WO2020133060A1 - Procédé de commande, appareil de commande de moteur, appareil de commande et plateforme mobile - Google Patents

Procédé de commande, appareil de commande de moteur, appareil de commande et plateforme mobile Download PDF

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Publication number
WO2020133060A1
WO2020133060A1 PCT/CN2018/124346 CN2018124346W WO2020133060A1 WO 2020133060 A1 WO2020133060 A1 WO 2020133060A1 CN 2018124346 W CN2018124346 W CN 2018124346W WO 2020133060 A1 WO2020133060 A1 WO 2020133060A1
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WIPO (PCT)
Prior art keywords
motor
addressing
rotation
control device
state
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Application number
PCT/CN2018/124346
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English (en)
Chinese (zh)
Inventor
周长兴
陈超彬
龚鼎
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2018/124346 priority Critical patent/WO2020133060A1/fr
Priority to CN201880065573.9A priority patent/CN111226177A/zh
Publication of WO2020133060A1 publication Critical patent/WO2020133060A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/08—Aircraft not otherwise provided for having multiple wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F12/00—Accessing, addressing or allocating within memory systems or architectures
    • G06F12/02—Addressing or allocation; Relocation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors

Definitions

  • the invention relates to the technical field of control, in particular to a control method, a motor drive device, a control device and a movable platform.
  • multi-motor terminal devices such as unmanned vehicles, drones, wheeled robots, etc.
  • multiple motor drive devices included in such multi-motor terminal devices are mounted on the same bus.
  • the position of the drive device on the bus is equivalent, so when the control device sends a control command to the bus, all motor drive devices can receive the control command. If the address distinction is not made between the motor drive devices, control cannot be achieved.
  • the usual method is to address each motor drive device before installing the motor drive device, and then install the addressed motor drive devices to a fixed physical location of the integrated system.
  • this method requires disassembly and assembly of equipment each time the addressing is performed, and the installation location is fixed, resulting in complicated operations and poor user experience. Therefore, how to control the terminals of multi-motor drive equipment more effectively is of great significance.
  • the embodiment of the invention provides a control method, a motor driving device, a control device and a movable platform, which can realize the automation and intelligent addressing of the motor driving device and improve the addressing efficiency.
  • an embodiment of the present invention provides a method for controlling a motor-driven device, wherein the motor-driven device is used to control a motor connected to the motor, and the method includes:
  • a feedback signal of the addressing instruction is sent to the control device, and the destination addressing number is recorded according to the addressing instruction.
  • an embodiment of the present invention provides a control method of a control device, wherein the control device is communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control a motor communicatively connected thereto, the method include:
  • the address number of the one motor-driven device is registered as the destination address number.
  • an embodiment of the present invention provides a motor driving device, wherein the motor driving device is used to control a motor communicatively connected thereto, including: a memory and a processor,
  • the memory is used to store program instructions
  • the processor is used to call the program instructions, and when the program instructions are executed, it is used to perform the following operations:
  • a feedback signal of the addressing instruction is sent to the control device, and the destination addressing number is recorded according to the addressing instruction.
  • an embodiment of the present invention provides a control device, wherein the control device is communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control a motor communicatively connected thereto, including: a memory and a processor ,
  • the memory is used to store program instructions
  • the processor is used to call the program instructions, and when the program instructions are executed, it is used to perform the following operations:
  • an embodiment of the present invention provides a movable platform, wherein the movable platform includes: a plurality of motor driving devices and a control device, and the plurality of motor driving devices and the control device pass a bus connection,
  • the control device is used to broadcast an addressing instruction to a plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;
  • the motor driving device is used to obtain the addressing instruction sent by the control device and obtain the rotation state of the motor, and when the obtained rotation state of the motor meets the preset state requirements, send the control device the control device The feedback signal of the addressing instruction, and recording the destination addressing number according to the addressing instruction;
  • the control device is configured to register the address number of the one motor drive device as all if the feedback signal of the addressing instruction sent by one motor drive device of the plurality of motor drive devices is determined to be acquired Addressing number of the description.
  • an embodiment of the present invention provides a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the computer program is implemented as described in the first aspect or the second aspect method.
  • the motor driving device obtains the addressing instruction sent by the control device, wherein the addressing instruction includes the destination address number and obtains the rotation state of the motor, when the rotation state of the motor meets the preset state requirements , Send the feedback signal of the addressing instruction to the control device, and record the destination addressing number according to the addressing instruction, so that the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding each time All addressing needs disassembly and assembly equipment to realize the automation and intelligence of the addressing control of the motor drive equipment, which improves the addressing efficiency.
  • FIG. 1 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • FIG. 2 is a schematic flowchart of a method for controlling a motor drive device according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of a control method of a control device according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a motor driving device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a control device according to an embodiment of the present invention.
  • An embodiment of the present invention provides a movable platform, the movable platform includes: a plurality of motor drive devices and a control device, the plurality of motor drive devices and the control device are connected by a bus, and the plurality of motor drives Two-way communication is possible between the device and the control device.
  • the motor-driven device may be installed on a mobile platform equipped with multiple motor-driven devices, such as an aircraft, an unmanned aerial vehicle, an unmanned boat, and a wheeled robot.
  • the control device may be spatially independent of the motor drive device.
  • FIG. 1 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • the movable platform includes a control device 11 and a motor drive system 12, the motor drive system 12 includes a plurality of motor drive devices, such as a first motor drive device 121, a second motor drive device 122, and a first Three motor drive equipment 123.
  • the control device 11 and the motor drive system 12 establish a communication connection through the bus 13.
  • the control device 11 may broadcast addressing instructions to a plurality of motor drive devices, where the addressing instruction includes a destination address number.
  • the addressing instruction includes a destination address number.
  • each motor drive device in the motor drive system 12 may obtain the rotation state of the corresponding motor. If the first motor driving device 121 detects that the rotation state of the motor satisfies the preset state requirement, the first motor driving device 121 may register the address number as the destination address number carried in the addressing instruction, and The control device 11 sends a feedback signal of the addressing instruction to notify the control device 11 that the destination address number has been registered by the first motor driving device 121.
  • control device 11 may determine that the address number of the first motor driving device 121 is registered as the address number for the purpose. Similarly, the control device 11 may continue to send addressing instructions including other addressing numbers for addressing the second motor drive device 122 or the third motor drive device 123 in the motor drive system 12. Through this embodiment, the automatic and intelligent addressing control of the motor drive device is realized, and the addressing efficiency is improved.
  • FIG. 2 is a schematic flowchart of a method for controlling a motor-driven device according to an embodiment of the present invention.
  • the method may be executed by a motor-driven device, and the motor-driven device may be provided on a movable platform, where ,
  • the motor-driven device may include an electronic ESC, and the movable platform may be a mobile intelligent terminal such as an aircraft, an unmanned aerial vehicle, an unmanned boat, a wheeled robot, etc., wherein the motor-driven device is used to control communication with it Connected motor.
  • the method in the embodiment of the present invention includes the following steps.
  • the motor driving device may obtain the addressing instruction sent by the control device, where the addressing instruction includes a destination addressing number.
  • the motor driving device may obtain an addressing instruction including the destination addressing number 1 sent by the control device.
  • the motor drive device and the control device establish a communication connection through the same bus.
  • the addressing instruction may be sent by the control device through the bus in the form of addressing data packets; in other embodiments, the addressing instruction may also be sent by the control device through the bus in other forms, The embodiments of the present invention are not specifically limited.
  • the motor driving device may also obtain a start addressing instruction sent by the control device through the bus, and control the motor driving device to enter the addressing state. After performing the addressing state, the motor drive device may perform the step of acquiring the addressing instruction sent by the control device.
  • the motor driving device may obtain the rotation state of the motor of the motor driving device.
  • the motor driving device may determine the rotation state of the motor by acquiring the rotation angle of the motor.
  • the motor driving device includes an angle sensor, wherein the angle sensor is used to measure the rotation angle of the motor, and the motor driving device may determine the motor by acquiring angle data output by the angle sensor Of rotation.
  • the motor driving device includes an electrical signal sensor, wherein the electrical signal sensor is used to measure an induced electrical signal generated by the motor, and the motor driving device may obtain the induced electrical power output by the electrical signal sensor Signals to determine the rotation state of the motor.
  • the induced electrical signal may include induced electromotive force or induced current.
  • the motor driving device may detect whether the rotation state of the motor meets a preset state requirement, and when the rotation state of the motor satisfies the preset state When required, the feedback signal of the addressing instruction can be sent to the control device, and the destination address number carried in the addressing instruction can be recorded according to the addressing instruction, that is, the motor drive device can send the destination The address number is determined to be your own address number.
  • the rotation state of the motor meeting the preset state requirement may be that the rotation state of the motor obtained by the motor driving device is to indicate that the motor rotates.
  • the motor driving device may send a feedback signal of the addressing instruction to the control device, and according to the addressing instruction Record the destination addressing number carried in the addressing instruction.
  • the motor driving device For example, assuming that the addressing instruction included in the addressing instruction obtained by the motor driving device is 1, if the rotation state of the motor obtained by the motor driving device is to indicate that the motor rotates, the motor driving device The feedback signal of the addressing instruction may be sent to the control device, and the addressing number of the motor drive device is recorded as 1, that is, 1 is determined as its own addressing number.
  • the rotation state of the motor meeting the preset state requirement may be that the motor driving device detects that the rotation angle of the motor is greater than or equal to a preset angle threshold.
  • the motor driving device may send a feedback signal of the addressing instruction to the control device, and according to the addressing The instruction records the destination address number carried in the addressing instruction.
  • the motor driving device may send a feedback signal of the addressing instruction to the control device, and record the destination address number of the motor driving device as 1.
  • the rotation state of the motor meeting the preset state requirement may also be that the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.
  • the motor drive device may send a feedback signal of the addressing instruction to the control device, and according to the addressing The instruction records the destination address number carried in the addressing instruction.
  • the motor drive device detects that the motor rotates at a speed of 100 revolutions/second, it can be determined that 100 revolutions/second is greater than the preset speed threshold of 50 revolutions/second, so the motor drive device can send a feedback signal of the addressing instruction to the control device and record the motor drive
  • the device's destination address number is 1.
  • the rotation state of the motor meeting the preset state requirement may also be an induction signal output by the electric signal sensor obtained by the motor driving device indicating that the motor rotates.
  • the motor driving device may send a feedback signal of the addressing instruction to the control device, and record the addressing instruction carried in the addressing instruction according to the addressing instruction The address number of the purpose.
  • the induction signal includes an induction electromotive force
  • the motor driving device may determine whether the motor rotates according to the induction electromotive force output by the electrical signal sensor. In some embodiments, the motor driving device may detect whether the induced electromotive force output by the electrical signal sensor is greater than a preset electromotive force threshold, and if it is detected that the induced electromotive force is greater than a preset electromotive force threshold, the induced electromotive force may be determined Instruct the motor to rotate.
  • the addressing instruction included in the addressing instruction obtained by the motor driving device is 1, and the induced signal is induced electromotive force, and the preset electromotive force threshold value is E1. If the motor driven device detects the induced electromotive force Is E2, and E2 is greater than the preset electromotive force threshold E1, it can be determined that the induced electromotive force indicates that the motor rotates.
  • the induction signal includes an induction current
  • the motor driving device may determine whether the motor rotates according to the induction current output by the electrical signal sensor.
  • the motor driving device may detect whether the induced current output by the electrical signal sensor is greater than a preset current threshold, and if it is detected that the induced current is greater than a preset current threshold, the induced current may be determined Instruct the motor to rotate.
  • the motor driving device detects the induction current If it is 2A, then it can be determined that 2A is greater than a preset current threshold of 1A, so it can be determined that the induced current indicates that the motor is rotating.
  • the rotation of the motor of the motor-driven device may be caused by a user directly or indirectly applying an external force to the motor.
  • the motor is used to drive the execution component, wherein the rotation of the motor is caused by the user applying an external force to the motor through the execution component, for example, the user toggles or rotates the execution The component in turn drives the motor to rotate.
  • the execution component includes one or more of a propeller, a wheel, and a track.
  • a switch for controlling the start of the motor may be provided on the motor driving device, and the user may turn on the motor by toggling the switch to drive the execution component.
  • the user interface of the motor driving device may also be provided with an icon or button for turning on the motor, and the user may turn on the motor by pressing the icon or button on the user interface to drive the motor. Described executive component.
  • the motor driving device is provided with a switch for controlling the start of the motor. If the user manually presses the switch for controlling the start of the motor, the wheel corresponding to the switch can be turned on.
  • the motor driving device may also send a prompting instruction for controlling the prompting device to issue prompting information through the bus.
  • the prompting device may be a buzzer, and the motor driving device may control the buzzer to emit a prompting sound.
  • the buzzer may be provided on the motor-driven device; or separately provided on a device that establishes a communication connection with the motor-driven device, which is not specifically limited in the embodiments of the present invention.
  • the addressing instruction may be deleted.
  • the motor drive device after the motor drive device enters the addressing state, it can obtain the rotation state of the motor driven by the motor drive device if the rotation state of the motor driven by the motor drive device meets the preset state requirements , It can be detected whether an address number exists on the bus, and if an address number is detected on the bus, it can be determined that the address number has been addressed.
  • the motor drive device may determine the destination address number according to the existing address number, register the address number of the motor drive device as the destination address number, and send the destination through the bus The feedback signal of the address number notifies the control device that the address number of the motor drive device has been registered as the destination address number.
  • the motor drive device may determine the destination address number 2 according to the existing address number 1, and register the address number of the motor drive device as the destination address number 2, and send through the bus The feedback signal of the destination address number 2.
  • the motor driving device may obtain the rotation state of the motor when acquiring the addressing instruction sent by the control device, and when the obtained rotation state of the motor meets the preset state requirements, send the Describing the feedback signal of the addressing instruction, and recording the destination address number carried by the addressing instruction according to the addressing instruction.
  • the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.
  • control method of the control device provided by the embodiment of the present invention will be schematically described below with reference to FIG. 3.
  • FIG. 3 is a schematic flowchart of a method for controlling a control device according to an embodiment of the present invention.
  • the method may be executed by a control device, and the control device may be provided on a movable platform.
  • the movable platform may be a mobile intelligent terminal such as an aircraft, an unmanned aerial vehicle, an unmanned boat, a wheeled robot and the like.
  • the control device may be communicatively connected to a plurality of motor driving devices, and the motor driving device is used to control the motor communicatively connected thereto.
  • the method in the embodiment of the present invention includes the following steps.
  • S301 Broadcast addressing instructions to multiple motor drive devices.
  • the control device may broadcast an addressing instruction to a plurality of motor driving devices through a bus, where the addressing instruction includes a destination addressing number. For example, assuming that the addressing instruction included in the addressing instruction is 1, the control device may broadcast the addressing instruction with the addressing number 1 to multiple motor drive devices through the bus.
  • control device may broadcast a start addressing instruction to the plurality of motor drive devices before broadcasting the addressing instruction to the multiple motor drive devices, the start addressing command is used to instruct the motor
  • the drive device enters the addressing state.
  • S302 Determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, wherein the feedback signal is one of the plurality of motor drive devices. Sent to the control device when it is determined that the rotation state of the motor meets the requirements of the preset state.
  • the control device may determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained.
  • the feedback signal is sent to the control device when one of the plurality of motor drive devices determines that the rotation state of the motor satisfies the preset state requirements.
  • one motor driving device of the plurality of motor driving devices is any one of the plurality of motor driving devices.
  • the rotation state of the motor meets a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
  • the rotation state of the motor satisfies a preset state requirement, and further includes: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.
  • the rotation of the motor is caused by a user directly or indirectly applying an external force to the motor.
  • the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
  • the execution component includes one or more of a propeller, a wheel, and a track.
  • the control device may send a prompt message to the user interface, and the user interface outputs a prompt corresponding to the destination address number Information, wherein the prompt information is used to instruct the user to directly or indirectly apply an external force to the target motor among the plurality of motors communicatively connected to the motor drive device.
  • the remote control car has 4 motor-driven devices and 4 motors communicatively connected to the motor-driven device, the 4 motors respectively drive the 2 wheels and 2 wheels on the left and right of the tail.
  • the destination address numbers of the motor drive devices corresponding to these four wheels should be 1, 2, 3, and 4, respectively.
  • the user interface may display a prompt message corresponding to the address number 1, for example, the user interface displays "Please turn the left side of the carriage head "Wheel", when the user turns the wheel on the left side of the carriage head to drive the corresponding target motor to rotate, the address number of the motor drive device that drives the target motor on the wheel on the left side of the carriage head is determined to be 1. In this way, the user can be prompted to apply external force to the designated motor, address the designated destination address number to the designated motor drive device, and increase the success rate of addressing.
  • control device may broadcast a start addressing instruction to the multiple motor drive devices to instruct the motor drive device to enter the addressing state, and then determine whether the multiple motor drive devices are acquired One of the motor drive devices sends the feedback signal of the addressing instruction.
  • the control device may register the address number of the one motor drive device as all Addressing number of the description. In some embodiments, after registering the address number of the one motor drive device as the destination address number, the control device may continue to send addressing instructions carrying other address numbers to Register the address number of the motor drive device for addressing.
  • the destination address number carried in the addressing instruction broadcast by the control device to multiple motor drive devices is 1, if the control device obtains the multiple motor drive devices among the multiple motor drive devices If a motor drive device sends the feedback signal of the addressing instruction, the address number 1 of one of the plurality of motor drive devices can be registered as the destination address number, that is, the multiple The address number of one of the motor-driven devices is 1.
  • control device may send an alarm instruction for controlling the alarm device to issue alarm information to remind the user that the control device has not received The feedback signal to the motor drive device response.
  • control device may send a prompt instruction for controlling the prompt device to issue a prompt message to prompt the user The destination address number has been registered.
  • the prompting device is a buzzer, and when the control device sends a prompting command for controlling the prompting device to issue prompting information, it may send a prompting command for controlling the buzzer to emit a prompting sound .
  • the buzzer is provided on the control device, or separately, that is, on the device that establishes a communication connection with the control device.
  • the control device may broadcast the addressing instruction to the plurality of motor driving devices, and determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained, Wherein, the feedback signal is sent by one of the plurality of motor driving devices to the control device when it is determined that the rotation state of the motor satisfies the preset state requirements; if it is determined that the plurality of motor driving devices are acquired If a motor drive device in the device sends a feedback signal of the addressing instruction, the address number of the one motor drive device may be registered as the destination address number.
  • the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.
  • FIG. 4 is a schematic structural diagram of a motor driving device according to an embodiment of the present invention.
  • the device includes a memory 401 and a processor 402.
  • the processor 402 is configured with a proxy component and a set of functional components.
  • the functional component set includes multiple functional components, and each functional component is configured with an application interface;
  • the memory 401 may include a volatile memory (volatile memory); the memory 401 may also include a non-volatile memory (non-volatile memory); the memory 401 may also include a combination of the foregoing types of memories.
  • the processor 402 may be a central processing unit (central processing unit, CPU).
  • the processor 402 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), or any combination thereof.
  • the processor 402 is used to call the program instruction, and when the program instruction is executed, is used to perform the following operations:
  • a feedback signal of the addressing instruction is sent to the control device, and the destination addressing number is recorded according to the addressing instruction.
  • the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
  • the rotation state of the motor satisfies a preset state requirement, which further includes: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.
  • the rotation of the motor is caused by the user directly or indirectly applying an external force to the motor.
  • the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
  • the execution component includes one or more of a propeller, a wheel, and a track.
  • processor 402 is also used to:
  • the processor obtains the addressing instruction sent by the control device, it is specifically used to:
  • the addressing instruction sent by the control device is obtained.
  • processor 402 obtains the rotation state of the motor, it is specifically used to:
  • the rotation state of the motor is determined according to the angle data.
  • processor 402 obtains the rotation state of the motor, it is specifically used to:
  • the rotation state of the motor is determined according to the induced electrical signal.
  • processor 402 records the destination address number, it is also used to:
  • the prompting device is a buzzer, and the motor driving device controls the buzzer to emit a prompting sound.
  • the buzzer is provided in the motor driving device, or separately.
  • processor 402 is also used to:
  • the motor driving device may obtain the rotation state of the motor when acquiring the addressing instruction sent by the control device, and when the obtained rotation state of the motor meets the preset state requirements, send the Describing the feedback signal of the addressing instruction, and recording the destination address number carried by the addressing instruction according to the addressing instruction.
  • the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.
  • FIG. 5 is a schematic structural diagram of a control device provided by an embodiment of the present invention.
  • the device includes a memory 501 and a processor 502.
  • the processor 502 is configured with a collection of agent components and function components.
  • the functional component set includes multiple functional components, and each functional component is configured with an application interface;
  • the memory 501 may include a volatile memory (volatile memory); the memory 501 may also include a non-volatile memory (non-volatile memory); the memory 501 may also include a combination of the foregoing types of memories.
  • the processor 502 may be a central processing unit (central processing unit, CPU).
  • the processor 502 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (complex programmable logic device, CPLD), field programmable logic gate array (field-programmable gate array, FPGA), or any combination thereof.
  • the processor 502 is used to call the program instruction, and when the program instruction is executed, is used to perform the following operations:
  • the address number of the one motor-driven device is registered as the destination address number.
  • the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
  • the rotation state of the motor satisfies a preset state requirement, which further includes: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.
  • the rotation of the motor is caused by the user directly or indirectly applying an external force to the motor.
  • the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
  • the execution component includes one or more of a propeller, a wheel, and a track.
  • processor 502 is also used to:
  • the processor 502 determines whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, it is specifically used to:
  • processor 502 is also used to:
  • an alarm instruction for controlling the alarm device to issue alarm information is sent.
  • processor 502 registers the address number of the one motor drive device as the destination address number, it is also used to:
  • the prompting device is a buzzer, and when the processor 502 sends a prompting command for controlling the prompting device to send prompting information, it is specifically used to:
  • a prompt instruction for controlling the buzzer to emit a prompt sound is sent.
  • the buzzer is provided in the control device or separately.
  • the control device may broadcast the addressing instruction to the plurality of motor driving devices, and determine whether a feedback signal of the addressing instruction sent by one of the plurality of motor driving devices is obtained, Wherein, the feedback signal is sent by one of the plurality of motor driving devices to the control device when it is determined that the rotation state of the motor satisfies the preset state requirements; if it is determined that the plurality of motor driving devices are acquired If a motor drive device in the device sends a feedback signal of the addressing instruction, the address number of the one motor drive device may be registered as the destination address number.
  • the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.
  • An embodiment of the present invention also provides a movable platform, the movable platform includes: a plurality of motor driving devices and a control device, the plurality of motor driving devices and the control device are connected by a bus,
  • the control device is used to broadcast an addressing instruction to a plurality of motor drive devices, wherein the addressing instruction includes a destination addressing number;
  • the motor driving device is used to obtain the addressing instruction sent by the control device and obtain the rotation state of the motor, and when the obtained rotation state of the motor meets the preset state requirements, send the control device the control device The feedback signal of the addressing instruction, and recording the destination addressing number according to the addressing instruction;
  • the control device is configured to register the address number of the one motor drive device as all if the feedback signal of the addressing instruction sent by one motor drive device of the plurality of motor drive devices is determined to be acquired Addressing number of the description.
  • the rotation state of the motor satisfies a preset state requirement, including: the rotation state of the motor indicates that the motor rotates.
  • the rotation state of the motor satisfies a preset state requirement, which further includes: the rotation angle of the motor is greater than or equal to a preset angle threshold, or the rotation speed of the motor rotation is greater than or equal to a preset rotation speed threshold.
  • the rotation of the motor is caused by the user directly or indirectly applying an external force to the motor.
  • the motor is used to drive an actuator, wherein the rotation of the motor is caused by a user applying an external force to the motor through the actuator.
  • the execution component includes one or more of a propeller, a wheel, and a track.
  • control device is also used to:
  • control device determines whether a feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is obtained, it is specifically used to:
  • motor driving device is also used for:
  • the motor drive device obtains the addressing instruction sent by the control device, it is specifically used for:
  • the addressing instruction sent by the control device is obtained.
  • the motor driving device obtains the rotation state of the motor, it is specifically used to:
  • the rotation state of the motor is determined according to the angle data.
  • the motor driving device obtains the rotation state of the motor, it is specifically used to:
  • the rotation state of the motor is determined according to the induced electrical signal.
  • the motor drive device records the destination address number, it is also used to:
  • the prompting device is a buzzer, and the motor driving device controls the buzzer to emit a prompting sound.
  • the buzzer is provided in the motor driving device, or separately.
  • motor driving device is also used for:
  • the addressing instruction is deleted.
  • control device is also used to:
  • an alarm instruction for controlling the alarm device to issue alarm information is sent.
  • control device registers the address number of the one motor drive device as the destination address number, it is also used to:
  • control device is configured to broadcast an addressing instruction to a plurality of motor drive devices, wherein the addressing instruction includes a destination address number;
  • the motor driving device obtains the addressing instruction sent by the control device and obtains the rotation state of the motor, and sends the addressing instruction to the control device when the obtained rotation state of the motor meets the preset state requirements Feedback signal of the target address and record the destination addressing number according to the addressing instruction; if the control device determines that the feedback signal of the addressing instruction sent by one of the plurality of motor drive devices is acquired , Then the address number of the one motor-driven device is registered as the destination address number.
  • the addressing of the motor drive device can be completed by obtaining the rotation state of the motor, avoiding the need to disassemble and disassemble the device for each addressing, realizing the automation and intelligence of the addressing control of the motor drive device, and improving the addressing efficiency.
  • Embodiments of the present invention also provide a computer-readable storage medium that stores a computer program, and when the computer program is executed by a processor, the method described in the embodiment of the present invention can also be implemented.
  • the device of the embodiment corresponding to the present invention will not be repeated here.
  • the computer-readable storage medium may be an internal storage unit of the device according to any of the foregoing embodiments, such as a hard disk or a memory of the device.
  • the computer-readable storage medium may also be an external storage device of the device, for example, a plug-in hard disk equipped on the device, a smart memory card (Smart Media Card, SMC), and a secure digital (SD) card , Flash card (Flash Card), etc.
  • the computer-readable storage medium may also include both an internal storage unit of the device and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the terminal.
  • the computer-readable storage medium can also be used to temporarily store data that has been or will be output.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

La présente invention concerne, selon des modes de réalisation, un procédé de commande, un appareil de commande de moteur, un appareil de commande ainsi qu'une plateforme mobile. Le procédé consiste : à acquérir une commande d'adressage envoyée par un appareil de commande, la commande d'adressage comprenant un numéro d'adresse de destination ; à acquérir un état de rotation d'un moteur ; et lorsque l'état de rotation acquis du moteur satisfait une exigence d'état prédéfinie, à envoyer, à l'appareil de commande, un signal de rétroaction en réponse à la commande d'adressage, et à mémoriser le numéro d'adresse de destination conformément à la commande d'adressage. Dans l'invention, l'adressage d'appareils de commande de moteur peut être effectué par l'acquisition d'états de rotation des moteurs correspondants, de telle sorte qu'il n'est pas nécessaire de démonter les appareils dans des opérations d'adressage respectives, ce qui permet de réaliser une commande d'adressage automatique et intelligente sur des appareils de commande de moteur.
PCT/CN2018/124346 2018-12-27 2018-12-27 Procédé de commande, appareil de commande de moteur, appareil de commande et plateforme mobile WO2020133060A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2018/124346 WO2020133060A1 (fr) 2018-12-27 2018-12-27 Procédé de commande, appareil de commande de moteur, appareil de commande et plateforme mobile
CN201880065573.9A CN111226177A (zh) 2018-12-27 2018-12-27 一种控制方法、电机驱动设备、控制设备及可移动平台

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PCT/CN2018/124346 WO2020133060A1 (fr) 2018-12-27 2018-12-27 Procédé de commande, appareil de commande de moteur, appareil de commande et plateforme mobile

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CN114584418B (zh) * 2022-03-02 2023-08-01 科博达技术股份有限公司 基于机械限位的从控制器自动编址方法
CN117289720B (zh) * 2023-11-22 2024-02-23 黑龙江惠达科技股份有限公司 一种控制无人机的方法、系统和无人机

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