practical use, and has the advantages of maneuverability, quick response, unmanned flight, and low operational requirements. Multi-type sensors, such as cameras, can be mounted on drones for real-time image transmission and high-risk area detection. They are widely used in fire protection, military, transportation, police, exploration, and meteorology to achieve cruise shooting in designated areas. And monitoring.

[0003] At present, the UAV drive system usually adopts a DC brushless motor and an electronic governor, and the electronic governor controls the DC brushless motor to rotate with preset parameters (for example, speed, direction, etc.) to drive the propeller together. Set the parameter movement. In the multi-rotor UAV, the direction of rotation of the propeller is different, and it is necessary to control different directions of the DC brushless motor corresponding to different propellers. The DC brushless motors corresponding to different propellers include corresponding electronic governors. For example: Four-rotor UAV, including four motors and four electronic governors. Therefore, in a multi-rotor drone, multiple electronic governors are relatively independent.

[0004] The existing multi-rotor UAVs, relatively independent electronic governors, occupy a large space and volume, which is not conducive to the development of miniaturization of drones. In addition, too many devices can easily cause a series of problems, such as: Electromagnetic Compatibility (EMC), Electromagnetic Interference (EMI), and heat generation.

technical problem

The main object of the present invention is to provide a drone and a control method thereof, aiming at solving the technical problems existing in the prior art.

Problem solution

Technical solution

[0006] In order to achieve the above object, an embodiment of the present invention provides a drone, and the drone includes: a flight control system, an electronic governor, a plurality of motors, and a propeller connected to the motor; [0007] the flight control system is configured to decompose the command signal and the aircraft attitude signal into a pulse width modulation signal;

[0008] The electronic governor includes a pulse width modulation signal input end and a plurality of motor speed signal output ends, wherein the pulse width modulation signal input end is connected to the flight control system, and the plurality of motor speed signal output ends Connected to the plurality of motors respectively; the electronic governor is configured to receive a pulse width modulation signal decomposed by the flight control system, generate a multi-path motor speed signal according to the pulse width modulation signal, and generate a generated multi-path motor speed signal Output to the plurality of motors;

[0009] The motor includes a motor speed signal input end, and the motor speed signal input end is connected to the motor speed signal output end of the electronic governor for driving the propeller rotation according to the received speed signal.

[0010] Optionally, the electronic governor includes a control circuit and an inverter circuit;

And [0011] the control circuit is configured to receive a pulse width modulation signal decomposed by the flight control system, and drive the inverter circuit to generate a multi-circuit motor speed signal according to the pulse width modulation signal.

[0012] Optionally, the electronic governor further includes a zero crossing detection circuit;

[0013] the zero-crossing detection circuit is configured to detect a motor zero-crossing signal;

And [0014] the control circuit is configured to receive a motor zero-crossing signal detected by the zero-crossing detection circuit, and drive the inverter circuit to generate a motor speed signal according to the motor zero-crossing signal.

[0015] Optionally, the electronic governor further includes a filter circuit;

[0016] The filter circuit is configured to filter a DC power source and output the signal to the control circuit.

[0017] Optionally, the filter circuit comprises a chip ceramic capacitor.

[0018] Optionally, the electronic governor further includes an operational amplifier circuit;

[0019] The operational amplifier circuit is configured to detect a preset resistance voltage signal, perform amplification processing, and output the signal to the control circuit.

[0020] Optionally, the inverter circuit includes a three-way switch tube conversion module;

[0021] Optionally, the bypass transistor comprises a metal-oxide semiconductor field effect transistor or a thyristor.

[0022] Optionally, the electronic governor further includes a programming circuit;

[0023] The programming circuit is for writing software program code to the control circuit.

[0024] In order to achieve the above object, an embodiment of the present invention further provides a method for controlling a UAV as described above, where the control method includes:

Obtaining a command signal and an aircraft attitude signal; [0026] decomposing the obtained command signal and the aircraft attitude signal into a pulse width modulation signal;

[0027] generating a multi-motor speed signal according to the pulse width modulation signal, and outputting the generated multi-circuit motor speed signal to the plurality of motors;

Advantageous effects of the invention

Beneficial effect

[0028] The propeller rotation is driven according to the generated rotational speed signal.

[0029] The unmanned aerial vehicle and the control method thereof provided by the embodiments of the present invention integrate multiple independent electronic governors into one electronic governor, which can save multiple roots without changing the original working mode. Power lines and signal lines reduce the size and weight of the drone.

Brief description of the drawing

DRAWINGS

1 is a schematic structural view of a drone according to an embodiment of the present invention;

[0031] FIG. 2 is a schematic structural diagram of an electronic governor in the unmanned aerial vehicle of the embodiment;

[0032] FIG. 3 is a schematic structural diagram of a control circuit in an electronic governor of a drone according to an embodiment of the present invention;

4 is a schematic structural diagram of a zero-crossing detection circuit in an electronic governor of a drone according to an embodiment of the present invention;

[0034] FIG. 5 is a schematic structural diagram of a filter circuit in an electronic governor of a drone according to an embodiment of the present invention;

6 is a schematic structural diagram of an operational amplifier circuit in an electronic governor of a drone according to an embodiment of the present invention;

7 is a schematic structural diagram of a programming circuit in an electronic governor of a drone according to the embodiment;

8 is a schematic structural diagram of an inverter circuit in an electronic governor of a drone according to an embodiment of the present invention;

9 is a schematic flow chart of a drone control method according to an embodiment of the present invention.

[0039] The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

Embodiments of the invention

The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0041] Various embodiments of the present invention will now be described with reference to the drawings. In the following description, the suffixes such as "module", "component" or "unit" used to denote elements are merely illustrative of the invention. [0042] As shown in FIG. 1, an embodiment of the present invention provides a drone, and the drone includes: a flight control system 101.

The electronic governor 102, four motors 103 and four propellers (not shown) connected to the motor.

[0043] The flight control system 101 is configured to decompose the command signal and the aircraft attitude signal into a pulse width modulated signal.

[0044] The electronic governor 102 includes a pulse width modulation signal input end and four motor speed signal output ends, the pulse width modulation signal input end is connected to the flight control system 101, and four motor speed signal output ends and four motors 10 3 The electronic governor 102 is configured to receive the pulse width modulation signal decomposed by the flight control system 101, generate a four-way motor speed signal according to the pulse width modulation signal, and output the generated four-way motor speed signal to the four motors 103. Four motors 103 drive four propellers to produce different lifts, allowing the drone to perform different attitude adjustments.

[0045] The motor 103 includes a motor speed signal input end, and the motor speed signal input end is connected to the motor speed signal output end of the electronic governor 102 for driving the propeller rotation according to the received speed signal.

[0046] It should be noted that FIG. 1 is only a schematic diagram showing the structure of a quadrotor UAV. The inventive concept of the present invention is equally applicable to a multi-rotor UAV such as a six-rotor or an eight-rotor. For example, in an eight-rotor UAV, the electronic governor 102 can include a pulse width modulation signal input terminal and eight motor speed signal output terminals. The electronic governor 102 receives the pulse width modulation signal decomposed by the flight control system 101, generates an eight-way motor speed signal according to the pulse width modulation signal, and outputs the generated eight-way motor speed signal to the eight motors 103. Eight motors 10 3 drive eight propellers, producing different lifts, allowing the drone to perform different attitude adjustments.

[0047] The unmanned aerial vehicle provided by the embodiment of the present invention integrates each independent multiple electronic governor into an electronic governor, which can save multiple power lines and signals without changing the original working mode. Line, which reduces the size and weight of the drone.

[0048] Please refer to FIG. 2, in this embodiment, the electronic governor 102 can include a control circuit 1026 and an inverter circuit 1024;

[0049] The control circuit 1026 is configured to receive the pulse width modulation signal decomposed by the flight control system 101, and drive the inverter circuit 1024 to generate a multi-circuit motor speed signal according to the pulse width modulation signal. FIG. 3 shows a schematic structural view of the control circuit 1026.

[0050] In the embodiment, the inverter circuit 1024 includes a three-way switch transistor conversion module; the gate transistor includes a metal-oxide semiconductor field effect transistor or a thyristor. Please refer to FIG. 8. FIG. 8 is an exemplary structural diagram of the inverter circuit 1024. When the gate is made of a metal-oxide semiconductor field effect transistor, due to the metal - The oxide semiconductor field effect transistor (MOSFET) is the main heat source of the entire electronic governor, and the heat dissipation area is reduced. In order to optimize heat dissipation, a metal-oxide semiconductor field effect transistor with lower internal resistance can be selected.

[0051] Further, the electronic governor 102 may further include a zero-crossing detecting circuit 1021; the zero-crossing detecting circuit 1021 is configured to detect a motor zero-crossing signal; and the control circuit 1026 is configured to receive the motor zero-crossing signal detected by the zero-crossing detecting circuit 1021. And driving the inverter circuit 1024 to generate a motor speed signal according to the motor zero-crossing signal. Referring to FIG. 4, FIG. 4 is an exemplary structural diagram of the zero-crossing detecting circuit 1021.

Further, the electronic governor 102 may further include a filter circuit 1022; the filter circuit 1022 is configured to filter the DC power source and output it to the control circuit 1026. Filter circuit 1022 includes a chip ceramic capacitor. Referring to FIG. 5, FIG. 5 is an exemplary structural diagram of the filter circuit 1022. Capacitors C53, C54, C55, C

56 and C57, SMD ceramic capacitors can be used to simplify weight and space.

Further, the electronic governor 102 may further include an operational amplifier circuit 1023. The operational amplifier circuit 1023 is configured to detect a preset resistance voltage signal, perform amplification processing, and output the signal to the control circuit 1026. Please refer to FIG. 6. FIG. 6 is an exemplary structural diagram of the operational amplifier circuit 1023.

Further, the electronic governor 102 may further include a programming circuit 1025; the programming circuit 1025 is configured to write the software program code to the control circuit 1026. Referring to FIG. 7, FIG. 7 is an exemplary structural diagram of the programming circuit 1025.

[0055] Please refer to FIG. 9, the embodiment of the present invention further provides a control method of the UAV based on FIG. 1-8, the control method includes the following steps:

[0056] S20: acquiring a command signal and an aircraft attitude signal;

[0057] S21: Decomposing the obtained command signal and the aircraft attitude signal into a pulse width modulation signal;

[0058] S22: generating a multi-motor speed signal according to the pulse width modulation signal, and outputting the generated multi-motor speed signal to the plurality of motors;

[0059] S23: driving the propeller rotation according to the generated rotation speed signal.

[0060] In summary, the unmanned aerial vehicle and the control method thereof according to the embodiments of the present invention integrate the independent multiple electronic governors into one electronic governor, which can be saved without changing the original working mode. Going to multiple power lines and signal lines reduces the size and weight of the drone.

The above is only a preferred embodiment of the present invention, and thus does not limit the scope of the patent of the present invention. The equivalent structure or equivalent flow of the invention and the equivalents of the drawings are directly or indirectly applied to other related technical fields, and are included in the scope of patent protection of the present invention.

Industrial applicability

The unmanned aerial vehicle and the control method thereof provided by the embodiments of the present invention integrate the independent multiple electronic governors into an electronic governor, which can save multiple power lines and without changing the original working mode. The signal line reduces the size and weight of the drone. Therefore, it has industrial applicability.

Claims

Claim

[Attach 1] A drone, the drone comprising: a flight control system, an electronic governor, a plurality of motors, and a propeller coupled to the motor;

The flight control system is configured to decompose the command signal and the aircraft attitude signal into a pulse width modulation signal;

The electronic governor includes a pulse width modulation signal input end and a plurality of motor speed signal output ends, wherein the pulse width modulation signal input end is connected to the flight control system, and the plurality of motor speed signal output ends are a plurality of motors are respectively connected; the electronic governor is configured to receive a pulse width modulation signal decomposed by the flight control system, generate a multi-motor speed signal according to the pulse width modulation signal, and output the generated multi-motor speed signal to the The motor includes a motor speed signal input end, and the motor speed signal input end is connected to the motor speed signal output end of the electronic governor for driving the propeller rotation according to the received speed signal.

[Claim 2] A drone according to claim 1, wherein the electronic governor includes a control circuit and an inverter circuit;

The control circuit is configured to receive a pulse width modulation signal decomposed by the flight control system, and drive the inverter circuit to generate a multi-circuit motor speed signal according to the pulse width modulation signal.

[Claim 3] A drone according to claim 2, wherein the electronic governor further includes a zero crossing detecting circuit;

The zero-crossing detection circuit is configured to detect a motor zero-crossing signal;

The control circuit is configured to receive a motor zero-crossing signal detected by the zero-crossing detection circuit, and drive the inverter circuit to generate a motor speed signal according to the motor zero-crossing signal.

[Claim 4] A drone according to claim 2, wherein the electronic governor further includes a filter circuit;

The filter circuit is configured to filter a DC power source and output the signal to the control circuit.

[Claim 5] A drone according to claim 4, wherein the filter circuit comprises a chip ceramic capacitor.

[Claim 6] A drone according to claim 2, wherein the electronic governor further includes Amplifying circuit

The operational amplifier circuit is configured to detect a preset resistance voltage signal, perform amplification processing, and output the signal to the control circuit.

[Claim 7] The UAV according to claim 2, wherein the inverter circuit comprises a three-way switch conversion module;

[Claim 8] A drone according to claim 7, wherein the bypass tube comprises a metal-oxide semiconductor field effect transistor or a thyristor.

[Claim 9] A drone according to claim 2, wherein the electronic governor further includes a programming circuit;

The programming circuit is for writing software program code to the control circuit.

[Claim 10] The control method of the unmanned aerial vehicle according to any one of claims 1-9, wherein the control method comprises:

Acquiring the command signal and the aircraft attitude signal;

Decomposing the obtained command signal and the aircraft attitude signal into a pulse width modulation signal; generating a multi-motor speed signal according to the pulse width modulation signal, and outputting the generated multi-motor speed signal to the plurality of motors;

The propeller rotation is driven based on the generated rotational speed signal.