WO2018195771A1 - 用于驱动电机转动的控制方法、电子调速器、动力套装和无人飞行器 - Google Patents

用于驱动电机转动的控制方法、电子调速器、动力套装和无人飞行器 Download PDF

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Publication number
WO2018195771A1
WO2018195771A1 PCT/CN2017/081839 CN2017081839W WO2018195771A1 WO 2018195771 A1 WO2018195771 A1 WO 2018195771A1 CN 2017081839 W CN2017081839 W CN 2017081839W WO 2018195771 A1 WO2018195771 A1 WO 2018195771A1
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WO
WIPO (PCT)
Prior art keywords
motor
electronic governor
rotation
information
controller
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PCT/CN2017/081839
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English (en)
French (fr)
Inventor
周长兴
刘万启
蓝求
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/081839 priority Critical patent/WO2018195771A1/zh
Priority to CN201780004415.8A priority patent/CN108476008B/zh
Publication of WO2018195771A1 publication Critical patent/WO2018195771A1/zh
Priority to US16/654,838 priority patent/US11101753B2/en

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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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/04—Arrangements for controlling or regulating the speed or torque of more than one motor
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
    • B64D27/02—Aircraft characterised by the type or position of power plant
    • B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control; Arrangement thereof
    • 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
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/30—Arrangements for controlling the direction of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control; Arrangement thereof
    • B64D31/02—Initiating means
    • B64D31/06—Initiating means actuated automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/01—Motor rotor position determination based on the detected or calculated phase inductance, e.g. for a Switched Reluctance Motor

Definitions

  • the present disclosure relates to the field of motor control, and more particularly to a control method for driving motor rotation, an electronic governor, a power pack, and an unmanned aerial vehicle.
  • drones have been implemented in many fields.
  • drones can be used in industrial, agricultural, military, and other fields. More specifically, in the agricultural field, the drone can perform pesticide spraying on farmland or collect data on agricultural and forestry plant protection data.
  • the industrial field drones can perform power inspections on, for example, long-distance transmission facilities, environmental monitoring of factories, aerial photography of affected areas, and the like.
  • battlefield intelligence can be collected in real time, coordination of various arms can be coordinated, and battlefield radiocommunication suppression can be performed.
  • UAVs can be broadly classified into unmanned helicopters, unmanned fixed-wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned paragliders. The most exposed in people's daily lives is usually the unmanned multi-rotor aircraft.
  • Multi-rotor UAVs generally have multiple rotors, each of which is driven by a separate motor and is controlled by a drone's flight control system (hereinafter sometimes referred to as "flying control”) to make the drone Can achieve the expected various actions, such as forward, backward, ascending, descending, hovering and so on.
  • a control method for driving a motor to rotate includes: obtaining addressing information; determining a rotation direction of the motor according to the addressing information; and providing a corresponding driving signal to the motor according to the rotation direction.
  • an electronic governor includes: a driving circuit for supplying a driving signal to the motor to drive the motor to rotate; and a controller electrically connected to the driving circuit for controlling the driving circuit, wherein the control The device determines a rotation direction of the motor according to the addressing information of the electronic governor, and controls the driving circuit to provide a corresponding driving signal to the motor according to the rotation direction.
  • a power kit includes: the electronic governor described above; and a motor electrically coupled to the electronic governor.
  • an unmanned aerial vehicle includes: a rack; a flight controller mounted on the rack; and a plurality of the above-described power kits mounted on the rack, wherein the flight controller and the plurality of the powers
  • the electronic governor of the kit is electrically connected for inputting a throttle signal to the electronic governor, and the electronic governor controls the rotation of the motor according to the throttle signal to provide thrust to the unmanned aerial vehicle.
  • FIG. 1 is a wiring diagram showing an example drone according to the related art.
  • FIG. 2 is a wiring diagram showing an example drone in accordance with an embodiment of the present disclosure.
  • FIG. 3 is a flow chart showing a method for controlling a direction of rotation of a motor performed on a drone according to an embodiment of the present disclosure.
  • FIG. 4 is a functional architectural block diagram showing an example device for performing the method illustrated in FIG. 3, in accordance with an embodiment of the present disclosure.
  • Flight control refers to the control system that can stabilize the flight attitude of the drone and control the autonomous or semi-autonomous flight of the drone. It is the brain of the drone. It can usually determine the current flight status of the drone through various sensors (such as gyroscopes, accelerometers, geomagnetic sensors, air pressure sensors, GPS modules, etc.) mounted on the drone, and pass the flight status to be achieved.
  • the electronic governor and the corresponding motor control the individual rotors of the drone.
  • Electronic governor (hereinafter sometimes referred to as "electrical adjustment"): A driver for driving a brushless DC motor on a multi-rotor UAV, referred to as ESC.
  • the brushless ESC input terminal is generally 2 wires (ie, positive and negative power supplies), and the output terminal is generally 3 (phase) wires. It can control the speed and/or direction of rotation of the connected motor by adjusting the voltage (frequency, phase, etc.) of each phase line at the output.
  • ESC addressing Because ESC needs to communicate with the flight controller to receive commands and/or report operating status, multiple ESCs for multiple motors on a multi-rotor UAV are typically hung on the flight controller. Serial port or 485 bus. In order to avoid bus conflict caused by multiple ESCs sending data to the bus at the same time, it is generally necessary to address each ESC, that is, to assign a unique communication ID to the ESC mounted on the bus (or more generally, Address information).
  • the methods of addressing can include software addressing and hardware addressing. In some embodiments, hardware addressing means that a specific resistor can be mounted on each of the ESCs and different voltage divider values can be obtained with different resistance values.
  • each MCU's MCU determines its own address by detecting different voltages.
  • the ESC can have an input analog port that can determine the voltage across the resistor in series with the corresponding ESC, such that the addressing information can be determined based on the voltage.
  • the software addressing means that the normal pulse of the PWM (Pulse Width Modulation) sent by the flight controller to the ESC is 940-2000 microseconds, in which case the flight control is given to a specific
  • the ESC sends a short pulse of 500 microseconds and simultaneously broadcasts the No. 1 ESC return packet on the bus, then the 500 microsecond ESC is activated and returns to the flight control broadcast packet, then the ESC is flying.
  • the control is registered as No. 1.
  • the address of each ESC such as No. 2, No. 3, etc. can be determined by the flight controller.
  • FIG. 1 is a wiring diagram showing an exemplary drone 1 according to the related art.
  • the drone 1 may include a flight controller 100, one or more ESCs 111, 113, and motors 121, 123, 125, and 127 corresponding to respective ESCs. Note that in the example shown in FIG. 1, only two ESCs 111 and 113 are shown for the sake of brevity and convenience, and the ESCs corresponding to the motors 125 and 127 are omitted. However, it is actually possible to set a corresponding ESC for each motor to achieve separate control of the individual motors.
  • the drone 1 is a quadrotor drone
  • the present disclosure is not limited thereto, and may be a drone having any number of rotors, or More generally, devices with any number of motors.
  • four motors 121, 123, 125, and 127 are shown in FIG. 1 respectively at the ends of the four arms of the drone 1 and the flight control 100 is disposed at the intersection of the four arms, the present disclosure is not limited to this.
  • Kind of layout In fact, the motor, ESC and/or flight control can be placed in any other suitable location without affecting the application of the solution according to an embodiment of the present disclosure.
  • the four rotors of the exemplary quadrotor drone 100 (or in other words, the corresponding four motors 121, 123, 125, and 127) generally do not rotate in the same direction, otherwise the body of the drone will Spin in the air in a direction opposite to the direction of rotation of the four rotors. Therefore, as shown in FIG. 1, in order to ensure that the state of the drone 1 during flight is stable, the direction of rotation of the diagonal rotors may be the same, and the direction of rotation of the adjacent rotors may be reversed. For example, the direction of rotation of the motor 121 and the motor 127 is clockwise, and the direction of rotation of the motor 123 and the motor 125 is counterclockwise.
  • the usual assembly method may be to distinguish the direction of rotation of the motor by exchanging the phase lines of the motor.
  • the connection between a common ESC and a brushless DC motor is generally three phase lines, which are hereinafter referred to as A/B/C phase lines, respectively.
  • the direction of rotation of the ESC drive motor can be changed by exchanging any two of the phase lines.
  • FIG. 1 it is assumed that the default rotational directions of the four motors 121, 123, 125, and 127 are all counterclockwise (for example, the four motors are motors of the same model, but the disclosure is not limited thereto).
  • the two phase lines between the ESC 111 and the corresponding motor 121 can be exchanged, for example, B and C are interchanged.
  • the motor 121 can be rotated in a clockwise direction as needed.
  • the problem that is easy to occur at this time is that the assembler easily forgets to exchange the phase lines when, for example, the motor 121 is mounted, resulting in malfunction, and the newly assembled assembler needs special training to perform the assembly.
  • the assembler can skillfully perform the welding assembly without learning, and a scheme for controlling the rotational direction of the motor by software according to an embodiment of the present disclosure has been proposed.
  • this scheme when welding the motor phase line to the ESC, the welding can be performed directly in the same line sequence without the need for additional exchange phase line welding operations.
  • FIG. 2 is a wiring diagram showing an example drone 2 in accordance with an embodiment of the present disclosure.
  • the drone 2 may include: a flight control 200, one or more electrical tones 211, 213, and motors 221, 223, 225, and 227 corresponding to respective electrical tones.
  • the drone 2 of FIG. 2 is substantially similar to the drone 1 of FIG. 1, only in connection with the connection of the ESC 211 and the motor 221 with the corresponding ESC of FIG.
  • the connection mode with the motor 121 is different. As shown in FIG.
  • the wiring manner between the ESC 211 and the motor 221 and the wiring manner between the adjacent ESC 213 and the motor 223 are the same.
  • the direction of rotation of the motor 221 should be the same as that of the motor 223, for example, both in a counterclockwise direction.
  • the wiring between the motor 227 and the corresponding ESC should be different from the connection between the motor 127 and the corresponding ESC shown in Figure 1, so that the motor 227 The default direction of rotation is also counterclockwise.
  • the flight control 200 can assign an address to the ESC 221 upon power up. Information (ID).
  • ID Information
  • the ESC 211 can confirm its position by its own ID number, for example, a few arm, and can confirm the rotation direction of the motor 221 (ie, the working rotation direction).
  • the ESC 211 can change the phase sequence of the driving signals on the A/B/C three phase lines A, B, and C by software control (hereinafter sometimes referred to as "phase" sequence").
  • the ESC 211 defaults to three sine waves or square waves with phase differences of 120° to the three phase lines A, B, and C, respectively.
  • the order of phase difference between them is A>B>C.
  • the software of the ESC 211 can achieve the purpose of changing the direction of rotation of the motor by changing the order in which the drive signals are sent to A>C>B. Therefore, the signal exchange between the two phase lines of the three phase lines is realized by software, and the same effect as the hardware method shown in FIG. 1 is achieved.
  • the ESC 211 can be based on its own addressing information and addressing information.
  • the preset correspondence may be determined as follows: if the addressing information is, for example, ID number 1, the working drive signal whose phase sequence is changed as compared with the default driving signal as described above is output, if the addressing information is, for example, an ID. No. 2, the default drive signal as described above is output, and so on.
  • the rotation directions of the motor 221 and the motor 223 can be reversed by software.
  • the correspondence may be stored locally in the ESC 211 and/or ESC 213, for example, in text, data tables, or other suitable form.
  • the preset correspondence may also be stored in the flight control 200 for querying when each ESC is powered on.
  • the flight controller 200 can send an instruction to the ESC 211 to confirm the phase sequence of the motor.
  • the ESC 211 can write information of the direction of rotation of the motor 221 into its own memory (for example, a flash memory).
  • the direction of the motor can be normally rotated even when the communication line is disconnected or the flight control 200 cannot address the ESC 211.
  • the flight control 200 can send an instruction to the ESC 211 to unlock the direction of rotation of the motor 221.
  • the ESC 211 can erase the information of the direction of rotation of the motor 221 from its own memory (eg, flash memory) such that the ESC 211 can be provided to the motor 221 for rotation in the default direction of rotation. Drive signal.
  • the exit mode of the motor 221 can also be directly changed when the motor is produced. That is, when the motor 221 is directly wired to the lower line sequence, the same phase sequence as that of the above embodiment can be realized when soldering to the ESC 211 board.
  • the above-described motor rotation direction control scheme can also be implemented, thereby achieving separate manipulation of the rotation directions of the respective rotors.
  • the above embodiment describes that the embodiment for controlling the rotational direction of the motor 221 is performed at the ESC 211, the present disclosure is not limited thereto.
  • the solution can also be implemented at other hardware, for example, the same technical effect can be achieved at the flight controller 200 by indicating the ESC output to the working drive signal corresponding to the direction of the work rotation.
  • all or a portion of the ESC/motor can be integrally manipulated at the flight controller 200 to achieve the same or better flight control.
  • the present disclosure uses the separate electronic governor 211 as an example device for driving the motor 221, the present disclosure is not limited thereto.
  • a separate chip for example, Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), etc. instead of an electronic governor
  • FPGA Field Programmable Gate Array
  • ASIC Application Specific Integrated Circuit
  • an electronic governor 211 can be used to simultaneously drive the plurality of motors 221 and 227 to, for example, reduce cost, reduce weight, and the like. Therefore, in general, the electronic governor 211 can be regarded as a (motor) controller of the motor 221.
  • FIG. 3 is a flow chart showing a control method 300 for driving motor rotation in accordance with an embodiment of the present disclosure.
  • method 300 can include steps S310, S320, and S330.
  • some of the steps of method 300 may be performed separately or in combination, and may be performed in parallel or sequentially, and is not limited to the specific order of operations illustrated in FIG.
  • method 300 may be performed by flight control 200 or ESC 211 (or ESC 213, etc.) of UAV 2 shown in FIG.
  • FIG. 4 is a block diagram showing an example electronic governor 400 in accordance with an embodiment of the present disclosure.
  • a specific example of the example device 400 may be the drone 200 of FIG. 2 or the ESCs 211, 213, etc. thereon.
  • the device 400 can include a drive circuit 410 and a controller 420.
  • the drive circuit 410 can be used to provide a drive signal to the motor (eg, motor 221) to drive the motor (eg, motor 221) to rotate.
  • the controller 420 can be electrically coupled to the drive circuit 410 for controlling the drive circuit 410.
  • the controller 420 can determine the rotation direction of the motor (for example, the motor 221) according to the addressing information of the electronic governor 400, and control the driving circuit 410 to provide a corresponding driving signal to the motor (for example, the motor 221) according to the rotation direction.
  • Controller 420 can be a central processing unit (eg, a CPU), digital signal processor (DSP), microprocessor, microcontroller, etc. of electronic governor 400.
  • the electronic governor 400 may also include other functional units not shown in FIG. 4, however, as it does not affect those skilled in the art to understand the embodiments of the present disclosure, it is omitted in FIG.
  • the electronic governor 400 can also include one or more of the following functional units: power, memory, bus, antenna, wireless transceiver, and the like.
  • a control method 300 for driving motor rotation and an electronic governor 400 according to an embodiment of the present disclosure will be described in detail below with reference to FIGS. 3 and 4.
  • the method 300 begins in step S310, in which the addressing information can be obtained by the controller 420 of the electronic governor 400.
  • step S320 the direction of rotation of the motor may be determined by the controller 420 of the electronic governor 400 based on the addressing information.
  • a corresponding drive signal may be supplied to the motor (for example, the motor 221) by the drive circuit 410 of the electronic governor 400 according to the direction of rotation.
  • step S310 can include: acquiring an addressing signal sent by an external controller; and determining addressing information according to the addressing signal.
  • the addressing signal can be a pulse width modulated signal.
  • step S310 may include: acquiring voltage information of the input analog port; and determining the addressing information according to the voltage information.
  • method 300 can include: connecting a predetermined resistance in series over the communication link; detecting a voltage across the predetermined resistance by inputting an analog port.
  • method 300 can also include storing information related to the direction of rotation of the motor.
  • the method 300 may further include: reading the stored information about the direction of rotation of the motor; and providing a corresponding drive signal to the motor based on the read information about the direction of rotation of the motor.
  • the method 300 may further include: obtaining a control instruction for unlocking a rotation direction of the motor; and deleting the stored information related to a rotation direction of the motor according to the control instruction.
  • a power kit may include: an electronic governor according to the foregoing embodiments; and a motor electrically coupled to the electronic governor.
  • an unmanned aerial vehicle may include: a rack; a flight controller mounted on the rack; and a plurality of power kits according to the foregoing embodiments mounted on the rack, wherein the flight controller may be coupled with a plurality of powers
  • the electronic governor of the set is electrically connected for inputting the throttle signal to the electronic governor, and the electronic governor can control the rotation of the motor according to the throttle signal to provide thrust to the unmanned aerial vehicle.
  • functions described herein as being implemented by pure hardware, software and/or firmware may also be implemented by means of dedicated hardware, a combination of general hardware and software, and the like.
  • functions described as being implemented by dedicated hardware eg, Field Programmable Gate Array (FPGA), Application Specific Integrated Circuit (ASIC), etc.
  • general purpose hardware eg, central processing unit (CPU), digital signal processing (DSP) is implemented in a way that is combined with software and vice versa.
  • CPU central processing unit
  • DSP digital signal processing
  • it is described as a function implemented by a Bluetooth module, an NFC chip/coil, or the like, and can also be combined with an analog-to-digital conversion by a general-purpose processor (for example, a CPU, a DSP, etc.).
  • Hardware such as circuits, amplifier circuits, antennas, and Bluetooth, NFC-related processing software are implemented, and vice versa.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

公开了一种用于驱动电机转动的控制方法、电子调速器。该方法包括：获取编址信息；根据所述编址信息，确定电机的转动方向；以及根据所述转动方向，提供相应的驱动信号给所述电机。该电子调速器包括：驱动电路，用于提供驱动信号给电机，以驱动所述电机转动；以及控制器，与所述驱动电路电连接，用于控制所述驱动电路，其中，所述控制器根据所述电子调速器的编址信息确定电机的转动方向，提供相应的驱动信号给所述电机。此外，还公开了包括电子调速器的动力套装和无人飞行器。

Description

用于驱动电机转动的控制方法、电子调速器、动力套装和无人飞行器 技术领域
本公开涉及电机控制领域，更具体地涉及用于驱动电机转动的控制方法、电子调速器、动力套装和无人飞行器。
背景技术
无人机作为新兴的事物，已经在很多领域中实现了实际应用。例如，无人机可应用在工业、农业、军事等领域。更具体地，在农业领域中，无人机可以对农田进行农药喷洒、或者对农林植保数据进行采集等。在工业领域中，无人机可以对例如远距离输电设施进行电力巡检工作，可以对工厂进行环保监测，可以对受灾地区进行航拍等等。在军事领域中，可以对战场情报进行实时收集，可以协调各兵种进行协同打击，可以进行战场无线电通信压制等等。
无人机大致可分为无人直升机、无人固定翼机、无人多旋翼飞行器、无人飞艇、无人伞翼机这几大类。在人们的日常生活中接触到最多的通常是无人多旋翼飞行器。多旋翼无人机一般具有多个旋翼，每个旋翼由单独的电机来驱动，且通过无人机的飞行控制系统(以下有时简称为“飞控”)来进行整体操控，以使得无人机能够实现预期的各种动作，例如前进、后退、上升、下降、悬停等。
发明内容
根据本公开的第一方面，提出了一种用于驱动电机转动的控制方法。该方法包括：获取编址信息；根据所述编址信息，确定电机的转动方向；以及根据所述转动方向，提供相应的驱动信号给所述电机。
根据本公开的第二方面，提出了一种电子调速器。该电子调速器包括：驱动电路，用于提供驱动信号给电机，以驱动所述电机转动；以及控制器，与所述驱动电路电连接，用于控制所述驱动电路，其中，所述控制器根据所述电子调速器的编址信息确定电机的转动方向，并且控制所述驱动电路根据所述转动方向，提供相应的驱动信号给所述电机。
根据本公开的第三方面，提出了一种动力套装。该动力套装包括：上述的电子调速器；以及电机，与所述电子调速器电连接。
根据本公开的第四方面，提出了一种无人飞行器。该无人飞行器包括：机架；飞行控制器，安装在所述机架上；以及安装在所述机架上的多个上述的动力套装，其中，所述飞行控制器与多个所述动力套装的电子调速器电连接，用于输入油门信号给所述电子调速器，所述电子调速器根据所述油门信号控制所述电机转动，以提供推力给所述无人飞行器。
附图说明
为了更完整地理解本公开实施例及其优势，现在将参考结合附图的以下描述，其中：
图1是示出了根据相关技术的示例无人机的连线示意图。
图2是示出了根据本公开实施例的示例无人机的连线示意图。
图3是示出了根据本公开实施例的在无人机上执行的用于控制电机的旋转方向的方法的流程图。
图4是示出了根据本公开实施例的用于执行图3所示的方法的示例设备的功能架构框图。
具体实施方式
根据结合附图对本公开示例性实施例的以下详细描述，本公开的其它方面、优势和突出特征对于本领域技术人员将变得显而易见。
在本公开中，术语“包括”和“含有”及其派生词意为包括而非限制。
在本说明书中，下述用于描述本公开原理的各种实施例只是说明，不应该以任何方式解释为限制公开的范围。参照附图的下述描述用于帮助全面理解由权利要求及其等同物限定的本公开的示例性实施例。下述描述包括多种具体细节来帮助理解，但这些细节应认为仅仅是示例性的。因此，本领域普通技术人员应认识到，在不脱离本公开的范围和精神的情况下，可以对本文中描述的实施例进行多种改变和修改。此外，为了清楚和简洁起见，省略了公知功能和结构的描述。此外，贯穿附图，相同附图标记用于相同或相似的功能和操作。
在详细描述本公开各实施例之前，将首先介绍本文中可能用到的各种术语。
飞行控制系统(以下有时简称为“飞控”)：飞控是指能够稳定无人机飞行姿态，并能控制无人机自主或半自主飞行的控制系统，是无人机的大脑。其通常可以通过无人机搭载的各种传感器(例如，陀螺仪、加速度计、地磁感应、气压传感器、GPS模块等)来确定无人机的当前飞行状态，并针对所要实现的飞行状态，通过电子调速器和相应的电机对无人机的各个旋翼进行操控。
电子调速器(以下有时简称为“电调”)：用于驱动多旋翼无人机上的无刷直流电机的驱动器，简称电调。无刷电调输入端一般是2根线(即正负极电源)，而输出端一般是3根(相)线。其可以通过调整输出端各相线的电压(频率、相位等)，来控制其相连的电机的转速和/或旋转方向。
电调编址：因为电调需要跟飞控进行通信以接收指令和/或报告工作状态，而多旋翼无人机上分别用于多个电机的多个电调一般同时挂在飞控主处理器的串口或者485等总线上。为避免多个电调同时往总线上发送数据导致的总线冲突，所以一般需要给各个电调进行编址，即给总线上挂载的电调赋予一个唯一的通信ID(或更一般地，编址信息)。编址的方法可以包括软件编址和硬件编址。在一些实施例中，硬件编址是指：每个电调板上面可以安装有特定的电阻，并可以通过不同的电阻值获得不同的分压值。这样，各个电调的单片机通过检测到不同的电压来确定自己的地址。例如，电调可以具有输入模拟量端口，该输入模拟量端口可以确定在相应电调上串联的电阻的两端的电压，从而可以根据电压来确定编址信息。在一些实施例中，软件编址是指：飞控向电调发送的PWM(Pulse Width Modulation，即脉冲宽度调制)的正常脉冲为940～2000微秒，在该情况下，当飞控给特定的电调发送500微秒的短脉冲时，同时在总线上广播1号电调返回数据包，那么接收到500微秒的电调被激活，返回飞控的广播包，则这个电调在飞控里被注册为1号。以此类推，可以由飞控来确定2号、3号...等各个电调的地址。
以下，将以无人机为例来详细描述根据本公开实施例的用于控制电机的旋转方向的方案。然而，应当意识到：根据本公开实施例的技术方案同样可以应用于其他领域，而不限于无人机领域。事实上，只要是涉及到对电机旋转方向进行控制，就可以应用根据本公开实施例的技术方案。
以下将结合图1来详细说明根据相关技术的无人机中电调和电机的示例连线方案。图1是示出了根据相关技术的示例无人机1的连线示意图。如图1所示，无人机1可以包括：飞控100、一个或多个电调111、113、与各个电调相对应的电机121、123、125和127。请注意：在图1所示示例中，为了简洁和方便，仅示出了两个电调111和113，而省略了与电机125和127相对应的电调。然而，实际上可以针对每个电机设置一个相应的电调，以实现对各个电机的单独控制。此外，尽管在图1的实施例中，示出了4个电机，即无人机1为四旋翼无人机，然而本公开不限于此，也可以为具有任何数目旋翼的无人机，或更一般地，具有任何数目电机的设备。此外，尽管图1中示出了四个电机121、123、125和127分别设置在无人机1的四条机臂末端且飞控100设置在四条机臂的交点上，然而本公开不限于这种布局。事实上，电机、电调和/或飞控可以设置在任何其他恰当的位置，而不影响根据本公开实施例的方案的应用。
如图1所示，示例四旋翼无人机100的四个旋翼(或换言之，相对应的四个电机121、123、125和127)的旋转方向通常不会相同，否则无人机的机体将以与四个旋翼的旋转方向相反的方向在空中自旋。因此，如图1所示，为了保证无人机1在飞行时的状态稳定，对角旋翼旋转方向可以相同，且相邻旋翼旋转方向可以相反。例如，电机121和电机127的旋转方向为顺时针旋转，而电机123和电机125的旋转方向为逆时针旋转。
在这种情况下，在装配无人机1时，常用的装配方法可以是：通过将电机的相线交换来区分电机的旋转方向。如前所述，常见的电调和无刷直流电机之间的连接一般为3根相线，以下分别简称为A/B/C相线。通过交换其中任意两根相线就可以改变电调驱动电机的旋转方向。例如，在图1中，假设四个电机121、123、125和127的缺省旋转方向均为逆时针旋转(例如，这四个电机是相同型号的电机，但本公开不限于此)。为了使得电机121的旋转方向与电机123的旋转方向相反，可以将电调111与相应电机121之间的两根相线加以交换，例如将B和C互换。这样，电机121就可以按需要的那样沿顺时针方向旋转。
然而，此时容易出现的问题是：装配人员在例如安装电机121时容易忘记交换相线而导致误操作，且新上手的装配人员需要进行专门培训才能进行装配。在这种 情况下，比较容易出现装配好后发现电机的旋转方向不对的问题，从而需要拆装进行返工，导致浪费了工时和生产原料。
因此，为了简化生产流程而有效地降低不良率，让装配人员不需进行学习就能够熟练的进行焊接装配，提出了根据本公开实施例的通过软件来控制电机的旋转方向的方案。在采用该方案的情况下，在焊接电机相线到电调上面的时候，可以直接以相同的线序进行焊接，而无需进行额外的交换相线的焊接操作。
以下将结合图2来详细说明根据本公开实施例的无人机中电调和电机的示例连线方案。图2是示出了根据本公开实施例的示例无人机2的连线示意图。如图2所示，无人机2可以包括：飞控200、一个或多个电调211、213、与各个电调相对应的电机221、223、225和227。在本实施例中，与图1中的无人机1相比，图2中的无人机2大体类似，仅在电调211和电机221的连线方面与图1中的相应电调111和电机121的连线方式不同。如图2所示，电调211与电机221之间的连线方式和相邻的电调213与电机223之间的连线方式相同。在这种情况下，如果电调211依然向电机221提供相同的驱动信号，则电机221的旋转方向应当与电机223相同，例如均为逆时针方向。请注意：尽管未示出，但电机227和相对应的电调之间的连线方式也应当与图1所示的电机127和相对应的电调之间的连线方式不同，从而电机227的缺省旋转方向也为逆时针方向。
为了使得电机221能够在工作时反向旋转(即，顺时针旋转)，当将电调211装配到整机之后，如前所述，飞控200在上电时可以向电调221分配编址信息(ID)。电调211可以通过自己被编址的ID号来确认自己的位置，例如是几号机臂，进而可以确认电机221工作时的旋转方向(即，工作旋转方向)。在工作状态下，当电调211驱动电机221的时候，电调211可以通过软件控制来更改A/B/C三根相线A、B、C上驱动信号的相位顺序(以下有时简称为“相序”)。例如，电调211缺省向A、B、C三根相线分别提供相位差为120°的三个正弦波或方波。例如，它们之间的相位差顺序为A＞B＞C。在该情况下，如果确定要更改A/B/C的相序，则电调211的软件可以通过更改发送驱动信号的顺序为A＞C＞B，来达到更改电机的旋转方向的目的。从而，以软件方式实现三根相线中两根相线的信号交换，实现与图1所示的硬件方式相同的效果。
具体地，在一些实施例中，电调211可以根据自己的编址信息以及编址信息与 驱动信号之间的预设对应关系，来确定其应当输出何种驱动信号。例如该预设对应关系可以是如下确定的：如果编址信息是例如ID号1，则输出如上所述与缺省驱动信号相比更改了相序的工作驱动信号，如果编址信息是例如ID号2，则输出如上所述的缺省驱动信号，且以此类推。这样，可以通过软件方式来实现电机221和电机223的旋转方向相反。此外，在一些实施例中，该对应关系可以用例如文本、数据表格或其他恰当形式存储在电调211和/或电调213的本地。在另一些实施例中，该预设对应关系也可以集中存储在飞控200中供各个电调上电时查询。
此外，在一些实施例中，飞控200可以向电调211发送确认电机相序的指令。在接收到该指令时，电调211可以将电机221的旋转方向的信息写入到自己的存储器(例如，闪存)里面。这样，即使在通信线路断开或者飞控200不能对电调211编址的时候也能正常旋转电机方向。此外，在返工/维修等情况下，飞控200可以给电调211发送解锁电机221的旋转方向的指令。在接收到该指令时，电调211可以将电机221的旋转方向的信息从自己的存储器(例如，闪存)里面擦除，从而使得电调211可以向电机221提供用于沿缺省旋转方向旋转的驱动信号。
此外，在另一些实施例中，在生产电机时，也可以直接更改电机221的出线方式。即，在电机221出线的时候直接交换下线序，那么在焊接到电调211板子上的时候也可以实现与上述实施例一样的相序。
此外，针对无人机2中的其它电调/电机，也可以执行上述电机旋转方向控制方案，从而实现对各个旋翼的旋转方向的单独操控。此外，尽管上述实施例描述了在电调211处执行了用于控制电机221的旋转方向的实施例，然而本公开不限于此。事实上，也可以在其他硬件处执行该方案，例如可以在飞控200处通过指示电调输出与工作旋转方向相对应的工作驱动信号，来实现同样的技术效果。从而，可以在飞控200处对所有或部分电调/电机进行整体操控，以实现同样或更好的飞行控制。
此外，尽管上述实施例使用单独的电子调速器211作为用于驱动电机221的示例设备，但本公开不限于此。例如，在电机转速可以恒定的情况下，可以使用单独的芯片(例如，现场可编程门阵列(FPGA)、专用集成电路(ASIC)等，而非电子调速器)仅实现旋转方向改变的功能，而无需控制电机的转速。又例如，可以使用一个电子调速器211来同时驱动多个电机221和227，以例如降低成本、减轻重量等。因此，一般而言，可以将电子调速器211视为电机221的(电机)控制器。
至此已结合图1和图2来详细描述了根据本公开实施例的用于控制电机的旋转方向的方案。通过使用该方案，电调软件可以自动判别自己是几号机臂进而确认电机的旋转方向。这样，在生产装配的时候可以按照固定的焊接顺序来进行焊接，大大简化了生产流程。
以下将结合图3～4来详细描述根据本公开实施例的用于驱动电机转动的控制方法300以及相应电子调速器400的功能构造。
图3是示出了根据本公开实施例的用于驱动电机转动的控制方法300的流程图。如图3所示，方法300可以包括步骤S310、S320和S330。根据本公开，方法300的一些步骤可以单独执行或组合执行，以及可以并行执行或顺序执行，并不局限于图3所示的具体操作顺序。在一些实施例中，方法300可以由图2所示的无人机2的飞控200或电调211(或电调213等)来执行。
图4是示出了根据本公开实施例的示例电子调速器400的框图。示例设备400的具体例子可以是图2的无人机200或其上的电调211、213等。如图4所示，设备400可以包括：驱动电路410和控制器420。
驱动电路410可以用于提供驱动信号给电机(例如，电机221)，以驱动电机(例如，电机221)转动。
控制器420可以与驱动电路410电连接，用于控制驱动电路410。此外，控制器420可以根据电子调速器400的编址信息确定电机(例如，电机221)的转动方向，并且控制驱动电路410根据转动方向，提供相应的驱动信号给电机(例如，电机221)。控制器420可以是电子调速器400的中央处理单元(例如，CPU)、数字信号处理器(DSP)、微处理器、微控制器等等。
此外，电子调速器400还可以包括图4中未示出的其他功能单元，然而由于其并不影响本领域技术人员理解本公开的实施方式，因此在图4中加以省略。例如，电子调速器400还可以包括以下一项或多项功能单元：电源、存储器、总线、天线、无线收发信机等等。
以下将结合图3和图4，对根据本公开实施例的用于驱动电机转动的控制方法300和电子调速器400进行详细的描述。
方法300开始于步骤S310，在步骤S310中，可以由电子调速器400的控制器420获取编址信息。
在步骤S320中，可以由电子调速器400的控制器420根据编址信息，确定电机的转动方向。
在步骤S330中，可以由电子调速器400的驱动电路410根据转动方向，提供相应的驱动信号给电机(例如，电机221)。
在一些实施例中，电机的转动方向可以是根据编址信息与电机的转动方向的预设对应关系来确定的。在一些实施例中，电机的转动方向可以是根据编址信息计算判断后确定的。在一些实施例中，步骤S310可以包括：获取外部控制器发送的编址信号；以及根据编址信号，确定编址信息。在一些实施例中，编址信号可以为脉冲宽度调制信号。在一些实施例中，步骤S310可以包括：获取输入模拟量端口的电压信息；根据电压信息，确定编址信息。在一些实施例中，在获取输入模拟量端口的电压信息之前，方法300可以包括：在通信链路上串联一预设电阻；通过输入模拟量端口，检测预设电阻两端的电压。在一些实施例中，方法300还可以包括：存储与电机的转动方向的信息。在一些实施例中，方法300还可以包括：读取存储的与电机的转动方向的信息；以及根据读取的与电机的转动方向的信息，提供相应的驱动信号给电机。在一些实施例中，方法300还可以包括：获取用于解锁电机的转动方向的控制指令；根据所述控制指令，删除存储的与所述电机的转动方向的信息。
此外，根据本公开的一些实施例，还提出了一种动力套装。该动力套装可以包括：根据前述实施例中所述的电子调速器；以及与该电子调速器电连接的电机。
此外，根据本公开的另一些实施例，还提出了一种无人飞行器。该无人飞行器可以包括：机架；飞行控制器，安装在机架上；以及安装在机架上的多个根据前述实施例中所述的动力套装，其中，飞行控制器可以与多个动力套装的电子调速器电连接，用于输入油门信号给电子调速器，电子调速器可以根据油门信号控制电机转动，以提供推力给无人飞行器。
需要注意的是，在本文中被描述为通过纯硬件、纯软件和/或固件来实现的功能，也可以通过专用硬件、通用硬件与软件的结合等方式来实现。例如，被描述为通过专用硬件(例如，现场可编程门阵列(FPGA)、专用集成电路(ASIC)等)来实现的功能，可以由通用硬件(例如，中央处理单元(CPU)、数字信号处理器(DSP))与软件的结合的方式来实现，反之亦然。此外，例如描述为通过蓝牙模块、NFC芯片/线圈等实现的功能，也可以由通用处理器(例如，CPU、DSP等)结合模数转换 电路、放大电路、天线等硬件以及蓝牙、NFC相关处理软件来实现，反之亦然。
尽管已经参照本公开的特定示例性实施例示出并描述了本公开，但是本领域技术人员应该理解，在不背离所附权利要求及其等同物限定的本公开的精神和范围的情况下，可以对本公开进行形式和细节上的多种改变。因此，本公开的范围不应该限于上述实施例，而是应该不仅由所附权利要求来进行确定，还由所附权利要求的等同物来进行限定。

Claims (24)

  1. 一种用于驱动电机转动的控制方法，包括：
    获取编址信息；
    根据所述编址信息，确定电机的转动方向；以及
    根据所述转动方向，提供相应的驱动信号给所述电机。
  2. 根据权利要求1所述的方法，其中，所述电机的转动方向是根据所述编址信息与所述电机的转动方向的预设对应关系来确定的。
  3. 根据权利要求1所述的方法，其中，所述电机的转动方向是根据所述编址信息计算判断后确定的。
  4. 根据权利要求1所述的方法，其中，所述获取编址信息包括：
    获取外部控制器发送的编址信号；以及
    根据所述编址信号，确定所述编址信息。
  5. 根据权利要求4所述的方法，其中，所述编址信号为脉冲宽度调制信号。
  6. 根据权利要求1所述的方法，其中，所述获取编址信息包括：
    获取输入模拟量端口的电压信息；
    根据所述电压信息，确定所述编址信息。
  7. 根据权利要求6所述的方法，其中，在所述获取输入模拟量端口的电压信息之前，所述方法包括：
    在通信链路上串联一预设电阻；
    通过输入模拟量端口，检测所述预设电阻两端的电压。
  8. 根据权利要求1所述的方法，还包括：
    存储所述电机的转动方向的信息。
  9. 根据权利要求8所述的方法，还包括：
    读取存储的所述电机的转动方向的信息；以及
    根据读取的所述电机的转动方向的信息，提供相应的驱动信号给所述电机。
  10. 根据权利要求8所述的方法，还包括：
    获取用于解锁电机的转动方向的控制指令；
    根据所述控制指令，删除存储的所述电机的转动方向的信息。
  11. 一种电子调速器，包括：
    驱动电路，用于提供驱动信号给电机，以驱动所述电机转动；以及
    控制器，与所述驱动电路电连接，用于控制所述驱动电路，
    其中，所述控制器根据所述电子调速器的编址信息确定电机的转动方向，并且控制所述驱动电路根据所述转动方向，提供相应的驱动信号给所述电机。
  12. 根据权利要求11所述的电子调速器，其中，所述电机的转动方向是根据所述编址信息与所述电机的转动方向的预设对应关系来确定的。
  13. 根据权利要求11所述的电子调速器，其中，所述电机的转动方向是根据所述编址信息计算判断后确定的。
  14. 根据权利要求11所述的电子调速器，其中，所述控制器用于与外部控制器通信，所述控制器能够根据所述外部控制器发送的编址信号确定所述编址信息。
  15. 根据权利要求14所述的电子调速器，其中，所述编址信号为脉冲宽度调制信号。
  16. 根据权利要求11所述的电子调速器，其中，所述控制器包括输入模拟量端口，所述控制器器通过所述输入模拟量端口的电压信息确定所述编址信息。
  17. 根据权利要求16所述的电子调速器，其中，所述控制器与外部控制器的通信链路上串联一预设电阻；
    所述输入模拟量端口用于检测所述预设电阻两端的电压。
  18. 根据权利要求11所述的电子调速器，还包括：存储器，用于存储所述电机的转动方向的信息。
  19. 根据权利要求18所述的电子调速器，其中，所述控制器用于读取存储的所述电机的转动方向的信息，并根据读取的所述电机的转动方向的信息，提供相应的驱动信号给所述电机。
  20. 根据权利要求18所述的电子调速器，其中，所述控制器在获取到用于解锁电机的转动方向的控制指令时，控制器删除所述存储器中存储的所述电机的转动方向的信息。
  21. 根据权利要求18所述的电子调速器，其中，所述控制器与所述存储器分开设置或者集成在一起。
  22. 根据权利要求18所述的电子调速器，其中，所述控制器为MCU和/或所述驱动电路为MOS管驱动电路。
  23. 一种动力套装，包括：
    权利要求11～22中任一项所述的电子调速器；以及
    电机，与所述电子调速器电连接。
  24. 一种无人飞行器，包括：
    机架；
    飞行控制器，安装在所述机架上；以及
    安装在所述机架上的多个权利要求23所述的动力套装，
    其中，所述飞行控制器与多个所述动力套装的电子调速器电连接，用于输入油门信号给所述电子调速器，所述电子调速器根据所述油门信号控制所述电机转动，以提供推力给所述无人飞行器。
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