WO2019047539A1 - 一种电机发音方法、装置、电子调速器和无人飞行器 - Google Patents

一种电机发音方法、装置、电子调速器和无人飞行器 Download PDF

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Publication number
WO2019047539A1
WO2019047539A1 PCT/CN2018/084448 CN2018084448W WO2019047539A1 WO 2019047539 A1 WO2019047539 A1 WO 2019047539A1 CN 2018084448 W CN2018084448 W CN 2018084448W WO 2019047539 A1 WO2019047539 A1 WO 2019047539A1
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WIPO (PCT)
Prior art keywords
motor
arm
upper arm
turned
lower arm
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Application number
PCT/CN2018/084448
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English (en)
French (fr)
Inventor
颜世智
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深圳市道通智能航空技术有限公司
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Publication of WO2019047539A1 publication Critical patent/WO2019047539A1/zh

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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
    • H02P27/085—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 wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring

Definitions

  • the embodiments of the present application relate to the field of motor control, and in particular, to a motor sounding method, device, an electronic governor, and an unmanned aerial vehicle.
  • the motor has a very wide range of applications in production and life. In some applications of the motor, due to cost or application limitations, it is impossible to use a common horn or buzzer to make a sound, but the motor needs to make a sound. The effect of the reminder. For example, for an unmanned aerial vehicle, in order to improve the user experience, when the unmanned aerial vehicle is turned on, it is necessary to give a sound to the user to give a prompt to the user.
  • the motor can only sound sounds simply, so the tone is relatively monotonous, which sounds harsh and the user experience is not good.
  • an embodiment of the present application provides a motor pronunciation method for an electronic governor, where the electronic governor includes a motor controller and a motor driver, and the electronic governor passes the motor driver and the motor The electrical connection of the motor, the method comprising:
  • the motor controller controls the motor driver to apply a pulse voltage to at least one phase winding of the motor to vibrate the rotor of the motor, and the motor emits a piece of music;
  • the piece of music is composed of a plurality of different sounds, each of the sounds being generated by introducing a pulse voltage comprising at least two frequencies in at least one phase winding of the motor, the frequency of the pulse voltage being respectively Is 1/T 1 ,...,1/T N , where N is a natural number and N ⁇ 2.
  • the at least two frequencies alternate.
  • the motor driver is a three-phase bridge driver, including a first upper arm, a first lower arm, a second upper arm, a second lower arm, a third upper arm, and a third lower bridge arm;
  • the first ends of the first upper arm, the second upper arm, and the third upper arm are connected to a first power voltage, the second end of the first upper arm and the first a first end of the lower arm is connected, a second end of the second upper arm is coupled to a first end of the second lower arm, and a second end of the third upper arm and the third a first end of the lower arm is connected, and a second end of the first lower arm, the second lower arm and the third lower arm are connected to a second power voltage;
  • the at least two frequencies alternate.
  • applying a pulse voltage having a frequency of 1/T N to at least one phase winding of the motor includes:
  • the respective bridge arms of the motor driver are controlled to be in a first state: the first upper arm is turned on, the first lower arm is disconnected, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in the second state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • applying a pulse voltage having a frequency of 1/T N to at least one phase winding of the motor includes:
  • the respective bridge arms of the motor driver are controlled to be in a third state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is turned on, and the second lower arm is disconnected.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in a fourth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • applying a pulse voltage having a frequency of 1/T N to at least one phase winding of the motor includes:
  • each of the bridge arms of the motor driver is controlled to be in a fifth state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is turned on and the third lower arm is disconnected;
  • each of the bridge arms of the motor driver is controlled to be in a sixth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • an embodiment of the present application provides a motor sounding device for an electronic governor, the electronic governor including a motor controller and a motor driver, and the electronic governor passes the motor driver and the motor
  • the electrical connection of the motor, the device comprises:
  • a motor pronunciation module for controlling a motor driver to apply a pulse voltage to at least one phase winding of the motor to cause the rotor of the motor to vibrate and the motor to emit a piece of music
  • the piece of music is composed of a plurality of different sounds, each of the sounds being generated by introducing a pulse voltage comprising at least two frequencies in at least one phase winding of the motor, the frequency of the pulse voltage being respectively Is 1/T 1 ,...,1/T N , where N is a natural number and N ⁇ 2.
  • the at least two frequencies alternate.
  • the motor driver is a three-phase bridge driver, including a first upper arm, a first lower arm, a second upper arm, a second lower arm, a third upper arm, and a third lower bridge arm;
  • the first ends of the first upper arm, the second upper arm, and the third upper arm are connected to a first power voltage, the second end of the first upper arm and the first a first end of the lower arm is connected, a second end of the second upper arm is coupled to a first end of the second lower arm, and a second end of the third upper arm and the third a first end of the lower arm is connected, and a second end of the first lower arm, the second lower arm and the third lower arm are connected to a second power voltage;
  • the motor pronunciation module is specifically configured to:
  • the respective bridge arms of the motor driver are controlled to be in a first state: the first upper arm is turned on, the first lower arm is disconnected, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in the second state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • the motor pronunciation module is specifically configured to:
  • the respective bridge arms of the motor driver are controlled to be in a third state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is turned on, and the second lower arm is disconnected.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in a fourth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • the motor pronunciation module is specifically configured to:
  • each of the bridge arms of the motor driver is controlled to be in a fifth state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is turned on and the third lower arm is disconnected;
  • each of the bridge arms of the motor driver is controlled to be in a sixth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • an embodiment of the present application provides an electronic governor for controlling operation of a motor, the electronic governor including a motor controller and a motor driver, wherein the electronic governor passes the motor driver and The motor is electrically connected, and the electronic governor includes:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method described above.
  • the application provides an unmanned aerial vehicle, including:
  • An electronic governor comprising a motor controller and a motor driver, the electronic governor being coupled to an input of the motor via the motor driver;
  • a propeller coupled to an output of the motor, the propeller being driven by the motor to generate a force that causes the UAV to move;
  • motor controller is used to:
  • the piece of music is composed of a plurality of different sounds, each of the sounds being generated by introducing a pulse voltage comprising at least two frequencies in at least one phase winding of the motor, the frequency of the pulse voltage being respectively Is 1/T 1 ,...,1/T N , where N is a natural number and N ⁇ 2.
  • the at least two frequencies alternate.
  • the motor driver is a three-phase bridge driver, including a first upper arm, a first lower arm, a second upper arm, a second lower arm, a third upper arm, and a third lower bridge arm;
  • the first ends of the first upper arm, the second upper arm, and the third upper arm are connected to a first power voltage, the second end of the first upper arm and the first a first end of the lower arm is connected, a second end of the second upper arm is coupled to a first end of the second lower arm, and a second end of the third upper arm and the third a first end of the lower arm is connected, and a second end of the first lower arm, the second lower arm and the third lower arm are connected to a second power voltage;
  • applying a pulse voltage having a frequency of 1/T N to at least one phase winding of the motor includes:
  • the respective bridge arms of the motor driver are controlled to be in a first state: the first upper arm is turned on, the first lower arm is disconnected, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in the second state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • applying a pulse voltage having a frequency of 1/T N to at least one phase winding of the motor includes:
  • the respective bridge arms of the motor driver are controlled to be in a third state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is turned on, and the second lower arm is disconnected.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in a fourth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • applying a pulse voltage having a frequency of 1/T N to at least one phase winding of the motor includes:
  • each of the bridge arms of the motor driver is controlled to be in a fifth state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is turned on and the third lower arm is disconnected;
  • each of the bridge arms of the motor driver is controlled to be in a sixth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • the embodiment of the present application provides a non-transitory computer readable storage medium, wherein the computer readable storage medium stores computer executable instructions, when the computer executable instructions are controlled by a motor When the device is executed, the motor controller is caused to perform the above method.
  • an embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program When the command is executed by the motor controller, the motor controller is caused to perform the method described above.
  • the embodiment of the present application controls a motor driver to pass a pulse voltage including at least two frequencies into at least one phase winding of the motor, so that the rotor of the motor vibrates and the motor emits a sound.
  • the motor emits a number of different sounds to form a piece of music. Since each sound in the piece of music is generated by passing a pulse voltage comprising at least two frequencies in at least one phase winding of the motor, compared to the sound generated by a single frequency pulse voltage in the prior art.
  • the sound of the motor of the present application is richer and the sound is more pleasant.
  • FIG. 1 is a schematic diagram of an application scenario of an embodiment of the present application
  • FIG. 2 is a schematic diagram of a pulse voltage in an embodiment of the present application.
  • Figure 3 is a schematic diagram of the structure of music
  • FIG. 4 is a schematic diagram of a pulse voltage for generating a sound in the embodiment of the present application.
  • FIG. 5 is a schematic flow chart of an embodiment of a motor sounding method of the present application.
  • FIG. 6 is a schematic diagram of a frame of a motor sounding device in an embodiment of the present application.
  • FIG. 8 is a schematic block diagram of a motor sounding device according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram showing the hardware structure of an electronic governor provided by an embodiment of the present application.
  • Embodiments of the present application can be applied to various motor-driven movable objects including, but not limited to, unmanned aerial vehicles (UAVs), ships, and robots.
  • UAVs unmanned aerial vehicles
  • the structure of the UAV includes a center housing, a boom and a power system.
  • the arm is integrally or fixedly connected to the center housing, and the power system is mounted on the arm.
  • Typical power systems include electronic governors, motors, and propellers.
  • the electronic governor is located in a cavity formed by the arm or the center housing.
  • the electronic governor includes a motor controller and a motor driver through which the electronic governor is coupled to the input of the motor.
  • the motor is mounted on the arm and the motor output is connected to the propeller.
  • the propeller generates a force that causes the UAV to move under the drive of the motor, for example, a lift or thrust that causes the UAV to move.
  • FIG. 1 is a schematic diagram of an application scenario of a motor sounding method and apparatus according to an embodiment of the present application.
  • the method and apparatus are used in an electronic governor.
  • the electronic governor includes a motor controller 10 and a motor driver 20, and the electronic governor is electrically connected to the motor 30 through the motor driver 20.
  • the motor controller 10 is for controlling the motor driver 20 to cause the motor driver 20 to generate a pulse voltage input into at least one phase winding of the motor 30 to vibrate the rotor of the motor 30, thereby causing the motor to emit sound.
  • Vibration can produce sound, which is the basic principle of sound generation.
  • the principle of the embodiment of the present application is that a pulse voltage is applied to at least one phase winding of the motor 30 to cause the rotor to vibrate, thereby causing the motor to emit sound.
  • the pulse voltage as shown in FIG. 2 is loaded into at least one phase winding of the motor 30, so that the rotor of the motor vibrates at a frequency of 1/T, and the magnitude of the vibration depends on the time t at which the voltage is applied. Since the sound is generated by vibration, the frequency of the sound is consistent with the frequency of the vibration, that is, 1/T. Changing T can change the frequency of the sound, and changing t can change the size of the sound.
  • the current motor can only be sounded simply, so the tone is relatively monotonous and sounds harsh. If the motor 30 can make a piece of music, the sound from the motor 30 will be pleasant.
  • a piece of music is composed of a plurality of different sounds, that is, notes, and each sound/note is used to indicate high, low, long, and short changes of the sound.
  • the basic notes have seven tones of do, re, mi, fa, sol, la, and si, and the length of the basic notes is 1 beat. Others have higher or lower, and longer or shorter sounds, and these different notes make up a piece of music.
  • Each note in the embodiment of the present application is represented by a tone containing a plurality of frequencies, and each note is represented by a single frequency of sound, and the tone is richer and the sound is more pleasant.
  • the sound of each frequency can be realized by introducing a pulse voltage of a corresponding frequency into at least one phase winding of the motor 30, and a plurality of frequencies can be obtained by introducing a pulse voltage including a plurality of frequencies.
  • FIG. 4 is a schematic diagram of a pulse voltage input in the winding for causing the motor 30 to generate a note. Passing the pulse voltage as shown in FIG. 4 into at least one phase winding of the motor 30 will cause the rotor vibration to generate frequencies respectively. For the sounds of 1/T1, 1/T2, 1/T3, and 1/T4, the sound of each frequency is circulated, and the mixture of the motor 30 is combined to obtain a multi-frequency sounding effect. In each note, the sound of more frequency components is inserted to make the sound of the motor richer.
  • FIG. 4 only shows a case where pulse voltages of four frequencies are included. In practical applications, pulse voltages of two, three or more frequencies may also be included.
  • the embodiment of the present application provides a motor pronunciation method, which can be used in the electronic governor shown in FIG. 1.
  • the electronic governor includes a motor controller and a motor driver, and the electronic speed governor The motor is electrically connected to the motor through the motor driver.
  • the motor pronunciation method includes:
  • the motor controller controls the motor driver to apply a pulse voltage to at least one phase winding of the motor to vibrate the rotor of the motor, and the motor emits a piece of music;
  • the piece of music is composed of a plurality of different sounds, each of the sounds Both are generated by introducing a pulse voltage including at least two frequencies in at least one phase winding of the motor, the frequency of the pulse voltage being 1/T 1 , . . . , 1/T N , where N is a natural number, And N ⁇ 2.
  • the pulse voltage that is used to generate each sound and is conducted in at least one phase winding of the motor is a pulse voltage including at least two or more frequencies.
  • At least one phase winding of the motor 30 is supplied with a pulse voltage including at least two frequencies to vibrate the rotor of the motor, and the motor emits a note by causing the motor 30 to emit a plurality of different notes. So that the motor 30 emits a piece of music.
  • the at least two frequencies alternate between the pulse voltages comprising at least two frequencies.
  • T1, T2, T3, and T4 can be Indicates the length of the note, which is the number of beats.
  • different sounds in the piece of music may be generated by inputting a pulse voltage in the same phase winding of the motor 30, or may be generated by inputting a pulse voltage in the windings of different phases.
  • each of the sounds in the music can be generated by inputting a pulse voltage in the same phase winding of the motor.
  • the embodiment of the present application controls a motor driver to pass a pulse voltage including at least two frequencies into at least one phase winding of the motor, so that the rotor of the motor vibrates and the motor emits a sound, by causing the motor to emit a plurality of different sounds.
  • a motor driver to pass a pulse voltage including at least two frequencies into at least one phase winding of the motor, so that the rotor of the motor vibrates and the motor emits a sound, by causing the motor to emit a plurality of different sounds.
  • Each sound is produced by passing a pulse voltage comprising at least two frequencies into at least one phase winding of the motor, the sound of which is richer and the sound is more pleasant.
  • the motor driver 20 can employ a three-phase bridge driver as shown in FIG. 6 is a schematic diagram of a frame of a motor sounding device according to an embodiment of the present application, the device is applied to an electronic governor, the electronic governor includes a motor controller 10 and a motor driver 20, and the electronic governor passes the The motor driver 20 is electrically connected to the motor 30.
  • the motor driver 20 includes a first upper arm, a first lower arm, a second upper arm, a second lower arm, a third upper arm, and a third lower arm.
  • the first upper arm, the first lower arm, the second upper arm, the second lower arm, the third upper arm and the third lower arm respectively comprise a switch tube Q1, a switch tube Q4, a switch tube Q2, a switch Tube Q5, switch tube Q3 and switch tube Q6.
  • the first ends of the first upper arm, the second upper arm and the third upper arm are connected to the first power voltage VCC, and the second end of the first upper arm is connected to the first end of the first lower arm, The second end of the second upper arm is connected to the first end of the second lower arm, and the second end of the third upper arm is connected to the first end of the third lower arm, the first lower arm and the second end
  • the lower arm and the third lower arm are connected to the ground.
  • the common connection end of the first upper arm and the first lower arm is connected to the first phase winding of the motor 30, and the common connection end of the second upper arm and the second lower arm is connected to the second phase winding of the motor 30, and the third The common connection end of the upper arm and the third lower arm is connected to the third phase winding of the motor 30.
  • the conduction and disconnection of each bridge arm are realized by the on and off of the respective included switch tubes, and the switch tube Q1, the switch tube Q4, the switch tube Q2, the switch tube Q5, the switch tube Q3 and the switch tube Q6 are realized.
  • the control terminal is connected to the motor controller 10.
  • a pulse voltage having a frequency of 1/T N in at least one phase winding of the motor 30 can be achieved by controlling the turn-on and turn-off of the respective switches in the motor driver 20.
  • a pulse voltage having a frequency of 1/T N is applied to the first phase winding of the motor 30, including:
  • control switch Q1 is turned on to turn on the first upper arm
  • the switch Q4 is turned off to open the first lower arm
  • the switch Q2 is turned off to disconnect the second upper arm.
  • the switch tube Q5 is turned on to turn on the second lower arm
  • the switch tube Q3 is turned off to turn off the third upper arm and turn on the switch tube Q6 to turn on the third lower arm.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the pulse voltage of the frequency T N is applied to the first phase winding of the motor 30, and can also be realized by the following second mode and the third mode. Compared with the above manner, the volume of the sound obtained by the second mode and the third mode is higher. small.
  • the control switch Q1 is turned on, the switch Q4 is turned off, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned off.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned off.
  • the control switch Q1 is turned on, the switch Q4 is turned off, the switch Q2 is turned off, the switch Q5 is turned off, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned off, the switch Q3 is turned off, and the switch Q6 is turned on.
  • a pulse voltage having a frequency of T N is applied to the second phase winding of the motor 30, and there are also three ways:
  • control switch tube Q1 is turned off, the switch tube Q4 is turned on, the switch tube Q2 is turned on, the switch tube Q5 is turned off, the switch tube Q3 is turned off, and the switch tube Q6 is turned on.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned on, the switch Q5 is turned off, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned on, the switch Q5 is turned off, the switch Q3 is turned off, and the switch Q6 is turned off.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned off.
  • the control switch Q1 is turned off, the switch Q4 is turned off, the switch Q2 is turned on, the switch Q5 is turned off, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the control switch Q1 is turned off, the switch Q4 is turned off, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned on.
  • a pulse voltage having a frequency of T N is applied to the third phase winding of the motor 30, and there are also three ways:
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned on, and the switch Q6 is turned off.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the control switch Q1 is turned off, the switch Q4 is turned off, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned on, and the switch Q6 is turned off.
  • the control switch Q1 is turned off, the switch Q4 is turned off, the switch Q2 is turned off, the switch Q5 is turned on, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned off, the switch Q3 is turned on, and the switch Q6 is turned off.
  • the control switch Q1 is turned off, the switch Q4 is turned on, the switch Q2 is turned off, the switch Q5 is turned off, the switch Q3 is turned off, and the switch Q6 is turned on.
  • the embodiment of the present application further provides a motor sounding device for an electronic governor.
  • the electronic governor includes a motor controller 10 and a motor driver shown in FIG. 1, and the electronic governor 10 is electrically connected to the motor through the motor driver.
  • the motor pronunciation device includes:
  • the motor pronunciation module 201 is configured to control the motor driver to apply a pulse voltage to at least one phase winding of the motor to vibrate the rotor of the motor, and the motor emits a piece of music; the piece of music is composed of a plurality of different sounds, each of which The sound is generated by introducing a pulse voltage including at least two frequencies in at least one phase winding of the motor, the frequency of the pulse voltage being 1/T 1 , . . . , 1/T N , where N ⁇ 2.
  • the at least two frequencies alternate.
  • the motor driver is a three-phase bridge driver, including a first upper arm, a first lower arm, and a second upper arm. a second lower arm, a third upper arm and a third lower arm;
  • the first ends of the first upper arm, the second upper arm, and the third upper arm are connected to a first power voltage, the second end of the first upper arm and the first a first end of the lower arm is connected, a second end of the second upper arm is coupled to a first end of the second lower arm, and a second end of the third upper arm and the third
  • the first end of the lower arm is connected, and the second ends of the first lower arm, the second lower arm and the third lower arm are connected to a second power voltage, wherein the first power voltage is The VCC terminal shown in FIG. 6, that is, the power supply positive terminal;
  • the second power supply voltage is the ground terminal shown in FIG. 6, that is, the power supply negative terminal, also referred to as reference ground or power ground;
  • Control ends of the first upper arm, the first lower arm, the second upper arm, the second lower arm, the third upper arm, and the third lower arm Connecting a motor controller, a common connection end of the first upper arm and the first lower arm is connected to a first phase winding of the motor, and a common connection between the second upper arm and the second lower arm The end is connected to the second phase winding of the motor, and the common connection end of the third upper arm and the third lower arm is connected to the third phase winding of the motor.
  • the motor pronunciation module 201 is specifically configured to:
  • the respective bridge arms of the motor driver are controlled to be in a first state: the first upper arm is turned on, the first lower arm is disconnected, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in the second state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • the motor pronunciation module 201 is specifically configured to:
  • the respective bridge arms of the motor driver are controlled to be in a third state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is turned on, and the second lower arm is disconnected.
  • the third upper arm is disconnected and the third lower arm is turned on;
  • the respective bridge arms of the motor driver are controlled to be in a fourth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • the motor pronunciation module 201 is specifically configured to:
  • each of the bridge arms of the motor driver is controlled to be in a fifth state: the first upper arm is disconnected, the first lower arm is turned on, the second upper arm is disconnected, and the second lower arm is turned on.
  • the third upper arm is turned on and the third lower arm is disconnected;
  • each of the bridge arms of the motor driver is controlled to be in a sixth state: the first upper arm is disconnected, the first lower arm is open, the second upper arm is disconnected, and the second lower bridge is The arm is turned on, the third upper arm is disconnected, and the third lower arm is turned on;
  • the embodiment of the present application controls a motor driver to pass a pulse voltage including at least two frequencies into at least one phase winding of the motor, so that the rotor of the motor vibrates and the motor emits a sound, by causing the motor to emit a plurality of different sounds.
  • a motor driver to pass a pulse voltage including at least two frequencies into at least one phase winding of the motor, so that the rotor of the motor vibrates and the motor emits a sound, by causing the motor to emit a plurality of different sounds.
  • Each sound is produced by passing a pulse voltage comprising at least two frequencies into at least one phase winding of the motor, which is richer in sound and more pleasant to the sound.
  • the above-mentioned motor sounding device can execute the motor sounding method provided by the embodiment of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the motor sounding method provided by the embodiments of the present application.
  • the present application also provides an unmanned aerial vehicle that performs all or part of the steps of the motor sounding method shown in FIG. 5.
  • the unmanned aerial vehicle includes:
  • At least one processor At least one processor
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform as illustrated in any of the above-described exemplary embodiments Motor pronunciation method.
  • FIG. 9 is a schematic diagram showing the hardware structure of an electronic governor according to an embodiment of the present application. As shown in FIG. 9, the electronic governor includes:
  • processors 11 and memory 12 One or more processors 11 and memory 12, one processor 11 is exemplified in FIG.
  • the processor 11 and the memory 12 can be connected by a bus or other means, as exemplified by a bus connection in FIG.
  • the memory 12 is a non-volatile computer readable storage medium, and can be used for storing non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the motor sounding method in the embodiment of the present application. / Module (for example, motor sound module 201 shown in Figure 8).
  • the processor 11 executes various functional applications of the server and data processing by executing non-volatile software programs, instructions, and modules stored in the memory 12, that is, the motor sounding method of the above-described method embodiments.
  • the memory 12 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to use of the motor sounding device, and the like. Further, the memory 12 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some embodiments, the memory 12 can optionally include a memory remotely located relative to the processor 11 that can be connected to the motor sounding device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more modules are stored in the memory 12, and when executed by the one or more processors 11, performing a motor sounding method in any of the above method embodiments, for example, performing the above described FIG. Method step 101; implementing the functionality of module 201 in FIG.

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Abstract

本申请实施例涉及一种电机发音方法、装置、电子调速器和无人飞行器，所述方法包括：电机控制器控制电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生，所述脉冲电压的频率分别为1/T1，…，1/TN，其中，N为自然数，并且N≥2。本申请实施例通过控制电机驱动器使电机的至少一相绕组中通入包括至少两个频率的脉冲电压，以使电机的转子振动、电机发出一个声音，通过使电机发出多个不同的声音，从而组成一段音色更丰富、声音更悦耳动听的音乐。

Description

一种电机发音方法、装置、电子调速器和无人飞行器
本申请要求于2017年09月06日提交的、申请号为201710796586.0、申请名称为“一种电机发音方法、装置、电子调速器和无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及电机控制领域，特别涉及一种电机发音方法、装置、电子调速器和无人飞行器。
背景技术
电机在生产和生活中都有着非常广泛的应用，在电机的某些应用场合，由于成本或者应用场合的限制，无法使用常用的喇叭或者蜂鸣器来发出声音，而需要电机发出声音，以起到提醒的效果。例如，对于无人飞行器，为了提升用户体验度，在对无人飞行器进行开机时，需要通过电机发出声音来给用户进行提示。
实现本申请过程中，发明人发现相关技术中至少存在如下问题：目前电机只能简单的发声，所以音色比较单调生涩，听起来比较刺耳，用户体验不好。
发明内容
本申请实施例的目的是提供一种能够发出音色丰富、悦耳动听的声音的电机发音方法、装置、电子调速器和无人飞行器。
第一方面，本申请实施例提供了一种电机发音方法，用于电子调速器，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机电性连接，所述方法包括：
所述电机控制器控制所述电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；
其中，所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生,所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，并且N≥2。
可选地，在所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
可选地，所述电机驱动器为三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压；
所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接所述电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
可选地，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
可选地，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
可选地，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
第二方面，本申请实施例提供了一种电机发音装置，用于电子调速器，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机电性连接，所述装置包括：
电机发音模块，用于控制电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；
其中，所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生，所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，并且N≥2。
可选地，在所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
可选地，所述电机驱动器为三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压；
所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接所述电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
可选地，所述电机发音模块，具体用于：
在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
可选地，所述电机发音模块，具体用于：
在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
可选地，所述电机发音模块，具体用于：
在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥 臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
第三方面，本申请实施例提供了一种电子调速器，用于控制电机的运转，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与电机电性连接，所述电子调速器包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行上述的方法。
第四方面，本申请提供一种无人飞行器，包括：
中心壳体；
机臂，所述机臂与所述中心壳体连接；
电机；
电子调速器，包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机的输入端连接；以及
螺旋桨，与所述电机的输出端连接，所述螺旋桨在所述电机的驱动下产生使得所述无人飞行器移动的力；
其中，所述电机控制器用于：
控制所述电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；
其中，所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生,所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，并且N≥2。
可选地，在所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
可选地，所述电机驱动器为三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压；
所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接所述电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
可选地，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
可选地，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
可选地，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
第五方面，本申请实施例提供了一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被电机控制器执行时，使所述电机控制器执行上述的方法。
第六方面，本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被电机控制器执行时，使所述电机控制器执行上述的方法。
本申请实施例的有益效果是：本申请实施例通过控制电机驱动器使电机的至少一相绕组中通入包括至少两个频率的脉冲电压，以使电机的转子振动、电机发出一个声音，通过使电机发出多个不同的声音，从而组成一段音乐。由于这段音乐中的每个声音都通过在电机的至少一相绕组中通入包括至少两个频率的脉冲电压来产生，相较于现有技术中通过单一频率的脉冲电压来产生的声音所组成的音乐而言，本申请的电机的音色更丰富、声音更悦耳动听。
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是本申请实施例的应用场景示意图；
图2是本申请实施例中脉冲电压的示意图；
图3是音乐的构成示意图；
图4是本申请实施例中产生一个声音的脉冲电压示意图；
图5是本申请电机发音方法的一个实施例的流程示意图；
图6是本申请实施例中的电机发音装置的框架示意图；
图7是本申请实施例中一个周期内的脉冲电压示意图；
图8是本申请实施例的电机发音装置的模块示意图；
图9是本申请实施例提供的电子调速器的硬件结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施例可以应用到各种电机驱动的可移动物体上，包括但不限于无人飞行器(unmanned aerial vehicle，UAV)，轮船，机器人。现以无人飞行器为例进行说明。无人飞行器的结构包括中心壳体、机臂和动力系统。机臂与中心壳体一体连接或者固定连接，动力系统安装于机臂上。典型的动力系统包括电子调速器、电机和螺旋桨。电子调速器位于机臂或中心壳体所形成的空腔内。电子调速器包括电机控制器和电机驱动器，电子调速器通过所述电机驱动器与所述电机的输入端连接。电机安装在机臂上，电机输出端连接螺旋桨。螺旋桨在所述电机的驱动下产生使得所述无人飞行器移动的力，例如，使得无人飞行器移动的升力或者推力。
请参照图1，图1为本申请实施例提供的电机发音方法和装置的应用场景示意图，该方法和装置用于电子调速器。所述电子调速器包括电机控制器10和电机驱动器20，所述电子调速器通过所述电机驱动器20与电机30电性连接。电机控制器10用于控制电机驱动器20，以使电机驱动器20产生脉冲电压输入到电机30的至少一相绕组中，以使电机30的转子振动、从而使 电机发出声音。
振动可以产生声音，这是声音产生的基本原理。本申请实施例的原理就是在电机30的至少一相绕组中通入脉冲电压，使转子产生振动，从而使电机发出声音。请参照图2，将图2那样的脉冲电压加载到电机30的至少一相绕组中，将使得电机的转子以1/T的频率振动，振动的大小取决于施加电压的时间t。由于声音由振动产生，声音的频率与振动的频率一致，即1/T，改变T便可改变声音的频率，而改变t便可改变声音的大小。
目前的电机只能简单的发声，所以音色比较单调生涩，听起来比较刺耳，如果能使电机30发出一段音乐，将会使电机30发出的声音悦耳动听。
请参照图3，一般一段音乐由多个不同的声音，即音符组成，每个声音/音符用于表示音的高、低、长、短变化。基本音符有do、re、mi、fa、sol、la和si七个音，基本音符的长短为1拍。其他还有一些更高或更低、以及更长或更短的音，由这些不同的音符就组成了一段音乐。
本申请实施例每个音符用包含多个频率的音来表示，相对用单一频率的音来表示每个音符，其音色更丰富，声音更动听。其中，每个频率的音可以通过在电机30的至少一相绕组中通入对应频率的脉冲电压来实现，通过通入包括多个频率的脉冲电压就能获得多个频率的音。
请参照图4，图4为为使电机30产生一个音符而在绕组中输入的脉冲电压的示意图，将图4那样的脉冲电压通入电机30的至少一相绕组，将使转子振动产生频率分别为1/T1、1/T2、1/T3和1/T4的音，每种频率的音循环发出，经过电机30的混合，得到类似多频发音的效果。在每个音符中，插入较多的频率成分的音，使电机的音色更丰富。
需要说明的是，图4只示出了包含四种频率的脉冲电压的情况，在实际应用中，也可以包括两种、三种或者更多种频率的脉冲电压。
如图5所示，本申请实施例提供了一种电机发音方法，可以用于图1所示的电子调速器，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机电性连接。所述电机发音方法包括：
101：电机控制器控制电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；所述一段音乐由多个不同的 声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生,所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，且N≥2。这表明，用于产生每个声音而在电机的至少一相绕组中通入的脉冲电压为包括至少两个或以上的频率的脉冲电压。
即通过控制电机驱动器20使电机30的至少一相绕组中通入包括至少两个频率的脉冲电压，以使电机的转子振动、电机发出一个音符，通过使电机30发出多个不同的所述音符，以使电机30发出一段音乐。
其中，在所述方法的某些实施例中，为了使电机30发出的声音更加悦耳，所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。请参照图4，交替输出频率分别为1/T1、1/T2、1/T3和1/T4的脉冲电压，即可使电机发出一个音符，其中，所有T1、T2、T3和T4的和可以表示音符的长短，即节拍数。通过改变T1、T2、T3和T4的值，就可以获得不同的音符，不同的音符组合起来，即构成了一段音乐。音符里的每个音有其固定的频率及大小，实际应用中，频率及大小的取值，可以根据不同的音乐而取不同值，也可以在调试过程中，根据实际的输出效果，做相应的调整，以达到最佳的效果。
其中，可选地，所述一段音乐中的不同声音可以通过在电机30的同一相绕组中输入脉冲电压产生，也可以在不同相的绕组中输入脉冲电压产生。为使控制更简单，可以将该音乐中的各个声音都在电机的同一相绕组中输入脉冲电压来产生。
本申请实施例通过控制电机驱动器使电机的至少一相绕组中通入包括至少两个频率的脉冲电压，以使电机的转子振动、电机发出一个声音，通过使电机发出多个不同的所述声音，使电机发出一段音乐。每个声音通过在电机的至少一相绕组中通入包括至少两个频率的脉冲电压来产生，其音色更丰富，声音更悦耳动听。
具体地，电机驱动器20可以采用如图6所示的三相桥式驱动器。图6为本申请实施例中的电机发音装置的框架示意图，该装置应用于电子调速器，所述电子调速器包括电机控制器10和电机驱动器20，所述电子调速器通过所述电机驱动器20与电机30电性连接。其中，电机驱动器20包括第一上 桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂。第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂分别包括开关管Q1、开关管Q4、开关管Q2、开关管Q5、开关管Q3和开关管Q6。
第一上桥臂、第二上桥臂和第三上桥臂的第一端均连接第一电源电压VCC，第一上桥臂的第二端和第一下桥臂的第一端连接，第二上桥臂的第二端和第二下桥臂的第一端连接，第三上桥臂的第二端和第三下桥臂的第一端连接，第一下桥臂、第二下桥臂和第三下桥臂均连接接地端。
第一上桥臂和第一下桥臂的共同连接端连接电机30的第一相绕组，第二上桥臂和第二下桥臂的共同连接端连接电机30的第二相绕组，第三上桥臂和第三下桥臂的共同连接端连接电机30的第三相绕组。每个桥臂的导通和断开均通过各自包含的开关管的导通和关断来实现，开关管Q1、开关管Q4、开关管Q2、开关管Q5、开关管Q3和开关管Q6的控制端连接电机控制器10。
在电机30的至少一相绕组中通入频率为1/T N的脉冲电压可以通过控制电机驱动器20中各开关管的导通和关断来实现。例如，在电机30的第一相绕组中通入频率为1/T N的脉冲电压，包括：
在时间t内，控制开关管Q1导通以使第一上桥臂导通、开关管Q4关断以使第一下桥臂断开、开关管Q2关断以使第二上桥臂断开、开关管Q5导通以使第二下桥臂导通、开关管Q3关断以使第三上桥臂断开和开关管Q6导通以使第三下桥臂导通。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6导通。
在时间t和时间T N-t内，输入电机30的第一相绕组的电压请参照图7。如上重复控制各个开关管的导通和关断，即可获得图2所示的脉冲电压输入到电机30的第一相绕组中。
在电机30的第一相绕组中通入频率为T N的脉冲电压，还可以通过如下第二方式和第三方式来实现，相对于上述方式，第二方式和第三方式获得的声音音量较小。
第二方式：
在时间t内，控制开关管Q1导通、开关管Q4关断、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6关断。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6关断。
第三方式：
在时间t内，控制开关管Q1导通、开关管Q4关断、开关管Q2关断、开关管Q5关断、开关管Q3关断和开关管Q6导通。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5关断、开关管Q3关断和开关管Q6导通。
同理，在电机30的第二相绕组中通入频率为T N的脉冲电压，也有三种方式：
在时间t内，控制开关管Q1关断、开关管Q4导通、开关管Q2导通、开关管Q5关断、开关管Q3关断、开关管Q6导通。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2导通、开关管Q5关断、开关管Q3关断和开关管Q6导通。
在时间t和时间T N-t内，输入电机30的第二相绕组的电压请参照图7。如上重复控制各个开关管的导通和关断，即可获得图2所示的脉冲电压输入到电机30的第二相绕组中。
或者：
在时间t内，控制开关管Q1关断、开关管Q4导通、开关管Q2导通、开关管Q5关断、开关管Q3关断和开关管Q6关断。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6关断。
或者：
在时间t内，控制开关管Q1关断、开关管Q4关断、开关管Q2导通、开关管Q5关断、开关管Q3关断和开关管Q6导通。
在时间T N-t内，控制开关管Q1关断、开关管Q4关断、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6导通。
相应的，在电机30的第三相绕组中通入频率为T N的脉冲电压，也有三种方式：
在时间t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5导通、开关管Q3导通、开关管Q6关断。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6导通。
在时间t和时间T N-t内，输入电机30的第三相绕组的电压请参照图7。如上重复控制各个开关管的导通和关断，即可获得图2所示的脉冲电压输入到电机30的第三相绕组中。
或者：
在时间t内，控制开关管Q1关断、开关管Q4关断、开关管Q2关断、开关管Q5导通、开关管Q3导通和开关管Q6关断。
在时间T N-t内，控制开关管Q1关断、开关管Q4关断、开关管Q2关断、开关管Q5导通、开关管Q3关断和开关管Q6导通。
或者：
在时间t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5关断、开关管Q3导通和开关管Q6关断。
在时间T N-t内，控制开关管Q1关断、开关管Q4导通、开关管Q2关断、开关管Q5关断、开关管Q3关断和开关管Q6导通。
相应的，如图8所示，本申请实施例还提供了一种电机发音装置，用于电子调速器。所述电子调速器包括图1中所示的电机控制器10和电机驱动器，所述电子调速器10通过所述电机驱动器与所述电机电性连接。该电机发音装置装置包括：
电机发音模块201，用于控制电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生,所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N≥2。
可选地，所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
可选地，在所述装置的某些实施例中，如图6所示，所述电机驱动器为 三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压，其中，第一电源电压为图6中所示的VCC端，即，电源正端；第二电源电压为图6中所示的接地端，即电源负端，也称为参考地或电源地；
所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
可选地，在所述装置的某些实施例中，电机发音模块201具体用于：
在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
可选地，在所述装置的某些实施例中，电机发音模块201具体用于：
在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥 臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
可选地，在所述装置的某些实施例中，电机发音模块201，具体用于：
在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
本申请实施例通过控制电机驱动器使电机的至少一相绕组中通入包括至少两个频率的脉冲电压，以使电机的转子振动、电机发出一个声音，通过使电机发出多个不同的所述声音，使电机发出一段音乐。每个声音都通过在电机的至少一相绕组中通入包括至少两个频率的脉冲电压来产生，其音色更丰富，声音更悦耳动听。
需要说明的是，上述电机发音装置可执行本申请实施例所提供的电机发音方法，具备执行方法相应的功能模块和有益效果。未在电机发音装置实施例中详尽描述的技术细节，可参见本申请实施例所提供的电机发音方法。
本申请还提供一种无人飞行器，执行图5所示的电机发音方法的全部或者部分步骤。该无人飞行器包括：
至少一个处理器；以及
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上述任一个示例性实施例所示出的电机发音方法。
图9是本申请实施例提供的电子调速器的硬件结构示意图，如图9所示，该电子调速器包括：
一个或多个处理器11以及存储器12，图9中以一个处理器11为例。
处理器11和存储器12可以通过总线或者其他方式连接，图9中以通过总线连接为例。
存储器12作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的电机发音方法对应的程序指令/模块(例如，附图8所示的电机发音模块201)。处理器11通过运行存储在存储器12中的非易失性软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例的电机发音方法。
存储器12可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据电机发音装置的使用所创建的数据等。此外，存储器12可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器12可选包括相对于处理器11远程设置的存储器，这些远程存储器可以通过网络连接至电机发音装置。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个模块存储在所述存储器12中，当被所述一个或者多个处理器11执行时，执行上述任意方法实施例中的电机发音方法，例如，执行以上描述的图5中的方法步骤101；实现图8中的模块201的功能。
上述产品可执行本申请实施例所提供的方法，具备执行方法相应的功能模块和有益效果。未在本实施例中详尽描述的技术细节，可参见本申请实施例所提供的方法。
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 (20)

  1. 一种电机发音方法，用于电子调速器，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机电性连接，其特征在于，所述方法包括：
    所述电机控制器控制所述电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；
    其中，所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生,所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，并且N≥2。
  2. 根据权利要求1所述的方法，其特征在于，在所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
  3. 根据权利要求1或2所述的方法，其特征在于，所述电机驱动器为三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
    所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压；
    所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接所述电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
    在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
  5. 根据权利要求1-3任一项所述的方法，其特征在于，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
    在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
  6. 根据权利要求1-3任一项所述的方法，其特征在于，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
    在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
  7. 一种电机发音装置，用于电子调速器，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机电性连接，其特征在于，所述装置包括：
    电机发音模块，用于控制电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；
    其中，所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生，所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，并且N≥2。
  8. 根据权利要求7所述的方法，其特征在于，在所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
  9. 根据权利要求7或8所述的装置，其特征在于，所述电机驱动器为三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
    所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压；
    所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接所述电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
  10. 根据权利要求7-9任一项所述的装置，其特征在于，所述电机发音模块，具体用于：
    在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥 臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
  11. 根据权利要求7-9任一项所述的装置，其特征在于，所述电机发音模块，具体用于：
    在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
  12. 根据权利要求7-9任一项所述的装置，其特征在于，所述电机发音模块，具体用于：
    在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
  13. 一种电子调速器，用于控制电机的运转，所述电子调速器包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与电机电性连接，其特征在于，所述电子调速器包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-6任一项所述的方法。
  14. 一种无人飞行器，其特征在于，包括：
    中心壳体；
    机臂，所述机臂与所述中心壳体连接；
    电机；
    电子调速器，包括电机控制器和电机驱动器，所述电子调速器通过所述电机驱动器与所述电机的输入端连接；以及
    螺旋桨，与所述电机的输出端连接，所述螺旋桨在所述电机的驱动下产生使得所述无人飞行器移动的力；
    其中，所述电机控制器用于：
    控制所述电机驱动器使电机的至少一相绕组中通入脉冲电压，以使电机的转子振动、电机发出一段音乐；
    其中，所述一段音乐由多个不同的声音组成，每个所述声音均通过在所述电机的至少一相绕组中通入包括至少两个频率的脉冲电压产生,所述脉冲电压的频率分别为1/T 1，…，1/T N,其中，N为自然数，并且N≥2。
  15. 根据权利要求14所述的无人飞行器，其特征在于，在所述包括至少两个频率的脉冲电压中，所述至少两个频率交替变化。
  16. 根据权利要求14或15所述的无人飞行器，其特征在于，所述电机驱动器为三相桥式驱动器，包括第一上桥臂、第一下桥臂、第二上桥臂、第二下桥臂、第三上桥臂和第三下桥臂；
    所述第一上桥臂、所述第二上桥臂和所述第三上桥臂的第一端均连接第一电源电压，所述第一上桥臂的第二端和所述第一下桥臂的第一端连接，所述第二上桥臂的第二端和所述第二下桥臂的第一端连接，所述第三上桥臂的第二端和所述第三下桥臂的第一端连接，所述第一下桥臂、所述第二下桥臂和所述第三下桥臂的第二端均连接第二电源电压；
    所述第一上桥臂、所述第一下桥臂、所述第二上桥臂、所述第二下桥臂、所述第三上桥臂和所述第三下桥臂的控制端连接所述电机控制器，所述第一上桥臂和所述第一下桥臂的共同连接端连接电机的第一相绕组，所述第二上桥臂和所述第二下桥臂的共同连接端连接电机的第二相绕组，所述第三上桥臂和所述第三下桥臂的共同连接端连接电机的第三相绕组。
  17. 根据权利要求14-16任一项所述的无人飞行器，其特征在于，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
    在时间t内，控制所述电机驱动器的各个桥臂处于第一状态：第一上桥臂导通、第一下桥臂断开、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第二状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第一状态，以及在时间T N-t内使电机驱动器处于所述第二状态。
  18. 根据权利要求14-16任一项所述的无人飞行器，其特征在于，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
    在时间t内，控制所述电机驱动器的各个桥臂处于第三状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂导通、第二下桥臂断开、第三上桥臂断开和第三下桥臂导通；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第四状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第三状态，以及在时间T N-t内使电机驱动器处于所述第四状态。
  19. 根据权利要求14-16任一项所述的无人飞行器，其特征在于，在所述电机的至少一相绕组中通入频率为1/T N的脉冲电压包括：
    在时间t内，控制所述电机驱动器的各个桥臂处于第五状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂导通和第三下桥臂断开；
    在时间T N-t内，控制所述电机驱动器的各个桥臂处于第六状态：第一上桥臂断开、第一下桥臂导通、第二上桥臂断开、第二下桥臂导通、第三上桥臂断开和第三下桥臂导通；
    重复执行在时间t内使电机驱动器处于所述第五状态，以及在时间T N-t内使电机驱动器处于所述第六状态。
  20. 一种非易失性计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机可执行指令，当所述计算机可执行指令被电机控制器执行时，使所述电机控制器执行权利要求1-6任一项所述的方法。
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