WO2019010994A1 - 电机控制系统及无人机 - Google Patents

电机控制系统及无人机 Download PDF

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Publication number
WO2019010994A1
WO2019010994A1 PCT/CN2018/079007 CN2018079007W WO2019010994A1 WO 2019010994 A1 WO2019010994 A1 WO 2019010994A1 CN 2018079007 W CN2018079007 W CN 2018079007W WO 2019010994 A1 WO2019010994 A1 WO 2019010994A1
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WO
WIPO (PCT)
Prior art keywords
motor
power
inverter
electrically connected
control system
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2018/079007
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English (en)
French (fr)
Inventor
陈毅东
成转鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Robotics Co Ltd
Original Assignee
Autel Robotics Co Ltd
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 Autel Robotics Co Ltd filed Critical Autel Robotics Co Ltd
Publication of WO2019010994A1 publication Critical patent/WO2019010994A1/zh
Priority to US16/739,485 priority Critical patent/US20200283162A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/28—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed without contact making and breaking, e.g. using a transductor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • 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
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the field of drone technology, and in particular to a motor control system and a drone having the motor control system.
  • the drone referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements.
  • UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the scope of use of drones has been expanded to three major fields of military, scientific research and civil use, specifically in power communication, meteorology, agriculture, oceanography, exploration, photography, disaster prevention and mitigation, crop yield estimation, anti-drug smuggling, border patrol, security and anti-terrorism, etc. The field is widely used.
  • the current four-rotor UAV generally has the problem that the hardware circuit board is too large and heavy, and is not disadvantageous for miniaturization of the drone.
  • the design restricts the flexibility of the drone structure design; it also affects and limits the endurance of the drone.
  • the embodiment of the present application provides a motor control system that is small in size, compact in structure, and light in weight, and a drone having the motor control system.
  • the embodiment of the present application provides the following technical solutions:
  • a motor control system includes: a control unit, a first inverter electrically connected to the control unit, a second inverter electrically connected to the control unit, and an electrical connection with the first inverter a first motor and a second motor electrically connected to the second inverter; the first inverter is connected in parallel with the second inverter;
  • the control unit is configured to output a control signal to the first inverter and the second inverter, and the alternating signals output by the first inverter and the second inverter are respectively controlled An operational state of the first motor and the second motor that are electrically connected.
  • the first inverter includes at least one first power unit electrically coupled to the first motor, the control unit being electrically coupled to at least one of the first power units, the control unit Outputting the control signal to at least one of the first power units, and controlling an operating state of the first motor by an alternating signal output by the first power unit;
  • the second inverter includes at least one second power unit electrically connected to the second motor, the control unit is electrically connected to at least one of the second power units, and the control signal output by the control unit And controlling, by the at least one of the second power units, an operating state of the second motor by an alternating signal output by the second power unit.
  • the first power unit includes a first power sub-unit, a second power sub-unit, and a third power sub-unit connected in parallel with each other, the second power unit including three fourth power sub-parallels connected in parallel with each other a unit, a fifth power subunit, and a sixth power subunit.
  • the first power unit and the second power unit each include a driving circuit for receiving the control signal, a first power component electrically coupled to the driving circuit, and the driving circuit An electrically connected second power component; the first power component being in series with the second power component.
  • the first power component and the second power component are both MOS transistors.
  • the motor control system further includes a first sampling circuit for acquiring a three-phase voltage of the first motor and a second sampling circuit for acquiring a three-phase voltage of the second motor;
  • the first sampling circuit is electrically connected between the first inverter and the first motor, and the second sampling circuit is electrically connected between the second inverter and the second motor.
  • the first sampling circuit includes a first sampling resistor and a first operational amplifier circuit in parallel with the first sampling resistor; the second sampling circuit includes a second sampling resistor and the second A second operational amplifier circuit in which the sampling resistors are connected in parallel.
  • control unit is an MCU.
  • the embodiment of the present application further provides the following technical solutions:
  • An unmanned aerial vehicle includes: a fuselage, an arm coupled to the fuselage, and the motor control system described above, wherein the first motor and the second motor are disposed on the arm.
  • the first motor and the second motor are diagonally disposed.
  • the motor control system of the embodiment of the present application includes a first inverter, a second inverter, and a control unit, and the control unit is respectively connected to the first inverter and the second inverter. Electrically connected, the first inverter is electrically connected to the first motor, the second inverter is electrically connected to the second motor; the two inverters in the motor control system are electrically connected to a control unit, so that one control unit can Controlling the operation of the two motors reduces the size and weight of the hardware board with the motor control system.
  • FIG. 1 is a schematic diagram of functional modules of a motor control system provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural view of the motor control system shown in FIG. 1;
  • FIG. 3 is a schematic structural view of a control unit in the motor control system shown in FIG. 2;
  • FIG. 4 is a schematic diagram of a functional module of a motor control system applied to a drone according to an embodiment of the present application
  • FIG. 5 is a schematic structural diagram of a motor control system applied to a drone according to an embodiment of the present application.
  • an embodiment of the present application provides a motor control system 100 including a control unit 23 , a first inverter 21 electrically connected to the control unit 23 , and a first electrical connection with the first inverter 21 .
  • the first inverter 21 is connected in parallel with the second inverter 22.
  • the control unit 23 is configured to output a control signal to the first inverter 21 and the second inverter 22, and the alternating signals outputted by the first inverter 21 and the second inverter 22 respectively control the electrically connected thereto The operating states of the first motor 11 and the second motor 12.
  • control unit 23, the first inverter 21, and the second inverter 22 are all integrated on the same circuit board 20.
  • Two inverters in the motor control system 100 ie, the first inverter 21 and the second inverter 22
  • one control unit 23 can control two motors (ie, The operation of the first motor 11 and the second motor 12) further reduces the size of the hardware circuit board having the motor control system and reduces the weight.
  • control unit 23 is an MCU.
  • the first inverter 21 includes at least one first power unit 211, 212, 213 electrically connected to the first motor 11, the control unit 23 and at least one of the first power units 211, 212, 213 Electrically connected, the control unit 23 outputs the control signal to at least one of the first power units 211, 212, 213, and controls the first by an alternating signal output by the first power unit 211, 212, 213 The operating state of the motor 11.
  • the first power unit 211, 212, 213 includes a first power subunit 211, a second power subunit 212, and a third power subunit 213 connected in parallel.
  • the first power subunit 211, the second power subunit 212, and the third power subunit 213 are all electrically connected to the first motor 11.
  • the first power subunit 211, the second power subunit 212, and the third power subunit 213 receive a control signal from the control unit 23, thereby controlling an operating state of the first motor 11.
  • the second inverter 22 includes at least one second power unit 221, 222, 223 electrically connected to the second motor 12, the control unit 23 and at least one of the second power units 221, 222, 223 Electrically connected, the control signal output by the control unit 23 is supplied to at least one of the second power units 221, 222, 223, and the alternating signal output by the second power unit 221, 222, 223 controls the first The operating state of the two motors 12.
  • the second power unit 221, 222, 223 includes a fourth power subunit 221, a fifth power subunit 222, and a sixth power subunit 223 connected in parallel.
  • the fourth power sub-unit 221, the fifth power sub-unit 222, and the sixth power sub-unit 223 are all electrically connected to the second motor 12.
  • the fourth power sub-unit 221, the fifth power sub-unit 222, and the sixth power sub-unit 223 receive a control signal from the control unit 23, thereby controlling the operating state of the second motor 12.
  • the first power subunit 211, the second power subunit 212, the third power subunit 213, the fourth power subunit 221, the fifth power subunit 222, and the sixth power subunit 223 are all A driving circuit D1, a first power element Q1 and a second power element Q2 are included.
  • the driving circuit D1 is electrically connected to the first power element Q1 and the second power element Q2, respectively.
  • the advantage of this design is that the drive circuit has a fast switching speed, a strong driving capability, and a fast turn-off speed of the two power components.
  • the number of power units is determined by the number of phases of the motor.
  • the first motor 11 and the second motor 12 are both three-phase motors, so the first inverter 21 and The second inverters 22 each include three power units.
  • the three-phase motor has many advantages such as simple structure, reliable operation, light weight and low price.
  • the first motor and the second motor may also be single-phase motors such that the first inverter and the second inverter comprise only one power unit.
  • Single-phase motors have many advantages such as simple wiring, long service life, and fast start-up.
  • first inverter 21 and the second inverter 22 and the first motor 11 and the second motor 22 can be identical in structure and function, only to explain two inverters and two more clearly.
  • the connection relationship of the motors is named "first” and "second” respectively.
  • the first power element Q1 and the second power element Q2 are both MOS tubes.
  • the first power element Q1 and the second power element Q2 may also be an insulated gate bipolar transistor (IGBT) or a thyristor.
  • IGBT insulated gate bipolar transistor
  • the driving circuit D1 is provided with a signal receiving end for receiving a control signal sent by the control unit 23, thereby turning on or off the first power element Q1 or the second power element Q2, the first power element Q1 and the second power element Q2 It does not turn on or off at the same time, forming an alternating signal for controlling the motor.
  • the motor control system 100 further includes a first sampling circuit 24 for collecting the three-phase voltage V1 of the first motor 11 and a second sampling circuit 26 for collecting the three-phase voltage V2 of the second motor 12.
  • the first sampling circuit 24 includes a first sampling resistor R1 and a first operational amplifier circuit in parallel with the first sampling resistor
  • the second sampling circuit 26 includes a second sampling resistor R2 and a second sampling resistor. Parallel second operational amplifier circuit.
  • the first sampling resistor R1 is electrically connected to the second power element Q2 of the first power subunit 211, the second power subunit 212, and the third power subunit 213, respectively.
  • the second sampling resistor R2 is electrically coupled to the second power element Q2 of the fourth power sub-unit 221, the fifth power sub-unit 222, and the sixth power sub-unit 223, respectively.
  • the first sampling circuit 24 and the second sampling circuit 26 can feed back the collected three-phase voltage V1 of the first motor 11 and the three-phase voltage V2 of the second motor 12 to the control unit 23, and the control unit 23 can receive the three-phase voltage according to V1 and the three-phase voltage V2 acquire the operating states of the first motor 11 and the second motor 12.
  • the control unit 23 can also adjust the operating states of the first motor 11 and the second motor 12 according to the received three-phase voltage V1 and the three-phase voltage V2, so that the control unit 23 more precisely controls the operation of a motor 11 and the second motor 12. status.
  • the control signal is collected by the first sampling circuit 24, the three-phase voltage V1, the three-phase voltage V2 collected by the second sampling circuit 26, and the DC-side voltage Vdc of the motor control system are input to the control unit. 23 is obtained by vector operation.
  • the control signal output by the control unit 23 includes a first Pulse-Width Modulation (PWM) signal (PMW1_0, PWM1_1, PWM1_2, PMW1_3, PMW1_4, and PMW1_5) for controlling the first motor 11.
  • PWM Pulse-Width Modulation
  • PMW1_0, PWM1_1, PWM1_2, PMW1_3, PMW1_4, and PMW1_5 for controlling the first motor 11.
  • a second pulse width modulation signal (PMW2_0, PWM2_1, PWM2_2, PMW2_3, PMW2_4, and PMW2_5) for controlling the second motor 12.
  • Each power unit is controlled by two PMW waves.
  • the power unit can also be controlled by one PMW signal.
  • the first pulse width modulation signals PWM1_0 and PWM1_1 are input to the driving circuit D1 of the first power subunit 211, and the first power element Q1 and the second power element Q2 in the first power subunit 211 are controlled to be turned on or disconnect.
  • the first pulse width modulation signals PWM1_2 and PWM1_3 are input to the driving circuit D1 in the second power subunit 212, and the first power element Q1 and the second power element Q2 in the second power subunit 212 are controlled to be turned on or off.
  • the first pulse width modulation signals PWM1_4 and PWM1_5 are input to the driving circuit D1 in the third power subunit 213, and control the conduction or disconnection of the first power element Q1 and the second power element Q2 in the third power subunit 213.
  • the second pulse width modulation signals PWM2_0 and PWM2_1 are input to the driving circuit D1 in the fourth power subunit 221, and the first power element Q1 and the second power element Q2 in the fourth power subunit 221 are controlled to be turned on or off.
  • the second pulse width modulation signals PWM2_2 and PWM2_3 are input to the driving circuit D1 in the fifth power sub-unit 222, and the first power element Q1 and the second power element Q2 in the fifth power sub-unit 222 are controlled to be turned on or off.
  • the second pulse width modulation signals PWM2_4 and PWM2_5 are input to the driving circuit D1 in the sixth power sub-unit 223, and the first power element Q1 and the second power element Q2 in the sixth power sub-unit 223 are controlled to be turned on or off.
  • the motor control system 100 of the present application can be applied to mobile devices such as drones 200, remotely controlled vehicles, and unmanned vessels. As an embodiment of the present application, the motor control system 100 is applied to the drone 200.
  • the drone 200 can be a three-rotor, a four-rotor, a six-rotor, or an eight-rotor drone.
  • the drone 200 in the present application is a quadrotor drone, and the drone includes a body 210, four arms 220 connected to the body 210, and a body 210.
  • the ESC is 50.
  • the four arms 220 and the body 210 may be integrally formed; in other implementations, the four arms 220 and the body 210 may be separate components that are screwed together after being separately manufactured. , glue connection, etc. are fixed together.
  • the first motor 11 and the second motor 12 are disposed on the arm 220, and the first motor 11 and the second motor 12 are diagonally disposed with respect to the body 210 of the drone 200 (ie, the first motor 11 and the second motor 12 respectively Provided on the two arms 210 disposed diagonally, the control unit 23, the first inverter 21 electrically connected to the control unit 23, and the second inverter 22 electrically connected to the control unit 23 are integrated An ESC within 50. It can be understood that the other two electrical adjustments disposed diagonally can also be controlled by integrating the ESC 50 described in the embodiment of the present application.
  • the advantage of this design is that one of the ESCs 50 is damaged while the UAV 200 is flying, and the other ESC 50 is capable of controlling the continued operation of the diagonally located motor so that the UAV 200 can land smoothly. If an ESC 50 controls two motors on the same side, if either of the two ESCs 50 is damaged, the UAV 200 may roll over and crash. Controlling the diagonally located motor through the same ESC 50 is beneficial to reducing the size of the ESC circuit board in the UAV, meeting the miniaturization design requirements of the UAV, and improving the endurance of the UAV.

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

Abstract

一种电机控制系统（100）及无人机（200），所述电机控制系统（100）包括：控制单元（23）、与所述控制单元（23）电连接的第一逆变器（21）、与所述控制单元（23）电连接的第二逆变器（22）、与所述第一逆变器（21）电连接的第一电机（11）以及与所述第二逆变器（22）电连接的第二电机（12）。通过以上方式，电机控制系统（100）中的两个逆变器（21，22）与一个控制单元（23）电连接，从而使得一个控制单元（23）可以控制两个电机（11，12）的运行，进而缩小了具有该电机控制系统（100）的硬件电路板的体积，并减轻了重量。

Description

电机控制系统及无人机
本申请要求于2017年07月11日提交中国专利局、申请号为201710561100.5、申请名称为“电机控制系统及无人机”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及无人机技术领域，尤其涉及一种电机控制系统及具有此电机控制系统的无人机。
背景技术
无人驾驶飞机，简称无人机(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人机通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。目前。无人机的使用范围已经扩宽到军事、科研、民用三大领域，具体在电力通信、气象、农业、海洋、勘探、摄影、防灾减灾、农作物估产、缉毒缉私、边境巡逻、治安反恐等领域应用甚广。
在实现本申请的过程中，发明人发现现有技术至少存在以下问题：目前的四旋翼无人机普遍存在硬件电路板体积过大，重量较重的问题；不仅不利于无人机的小型化设计，制约着无人机结构设计的灵活度；而且会影响并限制到无人机的续航能力。
发明内容
为了解决上述技术问题，本申请实施例提供一种体积小、结构紧凑并且重量轻的电机控制系统、具有此电机控制系统的无人机。
为解决上述技术问题，本申请实施例提供以下技术方案：
一种电机控制系统，包括：控制单元、与所述控制单元电连接的第一逆变器、与所述控制单元电连接的第二逆变器、与所述第一逆变器电连接的第一电机以及与所述第二逆变器电连接的第二电机；所述第一逆变器与所述第二逆变器并联；
其中，所述控制单元用于输出控制信号至所述第一逆变器和第二逆变器，通过所述第一逆变器和所述第二逆变器输出的交变信号分别控制与其电连接的所述第一电机和第二电机的运行状态。
在一些实施例中，所述第一逆变器包括至少一个与所述第一电机电连接的第一功率单元，所述控制单元与至少一个所述第一功率单元电连接，所述控制单元输出所述控制信号给至少一个所述第一功率单元，通过所述第一功率单元输出的交变信号控制所述第一电机的运行状态；
所述第二逆变器包括至少一个与所述第二电机电连接的第二功率单元，所述控制单元与至少一个所述第二功率单元电连接，所述控制单元输出的所述控制信号给至少一个所述第二功率单元，通过所述第二功率单元输出的交变信号控制所述第二电机的运行状态。
在一些实施例中，所述第一功率单元包括彼此并联的第一功率子单元、第二功率子单元以及第三功率子单元，所述第二功率单元包括三个彼此并联的第四功率子单元、第五功率子单元以及第六功率子单元。
在一些实施例中，所述第一功率单元和所述第二功率单元均包括用于接收所述控制信号的驱动电路、与所述驱动电路电连接的第一功率元件和与所述驱动电路电连接的第二功率元件；所述第一功率元件与所述第二功率元件串联。
在一些实施例中，所述第一功率元件和第二功率元件均为MOS管。
在一些实施例中，所述电机控制系统还包括用于采集所述第一电机的三相电压的第一采样电路以及用于采集所述第二电机的三相电压的第二采样电路；所述第一采样电路电连接于所述第一逆变器和所述第一电机之间，所述第二采样电路电连接于所述第二逆变器和所述第二电机之间。
在一些实施例中，所述第一采样电路包括第一采样电阻和与所述第一采样电阻并联的第一运放电路；所述第二采样电路包括第二采样电阻和与所述第二采样电阻并联的第二运放电路。
在一些实施例中，所述控制单元为一MCU。
为解决上述技术问题，本申请实施例还提供以下技术方案：
一种无人机，包括：机身、与所述机身连接的机臂以及以上所述的电机控制系统，所述第一电机和第二电机设置于所述机臂。
在一些实施例中，所述第一电机和所述第二电机呈对角设置。
与现有技术相比较，本申请实施例的电机控制系统包括第一逆变器、第二逆变器和控制单元，所述控制单元分别与所述第一逆变器、第二逆变器电连接，第一逆变器与第一电机电连接，第二逆变器与第二电机电连接；电机控制系统中的两个逆变器与一个控制单元电连接，从而使得一个控制单元可以控制两个电机的运行，进而缩小了具有该电机控制系统的硬件电路板的体积，并减轻了重量。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为简化示出的本申请实施例提供的一种电机控制系统的功能模块示意图；
图2为图1所示的电机控制系统的结构示意图；
图3为图2所示的电机控制系统中控制单元的结构示意图；
图4为本申请实施例提供的一种电机控制系统应用于无人机的功能模块示意图；
图5为本申请实施例提供的一种电机控制系统应用于无人机的结构示意图。
具体实施方式
为了便于理解本申请，下面结合附图和具体实施方式，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“电连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“底部”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”“第三”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1和图2，本申请实施例提供一种电机控制系统100，包括控制单元23、与控制单元23电连接的第一逆变器21、与第一逆变器21电连接的第一电机11、第二逆变器22和与第二逆变器22电连接的第二电机12。第一逆变器21与第二逆变器22并联。控制单元23用于输出控制信号至第一逆变器21和第二逆变器22，通过第一逆变器21和第二逆变器22输出的交变信号分别控制与其电连接的所述第一电机11和第二电机12的运行状态。本实施例中，控制单元23、第一逆变器21和第二逆变器22均集成在同一块电路板20上。电机控制系统100中的两个逆变器(即，第一逆变器 21和第二逆变器22)与一个控制单元23电连接，从而使得一个控制单元23可以控制两个电机(即，第一电机11、第二电机12)的运行，进而缩小了具有该电机控制系统的硬件电路板的体积，并减轻了重量。
在本实施例中，控制单元23为一MCU。
所述第一逆变器21包括至少一个与所述第一电机11电连接的第一功率单元211，212，213，所述控制单元23与至少一个所述第一功率单元211，212，213电连接，所述控制单元23输出所述控制信号给至少一个所述第一功率单元211，212，213，通过所述第一功率单元211，212，213输出的交变信号控制所述第一电机11的运行状态。在本实施例中，第一功率单元211，212，213包括并联的第一功率子单元211、第二功率子单元212和第三功率子单元213。所述第一功率子单元211、第二功率子单元212和第三功率子单元213均与所述第一电机11电连接。所述第一功率子单元211、第二功率子单元212和第三功率子单元213接收来自控制单元23的控制信号，从而控制所述第一电机11的运行状态。
所述第二逆变器22包括至少一个与所述第二电机12电连接的第二功率单元221，222，223，所述控制单元23与至少一个所述第二功率单元221，222，223电连接，所述控制单元23输出的所述控制信号给至少一个所述第二功率单元221，222，223，通过所述第二功率单元221，222，223输出的交变信号控制所述第二电机12的运行状态。在本实施例中，所述第二功率单元221，222，223包括并联的第四功率子单元221、第五功率子单元222和第六功率子单元223。所述第四功率子单元221、第五功率子单元222和第六功率子单元223均与所述第二电机12电连接。所述第四功率子单元221、第五功率子单元222和第六功率子单元223接收来自控制单元23的控制信号，从而控制所述第二电机12的运行状态。
在本实施例中，所述第一功率子单元211、第二功率子单元212、第三功率子单元213、第四功率子单元221、第五功率子单元222和第六功率子单元223均包括驱动电路D1、第一功率元件Q1和第二功率元件Q2。所述驱动电路D1分别与所述第一功率元件Q1和第二功率元件Q2电连接。这 样设计的好处是：驱动电路开关速度很快，驱动能力强，并且两个功率元件的关断速度快。
通常，功率单元的个数是由电机的相数决定的，在本实施例中，所采用的第一电机11和第二电机12均为三相电机，因此所述第一逆变器21和第二逆变器22均包括三个功率单元。三相电机具有结构简单、运行可靠、重量轻、价格便宜等诸多优点。在其它实施例中，第一电机和第二电机还可以为单相电机，从而，所述第一逆变器和第二逆变器只包括一个功率单元。单相电机具有布线简单、使用寿命长、启动快等诸多优点。
可以理解的是，第一逆变器21和第二逆变器22以及第一电机11和第二电机22在结构和功能上可以完全相同，仅为了更清楚的说明两个逆变器和两个电机的连接关系，而分别命名成了“第一”和“第二”。
可以理解在本申请的一实施例中，所述第一功率元件Q1和第二功率元件Q2均为MOS管。在其他实施例中，第一功率元件Q1和第二功率元件Q2还可以为绝缘栅双极型晶体管(Insulated Gate Bipolar Transistor，IGBT)、或者晶闸管。
驱动电路D1设置有信号接收端，用于接收由控制单元23发出的控制信号，进而导通或者断开第一功率元件Q1或第二功率元件Q2，第一功率元件Q1和第二功率元件Q2不会同时导通或断开，从而形成用于控制电机的交变信号。
该电机控制系统100还包括用于采集第一电机11的三相电压V1的第一采样电路24和用于采集第二电机12的三相电压V2的第二采样电路26。作为一种优选的实施例，第一采样电路24包括第一采样电阻R1和与第一采样电阻并联的第一运放电路，第二采样电路26包括第二采样电阻R2和与第二采样电阻并联的第二运放电路。第一采样电阻R1分别与第一功率子单元211、第二功率子单元212和第三功率子单元213中第二功率元件Q2电连接。第二采样电阻R2分别与第四功率子单元221、第五功率子单元222和第六功率子单元223中的第二功率元件Q2电连接。第一采样电路24和第二采样电路26可将采集的第一电机11的三相电压V1和第二电机12的 三相电压V2反馈至控制单元23，控制单元23可以根据接收到三相电压V1和三相电压V2，获取第一电机11和第二电机12的运行状态。控制单元23还可根据接收到三相电压V1和三相电压V2，调整第一电机11和第二电机12的运行状态，使得控制单元23更精确的控制一电机11和第二电机12的运行状态。在本申请的一实施例中，控制信号由第一采样电路24采集到的三相电压V1、第二采样电路26采集到的三相电压V2以及该电机控制系统的直流侧电压Vdc输入控制单元23进行矢量运算得到。在本实施例中，控制单元23输出的控制信号包括用于控制第一电机11的第一脉宽调制(Pulse-Width Modulation，PWM)信号(PMW1_0、PWM1_1、PWM1_2、PMW1_3、PMW1_4、以及PMW1_5)、以及用于控制第二电机12的第二脉宽调制信号(PMW2_0、PWM2_1、PWM2_2、PMW2_3、PMW2_4、以及PMW2_5)。
每一个功率单元均由两路PMW波控制，在其他可能的实施例中，功率单元也可以由一路PMW信号控制。具体的，第一脉宽调制信号PWM1_0和PWM1_1输入第一功率子单元211的驱动电路D1，控制所述第一功率子单元211中的第一功率元件Q1和第二功率元件Q2的导通或断开。第一脉宽调制信号PWM1_2和PWM1_3输入第二功率子单元212中的驱动电路D1，控制第二功率子单元212中的第一功率元件Q1和第二功率元件Q2的导通或断开。第一脉宽调制信号PWM1_4和PWM1_5输入第三功率子单元213中的驱动电路D1，控制第三功率子单元213中的第一功率元件Q1和第二功率元件Q2的导通或断开。
第二脉宽调制信号PWM2_0和PWM2_1输入第四功率子单元221中的驱动电路D1，控制第四功率子单元221中的第一功率元件Q1和第二功率元件Q2的导通或断开。第二脉宽调制信号PWM2_2和PWM2_3输入第五功率子单元222中的驱动电路D1，控制第五功率子单元222中的第一功率元件Q1和第二功率元件Q2的导通或断开。第二脉宽调制信号PWM2_4和PWM2_5输入第六功率子单元223中的驱动电路D1，控制第六功率子单元223中的第一功率元件Q1和第二功率元件Q2的导通或断开。
本申请的电机控制系统100可应用于无人机200、遥控战车、无人船等 移动装置上。作为本申请的一种实施例，电机控制系统100应用于无人机200。该无人机200可以为三旋翼、四旋翼、六旋翼、八旋翼无人机。
如图4和5所示，本申请中的无人机200为四旋翼无人机，该无人机包括机身210、与机身210相连的四个机臂220以及设于机身210上的电调50。在一些实现方式中，四个机臂220与机身210可以一体成型；在另一些实现方式中，四个机臂220与机身210可以为独立的部件，在分别制造完毕后通过螺丝锁合、粘胶连接等方式固定到一起。第一电机11和第二电机12设置于机臂220，并且第一电机11与第二电机12相对于无人机200的机身210对角设置(即第一电机11与第二电机12分别设置在呈对角设置的两个机臂210上)，所述控制单元23、与控制单元23电连接的第一逆变器21和与控制单元23电连接的第二逆变器22集成于一个电调50内。可以理解的是，另外两个呈对角设置的电调也可以采用集成了本申请实施例所述的电调50来控制。这样设计的优点是：在无人机200在飞行时，有一个电调50发生了损坏，另一个电调50能够控制位于对角的电机继续运行，使得无人机200能够平稳着陆。若一个电调50控制位于同一侧的两个电机，则两个电调50中的任一个损坏，则无人机200则可能发生侧翻，并坠毁。通过同一电调50来控制位于对角的电机有利于缩小无人机中电调电路板的体积，满足了无人机的小型化设计需求，提高了无人机的续航能力。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (10)

  1. 一种电机控制系统(100)，其特征在于，所述电机控制系统(100)包括：控制单元(23)、与所述控制单元(23)电连接的第一逆变器(21)、与所述控制单元(23)电连接的第二逆变器(22)、与所述第一逆变器(21)电连接的第一电机(11)以及与所述第二逆变器(22)电连接的第二电机(12)；所述第一逆变器(21)与所述第二逆变器(22)并联；
    其中，所述控制单元(23)用于输出控制信号至所述第一逆变器(21)和第二逆变器(22)，通过所述第一逆变器(21)和所述第二逆变器(22)输出的交变信号分别控制与其电连接的所述第一电机(11)和第二电机(12)的运行状态。
  2. 根据权利要求1所述的电机控制系统(100)，其特征在于，
    所述第一逆变器(21)包括至少一个与所述第一电机(11)电连接的第一功率单元(211，212，213)，所述控制单元(23)与至少一个所述第一功率单元(211，212，213)电连接，所述控制单元(23)输出所述控制信号给至少一个所述第一功率单元(211，212，213)，通过所述第一功率单元(211，212，213)输出的交变信号控制所述第一电机(11)的运行状态；
    所述第二逆变器(22)包括至少一个与所述第二电机(12)电连接的第二功率单元(221，222，223)，所述控制单元(23)与至少一个所述第二功率单元(221，222，223)电连接，所述控制单元(23)输出的所述控制信号给至少一个所述第二功率单元(221，222，223)，通过所述第二功率单元(221，222，223)输出的交变信号控制所述第二电机(12)的运行状态。
  3. 根据权利要求2所述的电机控制系统(100)，其特征在于，所述第一功率单元(211，212，213)包括彼此并联的第一功率子单元(211)、第二功率子单元(212)以及第三功率子单元(213)，所述第二功率单元(221，222，223)包括三个彼此并联的第四功率子单元(221)、第五功率子单元 (222)以及第六功率子单元(223)。
  4. 根据权利要求2或3所述的电机控制系统(100)，其特征在于，所述第一功率单元(211，212，213)和所述第二功率单元(221，222，223)均包括用于接收所述控制信号的驱动电路(D1)、与所述驱动电路(D1)电连接的第一功率元件(Q1)和与所述驱动电路(D1)电连接的第二功率元件(Q2)；所述第一功率元件(Q1)与所述第二功率元件(Q2)串联。
  5. 根据权利要求4所述的电机控制系统(100)，其特征在于，所述第一功率元件(Q1)和第二功率元件(Q2)均为MOS管。
  6. 根据权利要求1至5任一项所述的电机控制系统(100)，其特征在于，所述电机控制系统(100)还包括用于采集所述第一电机(11)的三相电压(V1)的第一采样电路(24)以及用于采集所述第二电机(12)的三相电压(V2)的第二采样电路(26)；
    所述第一采样电路(24)电连接于所述第一逆变器(21)和所述第一电机(11)之间，所述第二采样电路(26)电连接于所述第二逆变器(22)和所述第二电机(12)之间。
  7. 根据权利要求6所述的电机控制系统(100)，其特征在于，所述第一采样电路(24)包括第一采样电阻(R1)和与所述第一采样电阻(R1)并联的第一运放电路；
    所述第二采样电路(26)包括第二采样电阻(R2)和与所述第二采样电阻(R2)并联的第二运放电路。
  8. 根据权利要求1至7中任一项所述的电机控制系统(100)，其特征在于，所述控制单元(23)为一MCU。
  9. 一种无人机(200)，所述无人机(200)包括机身(210)及与所述机身(210)连接的机臂(220)，其特征在于，所述无人机(200)还包括 如权利要求1-8中任一项所述的电机控制系统(100)，所述第一电机(11)和第二电机(12)设置于所述机臂(220)。
  10. 根据权利要求9所述的无人机(200)，其特征在于，所述第一电机(11)和所述第二电机(12)呈对角设置。
PCT/CN2018/079007 2017-07-11 2018-03-14 电机控制系统及无人机 Ceased WO2019010994A1 (zh)

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