WO2019233021A1

WO2019233021A1 - Motor control method and apparatus, electronic governor, and unmanned aerial vehicle

Info

Publication number: WO2019233021A1
Application number: PCT/CN2018/112881
Authority: WO
Inventors: 陈毅东
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2018-06-07
Filing date: 2018-10-31
Publication date: 2019-12-12
Also published as: CN108768236A

Abstract

A motor control method and apparatus, an electronic governor (20), and an unmanned aerial vehicle (100). The method comprises: acquiring a current battery voltage U_dc and a q-axis voltage input instruction value u_qref0, and obtaining a current q-axis actual input voltage u_qref according the current battery voltage U_dc and the q-axis voltage input instruction value u_qref0; and controlling a motor (10) according to the current q-axis actual input voltage u_qref. According to the control method, the value of a current q-axis actual input voltage u_qref is adjusted in real time according to a change in the current battery voltage U_dc, the problem of poor control robustness of a motor (10) caused by the fact that a change in voltage of a battery is too large, the control robustness of the motor (10) is improved, and the mobility range of the unmanned aerial vehicle (100) is not affected.

Description

Motor control method and device, electronic governor and unmanned aerial vehicle

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on June 7, 2018, with application number 2018105794725, and with the application name "motor control method, device, electronic governor, and unmanned aerial vehicle". Incorporated by reference in this application.

Technical field

The embodiments of the present application relate to the technical field of motor control, and in particular, to a method and device for controlling a motor, an electronic governor, and an unmanned aerial vehicle.

Background technique

Unmanned aerial vehicle is a kind of unmanned aerial vehicle that controls flight attitude through radio remote control equipment and built-in programs. It has been widely used in military and civilian fields. Unmanned aerial vehicles generally carry the blades on a motor, and the rotation of the rotor of the motor drives the rotation of the blades, and the rotation of the blades provides the power for the unmanned aerial vehicle to ascend or advance.

UAVs mostly use lithium batteries for power supply, and the power will gradually decrease during the flight. In some specific cases, when the battery powers a large load, the battery output voltage may be pulled down momentarily. If the output voltage of the battery changes significantly, it will lead to poor robustness of the motor control system, which will cause the efficiency of the motor to be distorted, and the efficiency of the system will be reduced. In severe cases, it may cause the motor to stall and even risk the explosion.

At present, the above situation is usually prevented by setting a given maximum value of the active voltage, but this method reduces the maneuverability range of the unmanned aerial vehicle, and is not suitable for some unmanned aerial vehicles with a high maneuverability range.

Summary of the Invention

The purpose of the embodiments of the present application is to provide a motor control method, device, electronic governor, and unmanned aerial vehicle that do not affect the maneuverability range of the unmanned aerial vehicle and have good motor control robustness.

In order to solve the above technical problems, in a first aspect, an embodiment of the present application provides a method for controlling a motor. The method is used for an electronic governor. The method includes:

Get current voltage U _dc and the q-axis voltage command value input _u qref0, _u qref0 value obtained q-axis actual current input voltage u _qref according to the current battery voltage U _dc and the q-axis voltage command input;

The motor is controlled according to the current actual input voltage u _{qref of the} q-axis.

In some embodiments, the actual input voltage of the current q-axis is

Among them, U _{dc_max} is a preset first voltage.

In some embodiments, the preset first voltage is U _{dc_max} = k * U ′ _{dc_max} , where 0.7 ≦ k ≦ 0.9 and U ′ _{dc_max} is the maximum bus voltage.

In some embodiments, the maximum bus voltage is a battery voltage value when the electronic governor drops from a first preset throttle value to a second preset throttle value.

In some embodiments, the first preset throttle value is an upper limit value of the throttle range of the electronic governor, and the second preset throttle value is a lower limit value of the throttle range of the electronic governor.

In some embodiments, the method further includes:

If the time when the current battery voltage U _{dc is} continuously lower than the minimum voltage threshold exceeds a preset time threshold, an alarm instruction is sent.

In a second aspect, an embodiment of the present application further provides a motor control device, where the device is used for an electronic governor, and the device includes:

The current q-axis actual input voltage acquisition module is used to obtain the current battery voltage U _dc and the q-axis voltage input command value u _qref0 , and obtain the current q-axis according to the current battery voltage U _dc and the q-axis voltage input command value u _qref0 Actual input voltage u _qref ;

The motor control module is configured to control the motor according to the current actual input voltage u _{qref of the} q-axis.

In some embodiments, the actual input voltage of the current q-axis is

Among them, U _{dc_max} is a preset first voltage.

In some embodiments, the apparatus further includes:

An alarm instruction sending module is configured to send an alarm instruction if the time when the current battery voltage U _{dc is} continuously lower than the minimum voltage threshold exceeds a preset time threshold.

In a third aspect, an embodiment of the present application further provides an electronic speed governor for controlling the operation of the motor. The electronic speed governor includes an electrically connected motor controller and a motor driver. The motor drivers are all used to electrically connect with the motor, and the motor controller includes:

At least one processor; and

A memory connected in communication with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the foregoing method.

In a fourth aspect, an embodiment of the present application further provides an unmanned aerial vehicle, including:

body;

A flight controller, a motor, and an electronic governor for controlling the operation of the motor are provided on the fuselage. The electronic governor is the aforementioned electronic governor.

In a fifth aspect, an embodiment of the present application further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by an unmanned aerial vehicle To enable the unmanned aerial vehicle to perform the above method.

Embodiments of the present application is obtained based on the current value _u qref0 battery voltage U _dc input voltage command and q-axis q-axis actual current input voltage u _qref. The current q-axis actual input voltage u _qref can be adjusted in real time according to the change of the current battery voltage U _dc , which can avoid the problem of poor motor control robustness caused by excessive battery voltage changes, and improve the robustness of the motor control. Will affect the maneuverability range of the UAV.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are used in the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are just some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

FIG. 1a is a schematic diagram of an application scenario of a motor control method and device of the present application; FIG.

FIG. 1b is a schematic diagram of the hardware structure of the electronic governor 20 in an application scenario of the motor control method and device of the present application;

2 is a flowchart of an embodiment of a motor control method according to the present application;

3 is a schematic diagram of a motor control principle in an embodiment of a motor control method of the present application;

4a is a schematic diagram of a motor current waveform using a conventional motor control method;

4b is a schematic diagram of a motor current waveform using the motor control method according to the embodiment of the present application;

5 is a schematic structural diagram of an embodiment of a motor control device of the present application;

6 is a schematic structural diagram of an embodiment of a motor control device according to the present application;

FIG. 7 is a schematic diagram of a hardware structure of an electronic governor provided by an embodiment of the present application.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following further describes the present application in detail with reference to specific embodiments and with reference to the accompanying drawings.

It should be noted that all the expressions using "first" and "second" in the embodiments of the present application are for distinguishing between two entities with the same name and non-identical parameters, or non-identical parameters. See "first" and "second" For the convenience of expression only, it should not be understood as a limitation on the embodiments of the present application, which will not be explained one by one in subsequent embodiments.

The motor control method and device provided in the embodiments of the present application are applicable to the application scenario shown in FIG. 1 a. The application scenario includes an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes a motor 10, an electronic governor 20, and a flight controller 30. The flight controller 30 is a control system of the unmanned aerial vehicle 100, and is configured to send an accelerator control signal (for example, a signal for instructing a q-axis voltage input command value) and other control signals to the electronic governor 20. The electronic governor 20 is used to adjust the rotation speed of the motor 10 according to the control signal sent by the flight controller 30. The motor 10 is used to drive the blades (not shown) of the unmanned aerial vehicle 100 to rotate to fly the unmanned aerial vehicle 100. Provide power.

1a and 1b, the electronic governor 20 includes a motor driver 21 and a motor controller 22. The motor driver 21 is, for example, an inverter or the like. The motor controller 22 receives a two-phase or three-phase current signal from the motor 10 detected by a current sensor (not shown in the figure) (if a two-phase current signal is detected, the other phase current signal can be calculated by Kirchhoff's principle) . Based on the three-phase current signal, a d-axis feedback current and a q-axis feedback current can be obtained. The motor controller 22 generates a control signal based on the d-axis feedback current and the q-axis feedback current through a certain control strategy, and then controls the motor driver 21 (such as an inverter) to generate a motor driving signal to drive the motor 10 through the control signal. The control strategy is, for example, a current loop, a speed loop + a current loop, and a part of the current loop (that is, the current actual input voltage of the q-axis is directly given, and the current d-axis voltage is output by using a PI regulator closed-loop for the d-axis current).

For example, one of the partial current loop control strategies, the motor controller 22 receives the q-axis voltage input command value sent by the flight controller 30, and obtains the current battery voltage U _dc of the power supply battery 40 of the motor driver 21, and obtains the current battery voltage based on the two. q-axis actual input voltage. The current d-axis voltage is obtained by performing PI control adjustment on a given d-axis current command and d-axis feedback current. The motor controller 22 performs Park transformation and Clarke transformation on the current q-axis actual input voltage and the current d-axis voltage according to the current actual input voltage of the q-axis, the current d-axis voltage, and the current rotor angle θ (which can be obtained through a non-inductive control algorithm). Three-phase voltage control signal. The motor driver 21 (taking the motor driver 21 as an inverter as an example) performs PWM adjustment on the battery voltage U _dc according to the three-phase voltage control signal to generate a three-phase motor driving signal and outputs it to the motor 10.

The actual input voltage of the current q-axis is obtained according to the current battery voltage U _{dc. The} actual input voltage of the current q-axis can be adjusted in real time according to the change of the battery voltage U _dc to avoid the problem of poor robustness of motor control caused by excessive battery voltage changes.

The unmanned aerial vehicle 100 may be any suitable type of unmanned aerial vehicle, such as a rotary wing unmanned aerial vehicle, including a typical four-rotor unmanned aerial vehicle, a double-rotor unmanned aerial vehicle, and a six-rotor unmanned aerial vehicle. Not limited. The motor 10 may be a suitable type of motor such as a permanent magnet synchronous motor or an asynchronous AC motor.

In addition to unmanned aerial vehicles, the motors provided in the embodiments of the present application can also be applied to other various motor-driven movable objects, such as ships and robots.

FIG. 2 is a schematic flowchart of an embodiment of a motor control method according to an embodiment of the present application. The motor control method may be executed by a motor controller 22 in an electronic governor 20 in FIG. 1, as shown in FIG. 2, The motor control method includes:

101: Get the current voltage U _dc and the q-axis voltage command value input _u qref0, _u qref0 value obtained q-axis actual current input voltage u _qref according to the current battery voltage U _dc and the q-axis voltage command input.

Please refer to FIG. 1 b for the battery voltage U _dc , which is the voltage of the battery supplied by the motor driver 21 in the electronic governor 20. The q-axis voltage input command value u _qref0 may be sent to the electronic governor 20 by other controllers or control chips. When the electronic governor 20 is used in the unmanned aerial vehicle 100, the q-axis voltage input command value u _qref0 may be The flight control controller 30 of the unmanned aerial vehicle 100 sends it to the electronic governor 20.

Specifically, in some embodiments, the current actual input voltage u _{qref of the} current q-axis can be obtained according to the current battery voltage U _dc and the q-axis voltage input command value u _qref0 , and a coefficient can be obtained according to the current battery voltage U _dc , and then the coefficient is obtained. Multiply by the q-axis voltage input command value u _qref0 . The coefficient can be, for example, the quotient of U _dc divided by a certain voltage value, that is, the actual input voltage of the current q axis

U _{dc_max} is a preset first voltage. In some embodiments, the preset first voltage may be a voltage value under a _fully charged battery condition. In other embodiments, the maximum bus voltage U ′ may also be used. _{dc_max is} obtained, for example, U _{dc_max} = k * U ' _{dc_max} , where k can take a value of 0.7 ≦ k ≦ 0.9.

Considering that the battery will be charged when the motor is decelerating, the maximum bus voltage U ' _{dc_max} can be obtained by the following methods: choose a higher throttle value first preset throttle value and a lower throttle value second preset throttle value, Control the electronic governor 20 from the first preset throttle value to the second preset throttle value through other controllers (flight controller 30 in the case of unmanned aerial vehicles), and record the battery voltage value at this time as the maximum bus voltage U ' _{dc_max} .

Wherein, in some embodiments, the first preset throttle value is the upper limit value of the throttle range of the electronic governor 20, and the second preset throttle value is the lower limit value of the throttle range of the electronic governor 20. Taking the throttle range of the electronic governor 20 as 1200-1900us as an example, the first preset throttle value is 1900us, and the second preset throttle value is 1200us. Of course, the first preset throttle value can also take other large values, such as 1850, and the second preset throttle value can also take other small values, such as 1250, which is not limited in this embodiment of the present application.

When multiple electronic governors share a power supply battery, for example, in some unmanned aerial vehicles, the electronic governor of multiple motors shares one battery. Take a quadrotor unmanned aerial vehicle as an example. The speed controller shares a power supply battery. When the maximum bus voltage U ' _{dc_max} is obtained, four electronic governors can be controlled by the flight controller to decrease from the first preset throttle value to the second preset throttle value at the same time. Charge and record the battery voltage value at this time as U ' _{dc_max} .

102: Control the motor according to the current actual input voltage u _{qref of the} q-axis.

The current actual input voltage u _{qref of the} q-axis is obtained through step 101, and the current d-axis voltage can be output by using a PI regulator closed-loop for the d-axis current. The following uses Figure 3 as an example to explain the specific method of motor control. Two-phase currents ia and ib of a motor (a permanent magnet synchronous motor is taken as an example) are obtained through a current sensor (not shown in the figure), and the other phase current ic can be It is obtained through calculation based on Kirchhoff's principle, and the current d-axis current I _d and the current q-axis current Iq are obtained by performing Clark transformation and Park transformation on ia, ib, and ic. The deviation of the current d-axis current I _d from the previous d-axis current I _dref (the initial d-axis current is the target d-axis current) is introduced into the PI regulator to obtain the current d-axis voltage u _dref . Obtaining a current value _u qref0 q-axis actual current input voltage u _qref The battery voltage U _dc and the q-axis voltage command input. Perform the Park inverse transformation on the current d-axis voltage u _dref and the current q-axis actual input voltage u _qref and obtain a three-phase voltage command according to the rotor angle θ (which can be obtained through a non-inductive control algorithm), and then the inverter is based on the three-phase voltage command. Perform PWM adjustment to output control signals to the motor.

The motor control method provided in the embodiment of the present application can maintain good robustness even when the battery voltage changes greatly. Please refer to FIG. 4a and FIG. 4b. FIG. 4a is a motor current waveform diagram using a conventional motor control method, and FIG. 4b is a motor current waveform diagram using a motor control method according to an embodiment of the present application. The upper curve is Motor current waveform, the curve below is the line voltage waveform. It can be seen from the figure that when the battery voltage is low in FIG. 4a, the current waveform is distorted, and in FIG. 4b, the current waveform has a good sine.

In some applications of electronic governor 20, such as when electronic governor 20 is used in unmanned aerial vehicle 100, if the battery voltage is low, the maximum speed of the motor will be reduced accordingly. The duration of the voltage value exceeds a certain time, and there will be risks when the UAV 100 makes various attitudes in the air. Therefore, in order to achieve safe flight of the unmanned aerial vehicle 100, when the above-mentioned situation occurs, that is, if the current battery voltage U _dc continues to fall below the minimum voltage threshold for a time exceeding a preset time threshold, an alarm instruction is sent.

Among them, the alarm instruction may be issued to other controllers. When the electronic governor 20 is used for the unmanned aerial vehicle 100, the alarm instruction may be issued to the flight controller 30, so that the flight controller 30 controls the unmanned aerial vehicle 100 to return home. Or send an alarm command to the remote control to make the operator aware of the danger and take safety measures in a timely manner.

The minimum voltage threshold can be set according to the specific application of the electronic governor 20, or obtained through calculation based on the specific application of the electronic governor 20. For example, when the electronic governor 20 is applied to an unmanned aerial vehicle, the minimum voltage threshold It can be obtained by calculation according to the maximum attitude angle of the unmanned aerial vehicle 100, the weight of the unmanned aerial vehicle 100, the blade output of the unmanned aerial vehicle 10, and the current rotation speed.

Correspondingly, the embodiment of the present application further provides a motor control device, which is used for the electronic governor 20. Please refer to FIG. 5. The motor control device 500 includes a current q-axis actual input voltage acquisition module 501 and a motor control module. 502. The current q-axis actual input voltage acquisition module 501 is configured to obtain the current battery voltage U _dc and the q-axis voltage input command value u _qref0 , and obtain the current q-axis actual value according to the current battery voltage U _dc and the q-axis voltage input command value u _qref0. Input voltage u _qref . The motor control module 502 is configured to control the motor according to the current actual q-axis input voltage u _qref obtained by the current actual q-axis input voltage acquisition module 501.

In some embodiments of the motor control device 500, the current actual input voltage of the q-axis is

Among them, U _{dc_max} is a preset first voltage.

Wherein, in some embodiments, the preset first voltage is U _{dc_max} = k * U ' _{dc_max} , where 0.7 ≦ k ≦ 0.9 and U ′ _{dc_max} is the maximum bus voltage;

The maximum bus voltage is a battery voltage value when the electronic governor drops from a first preset throttle value to a second preset throttle value.

Wherein, in some embodiments, the first preset throttle value is an upper limit value of the throttle range of the electronic governor, and the second preset throttle value is a lower limit value of the throttle range of the electronic governor value.

In other embodiments of the motor control device 500, please refer to FIG. 6. The motor control device 500 further includes:

An alarm instruction sending module 503 is configured to send an alarm instruction if the time that the current battery voltage U _dc continues to fall below the minimum voltage threshold exceeds a preset time threshold.

It should be noted that the above-mentioned motor control device can execute the motor control method provided in the embodiments of the present application, and has corresponding function modules and beneficial effects for executing the motor control method. For technical details that are not described in detail in the device embodiments, reference may be made to the motor control method provided in the embodiments of the present application.

As shown in FIG. 7, an embodiment of the present application further provides an electronic governor 20. The electronic governor 20 includes a motor controller 22 and a motor driver 21 that are electrically connected. The motor controller 22 and the motor driver 21 are both used. For electrical connection with the motor 10, the motor controller 22 includes:

One or more processors 221 and a memory 222. One processor 221 is taken as an example in FIG. 7. The processor 221 and the memory 222 may be connected through a bus or other manners, and the bus connection is taken as an example in FIG. 7.

The memory 222 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as program instructions corresponding to the motor control method in the embodiment of the present application. / Unit (for example, the current q-axis actual input voltage acquisition module 501 and the motor control module 502 shown in FIG. 5). The processor 221 executes various functional applications and data processing of the electronic governor by running non-volatile software programs, instructions, and units stored in the memory 222, that is, the motor control method of the foregoing method embodiment.

The memory 222 may include a storage program area and a storage data area, where the storage program area may store an operating system and application programs required for at least one function; the storage data area may store data created according to the use of the electronic governor, and the like. In addition, the memory 222 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 222 may optionally include a memory remotely disposed with respect to the processor 221, and these remote memories may be connected to the electronic governor through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The one or more units are stored in the memory 222, and when executed by the one or more processors 221, the motor control method in any of the above method embodiments is executed, for example, in FIG. 2 described above. The method steps 101-102 implement the functions of modules 501-502 shown in FIG. 5 and modules 501-503 shown in FIG.

The above electronic speed governor can execute the motor control method provided in the embodiments of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the electronic governor, reference may be made to the method provided in the embodiment of the present application.

An embodiment of the present application further provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as FIG. 7 One of the processors 221 may cause the one or more processors to execute the motor control method in any of the foregoing method embodiments, for example, execute the method steps 101-102 in FIG. 2 described above to implement the method shown in FIG. 5 The functions of modules 501-502 and modules 501-503 shown in FIG.

As shown in FIG. 1, an embodiment of the present application further provides an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 includes:

body;

The flight controller 30, the motor 10, and an electronic governor 20 for controlling the operation of the motor 10 are installed on the fuselage. The electronic governor 20 is the aforementioned electronic governor.

The above-mentioned unmanned aerial vehicle 100 includes the electronic governor provided in the embodiment of the present application, and has its corresponding functional modules and beneficial effects. For technical details that are not described in detail in the embodiment of the unmanned aerial vehicle, refer to the electronic governor provided in the embodiment of the present application.

Finally, it should be noted that the above embodiments are only used to describe the technical solution of the present application, but not limited thereto; under the idea of the present application, the technical features in the above embodiments or different embodiments may also be combined, The steps can be implemented in any order, and there are many other variations of the different aspects of the application as described above, for the sake of brevity, they are not provided in the details; although the application is described in detail with reference to the foregoing embodiments, it is common in the art The technician should understand that it can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the implementation of this application. Examples of technical solutions.

Claims

A method for controlling a motor, the method being used for an electronic governor, characterized in that the method includes:

Get current voltage U dc and the q-axis voltage command value input u qref0, u qref0 value obtained q-axis actual current input voltage u qref according to the current battery voltage U dc and the q-axis voltage command input;

The motor is controlled according to the current actual input voltage u qref of the q-axis.
The method according to claim 1, wherein the actual input voltage of the current q-axis is
Among them, U dc_max is a preset first voltage.
The method according to claim 2, wherein the preset first voltage is U dc_max = k * U ' dc_max , wherein 0.7≤k≤0.9, and U' dc_max is a maximum bus voltage.
The method according to claim 3, wherein the maximum bus voltage is a battery voltage value when the electronic governor drops from a first preset throttle value to a second preset throttle value.
The method according to claim 3 or 4, wherein the first preset throttle value is an upper limit value of the throttle range of the electronic governor, and the second preset throttle value is the electronic throttle value. Throttle range lower limit value.
The method according to any one of claims 1-5, wherein the method further comprises:

If the time when the current battery voltage U dc is continuously lower than the minimum voltage threshold exceeds a preset time threshold, an alarm instruction is sent.
A motor control device for an electronic governor, characterized in that the device includes:

The current q-axis actual input voltage acquisition module is used to obtain the current battery voltage U dc and the q-axis voltage input command value u qref0 , and obtain the current q-axis according to the current battery voltage U dc and the q-axis voltage input command value u qref0 Actual input voltage u qref ;

The motor control module is configured to control the motor according to the current actual input voltage u qref of the q-axis.
The device according to claim 7, wherein the actual input voltage of the current q-axis is
Among them, U dc_max is a preset first voltage.
The device according to claim 8, wherein the preset first voltage is U dc_max = k * U ' dc_max , wherein 0.7≤k≤0.9, and U' dc_max is a maximum bus voltage.
The device according to claim 9, wherein the maximum bus voltage is a battery voltage value when the electronic governor drops from a first preset throttle value to a second preset throttle value.
The device according to claim 9 or 10, wherein the first preset throttle value is an upper limit value of the throttle range of the electronic governor, and the second preset throttle value is the electronic throttle value. Throttle range lower limit value.
The device according to any one of claims 7-11, wherein the device further comprises:

An alarm instruction sending module is configured to send an alarm instruction if the time when the current battery voltage U dc is continuously lower than the minimum voltage threshold exceeds a preset time threshold.
An electronic speed governor is used to control the operation of a motor. The electronic speed governor includes an electrically connected motor controller and a motor driver, and the motor controller and the motor driver are both used to electrically communicate with the motor. Sexual connection, characterized in that the motor controller includes:

At least one processor; and

A memory connected in communication with the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method according to any one of claims 1-6. method.
An unmanned aerial vehicle is characterized by comprising:

body;

A flight controller, a motor, and an electronic governor for controlling the operation of the motor are provided on the fuselage. The electronic governor is the electronic governor of claim 13.
A non-volatile computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by an unmanned aerial vehicle, the unmanned aerial vehicle is made The method according to any one of claims 1-6 is performed.