WO2020168886A1 - 过流保护方法、装置、系统和无人飞行器 - Google Patents

过流保护方法、装置、系统和无人飞行器 Download PDF

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Publication number
WO2020168886A1
WO2020168886A1 PCT/CN2020/073015 CN2020073015W WO2020168886A1 WO 2020168886 A1 WO2020168886 A1 WO 2020168886A1 CN 2020073015 W CN2020073015 W CN 2020073015W WO 2020168886 A1 WO2020168886 A1 WO 2020168886A1
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Prior art keywords
current
throttle
preset
motor
curve
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PCT/CN2020/073015
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English (en)
French (fr)
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陈毅东
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Autel Robotics Co Ltd
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Autel Robotics Co Ltd
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load

Definitions

  • This application relates to the field of motor control technology, and in particular to an overcurrent protection method, device, system and unmanned aerial vehicle.
  • An unmanned aerial vehicle usually includes a plurality of blades, and the rotation of the plurality of blades generates upward lift and forward power, and the power for the rotation of the blades is usually provided by a motor connected to it.
  • the unmanned aerial vehicle may sometimes roll over. If the unmanned aerial vehicle rolls over, if the motor is still rotating at this time, the motor will occur. Blocking can easily cause the motor to burn out.
  • the purpose of the embodiments of the present invention is to provide an overcurrent protection method, device, system and unmanned aerial vehicle, which can perform overcurrent protection when the motor is blocked, so as to prevent the motor from being burned.
  • embodiments of the present invention provide an overcurrent protection method, including: obtaining the current throttle of the motor and the current current corresponding to the current throttle; generating a preset throttle current curve; The current throttle and the preset throttle current curve determine the threshold range of the current current; if the value of the current current exceeds the threshold range, it is determined that the motor is in an abnormal state; if the motor is in an abnormal state If the time exceeds the preset time threshold, overcurrent protection is performed.
  • the generating the preset throttle current curve includes: obtaining the test current of the motor at a number of given throttles; generating the preset throttle according to the corresponding relationship between the given throttle and the test current Set the throttle current curve.
  • the generating the preset throttle current curve according to the corresponding relationship between the given throttle and the test current includes: determining according to the corresponding relationship between the given throttle and the test current Segment point; according to the segment point, generate the preset throttle current curve in segments.
  • the determining the segment point according to the corresponding relationship between the given throttle and the test current includes: taking any given throttle among the several given throttles and its corresponding test current as A test point, and calculate the rate of change between any two adjacent test points; determine the segment point according to the change trend of the rate of change.
  • the segment point includes a first segment point and a second segment point; said generating the preset throttle current curve in segments according to the segment point includes: generating in three segments The preset throttle current curve, wherein the formula for calculating the preset throttle current curve is:
  • m, j, n are all natural numbers, the total number of test points is n, xi represents a given throttle, y i represents the test current, (x i , y i ) is one of the test points, (x m , y m ) is the first segment point, and (x m+j , y m+j ) is the second segment point.
  • the determining the threshold range of the current current according to the current throttle and the preset throttle current curve includes: calculating the fitting current according to the current throttle and the preset throttle current curve; Determine the current current threshold range according to the fitted current and a preset multiple.
  • an embodiment of the present invention also provides an overcurrent protection device, including: a current current acquisition module for acquiring the current throttle of the motor and the current current corresponding to the current throttle; a preset curve generation module for To generate a preset throttle current curve; a current threshold determination module, used to determine the threshold range of the current current according to the current throttle and the preset throttle current curve; a judgment module, used to determine the value of the current current If the range of the threshold value is exceeded, it is determined that the motor is in an abnormal state; an overcurrent protection module is configured to perform overcurrent protection if the time for the motor to be in an abnormal state exceeds a preset time threshold.
  • the preset curve generation module includes: a test current acquisition sub-module for acquiring the test current of the motor at a number of given throttles; a preset curve generation sub-module for acquiring a test current according to the given throttle The corresponding relationship between the fixed throttle and the test current is used to generate the preset throttle current curve.
  • the preset curve generation sub-module includes: a segment point determination unit, configured to determine segment points according to the corresponding relationship between the given throttle and the test current; and the segment generation unit uses According to the segmentation point, the preset throttle current curve is segmented and generated.
  • the segment point determination unit includes: a rate-of-change calculation subunit, configured to use any one of the several given throttles and its corresponding test current as a test point to calculate any phase The change rate between two adjacent test points; the segment point determination subunit is used to determine the segment point according to the change trend of the change rate.
  • the segment point includes a first segment point and a second segment point; the segment generation unit is specifically configured to: generate the preset throttle current curve in three segments, wherein the calculation The formula for the preset throttle current curve is:
  • m, j, n are all natural numbers, the total number of test points is n, xi represents a given throttle, y i represents the test current, (x i , y i ) is one of the test points, (x m , y m ) is the first segment point, and (x m+j , y m+j ) is the second segment point.
  • the current threshold determination module includes: a fitting current calculation unit, configured to calculate a fitting current according to the current throttle and the preset throttle current curve; The fitting current and the preset multiple are used to determine the current current threshold range.
  • an embodiment of the present invention also provides an overcurrent protection system, which includes a motor and a controller, the motor is electrically connected to the controller, and is characterized in that the controller includes: at least one processor And, a memory communicatively connected to 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 to cause the At least one processor can execute the above-mentioned overcurrent protection method.
  • an embodiment of the present invention also provides an unmanned aerial vehicle, including:
  • a power device provided on the arm
  • An overcurrent protection system arranged on the fuselage; wherein the overcurrent protection system is the above-mentioned overcurrent protection system.
  • the embodiments of the present invention also provide a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, when the computer-executable instructions are executed by an unmanned aerial vehicle , Make the UAV implement the above-mentioned overcurrent protection method.
  • the embodiment of the present invention generates a preset throttle current curve by obtaining the current throttle of the motor and the corresponding current current, and determines the threshold range of the current current according to the current throttle and the fitted preset throttle current curve, and determines the value of the current current When the time exceeding the threshold value exceeds the preset time, overcurrent protection is performed, so that when the motor is blocked, the motor is effectively prevented from being burned.
  • FIG. 1 is a schematic diagram of an application scenario of an overcurrent protection method and device provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of an overcurrent protection method according to an embodiment of the present invention.
  • 3a and 3b are schematic diagrams of test points provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of an overcurrent protection device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of the hardware structure of an overcurrent protection system provided by an embodiment of the present invention.
  • the overcurrent protection method and device of the embodiments of the present invention can be executed or set on any type of terminal with a user interaction device and a processor with computing capabilities, such as overcurrent protection systems, electronic speed controllers, unmanned aerial vehicles, smart phones , Tablet PCs, Pocket PCs, Smart Watches and other terminals.
  • the overcurrent protection method of the embodiment of the present invention generates a preset throttle current curve by acquiring the current throttle of the motor and the current current corresponding to the current throttle, and determines the current current threshold according to the current throttle and the fitted preset throttle current curve When it is determined that the current current exceeds the threshold range for more than the preset time, over-current protection is performed, so that when the motor is locked, it can effectively prevent the motor from being burned.
  • the overcurrent protection method and device for a motor provided by the embodiments of the present invention are applicable to the application scenario shown in FIG. 1, and the application scenario includes an unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 includes an overcurrent protection system 10 and a flight controller 20.
  • the overcurrent protection system 10 is connected to the flight controller 20.
  • the unmanned aerial vehicle 100 may be any suitable type of high-altitude or low-altitude aerial vehicle, including a typical quadcopter, a hovering remote control helicopter, and the like.
  • the overcurrent protection system 10 includes a motor 11 and a controller 12.
  • the motor 11 is electrically connected to the controller 12, and the controller 12 is connected to the flight controller 20.
  • the motor 11 may be a suitable type of motor such as a permanent magnet synchronous motor or an asynchronous AC motor.
  • the controller 12 is used to receive throttle control signals and other control signals, and adjust the rotation speed of the motor 11 according to the control signals, so that the motor 11 drives the load to move.
  • the controller 12 is also used to determine whether the motor 11 is blocked according to the current of the motor 11, and if the blocking occurs for more than a certain period of time, protective measures such as restarting the motor or shutting down the motor are started to avoid the motor from being burned.
  • the controller 12 may be a motor controller, and the overcurrent protection system 10 may further include a motor driver 13, and the motor driver 13 is electrically connected to the motor 11.
  • the motor driver 13 and the controller 12 can be integrated into an electronic speed governor, which is connected to the flight controller 20 to control the rotation of the motor 11.
  • the flight controller 20 is used to send throttle control signals and other control signals to the electronic governor.
  • the electronic governor is used to adjust the speed of the motor 11 according to the control signal sent by the flight controller 20.
  • the motor 11 is used to drive the unmanned aerial vehicle 100.
  • the blades (not shown) rotate to provide power for the flight of the UAV 100.
  • the controller 12 detects the two-phase or three-phase current signal from the motor 11 through a current sensor (not shown), and outputs a control signal to the motor 11 through the motor driver 13 to control the operation of the motor 11.
  • the electronic speed governor can judge whether the motor 11 is blocked according to the current of the motor 11. If the blocking occurs for more than a certain period of time, protective measures such as restarting the motor or shutting down the motor are started to avoid the motor from being burnt.
  • FIG. 2 is a schematic flowchart of an overcurrent protection method according to an embodiment of the present invention.
  • the overcurrent protection method may be executed by the controller 12 in FIG. 1. As shown in FIG. 2, the overcurrent protection method includes:
  • current throttle refers to the throttle signal at the current moment
  • the throttle signal may be a PWM signal, that is, a pulse width modulation signal used to control an electronic speed governor or a steering gear.
  • the duration of the high level of each cycle in the PWM signal is generally 1000-2000 ⁇ s
  • the throttle range is generally 1000-2000 ⁇ s.
  • the overcurrent protection system can input a throttle signal to the controller, or the UAV can input a throttle signal to the controller through the flight controller, so that the controller controls the motor to rotate according to the throttle signal.
  • obtaining the current throttle of the motor can be specifically obtained by obtaining the throttle signal received by the controller at the current moment, so as to obtain the current throttle of the motor.
  • the current throttle of the motor can also be obtained by obtaining the current gear position of the electronic governor.
  • the throttle range of the electronic governor is 1200-1900 ⁇ s.
  • the electronic governor is divided into 8 gears, and the throttle range of each gear is 87.5 ⁇ s, that is, 1287.5 ⁇ s is the first gear 1375 ⁇ s is the second gear, and so on to define the third, fourth, fifth, sixth, seventh, eighth gears, etc., assuming that the current gear obtained from the electronic governor is the fifth gear , It is determined that the current throttle is 1637.5 ⁇ s.
  • the "current current” refers to the current value obtained under the current throttle. Since the throttle of the motor has a certain corresponding relationship with the current, the current will change with the change of the throttle signal, so it is obtained under the current throttle Is the current value corresponding to the current moment. To obtain the current current, the current can be measured by an ammeter or calculated by related calculations.
  • the "preset throttle current curve" is to test the overcurrent protection system, and pre-fit the generated corresponding relationship between the throttle and current.
  • S220 can be set before S210 or after S210.
  • S220 includes: S221. Obtain the test current of the motor at a number of given throttles;
  • "given throttle” is the specified throttle signal input to the over-current protection system, which can be input by sending instructions or adjusting the gear position of the electronic governor. After inputting the given throttle, the corresponding test current can be obtained. For example, as shown in FIG. 3a and 3b, the 15 values selected from a given throttle 1200-1900 ⁇ s as x i, respectively, to obtain the corresponding test current y i.
  • the preset throttle current curve is generated in segments. According to the corresponding relationship between the given throttle and the test current, generate the preset throttle current curve, including: S2221, according to the corresponding relationship between the given throttle and test current, determine the segment point; S2222, generate the preset according to the segment point Throttle current curve.
  • S2221 includes: S22211, take any given throttle and its corresponding test current among several given throttles as a test point, and calculate the rate of change between any two adjacent test points; S22212, according to the rate of change Change trend, determine the segment point.
  • the "test point” can be the coordinate point obtained by using the given throttle as the abscissa and the test current as the ordinate;
  • the "rate of change between two adjacent test points” can be the slope of the two test points , That is, the ratio of the difference between the ordinates of the two test points and the difference between the abscissas of the two test points.
  • the selected 15 test points are (1200.00, 0.66), (1246.67, 0.90), (1293.34, 1.16)..., the first test point and the second test
  • the segmentation points are determined, which can be: after calculating the rate of change between all two adjacent test points, if the value of the rate of change exceeds the preset rate of change threshold, then Determine this point as a segment point.
  • the seventh test point is determined to be The first segment point; the change rate between the eleventh test point and the twelfth test point is 0.01564, 0.01564>0.01500, then the twelfth test point is determined as the second segment point.
  • generating the preset throttle current curve in segments according to the segment points may specifically include: generating the preset throttle current curve in three segments after determining the first sub-end point and the second segment point.
  • the formula for calculating the preset throttle current curve is:
  • m, j, n are all natural numbers, the total number of test points is n, xi represents a given throttle, y i represents the test current, (x i , y i ) is one of the test points, (x m , y m ) is the first segment point, and (x m+j , y m+j ) is the second segment point.
  • determine the current threshold range according to the current throttle and preset throttle current curve including: S231, calculate the fitted current according to the current throttle and preset throttle current curve; S232, determine according to the fitted current and the preset multiple The current current threshold range.
  • “fitting current” is the theoretical current calculated according to the preset throttle current curve under the current throttle.
  • the “preset multiple” can be freely set according to the actual situation, multiply or divide the fitted current by the preset multiple to obtain the current current threshold range. For example, if the calculated fitting current is a, and the preset multiple is [0.7 1.3], the current current threshold range is [0.7a 1.3a].
  • the "abnormal state” is a state in which the current current of the motor exceeds the current current threshold range. At this time, the motor is locked and is in an abnormal operation state. For example, if it is determined that the current threshold range of the current current when the current throttle is 1600.00 ⁇ s is [3.03 5.63], if the measured current current is 2.00 or 6.00, the current current exceeds the current current threshold range, and the motor is judged to be abnormal.
  • the "preset time threshold” is a preset time threshold, such as 0.7s.
  • the motor When it is determined that the motor is in an abnormal state, it starts timing, during which the current throttle of the motor and the current corresponding to the current throttle are continuously acquired in real time. Current, and determine the threshold range of the current current in real time. If the duration of the motor in an abnormal state exceeds 0.7s, overcurrent protection is performed.
  • the overcurrent protection may be: when the motor is in an abnormal state for more than a preset time interval (for example, 0.7s), the motor is restarted, and when the motor is restarted more than a preset number of times (for example, three times), the motor is turned off.
  • you can set the number of failures for example, the initial value is 0.
  • the number of failures is increased by 1.
  • the time interval between two restarts is less than the preset shutdown interval (For example, 2s)
  • the number of failures is added by 1, otherwise, the number of failures is cleared.
  • the number of failures reaches a preset number (for example, three times), the motor is stopped.
  • the overcurrent protection method further includes: S260. If the current current value does not exceed the current current threshold value range, determine that the motor is in a normal state, so that the electrodes operate normally.
  • the overcurrent protection method of the embodiment of the present invention is applicable to various control strategies of the motor, for example, reactive voltage adopts PI regulator closed-loop output through reactive current, active voltage is directly given, and non-inductive strategy adopts slipping.
  • the control strategy of membrane observation for speed meter position estimation is also applicable to other control strategies, such as current loop, speed loop + current loop control strategy.
  • the overcurrent protection method generates a preset throttle current curve by obtaining the current throttle of the motor and the current current corresponding to the current throttle, and determines the current current threshold range according to the current throttle and the preset throttle current curve, And when it is determined that the time that the current current value exceeds the threshold range exceeds the preset time, overcurrent protection is performed, so that when the motor is blocked, the motor is effectively prevented from being burned.
  • FIG. 4 is a schematic structural diagram of an overcurrent protection device provided by an embodiment of the present invention.
  • the overcurrent protection device can be used in the controller 12 of FIG. 1.
  • the overcurrent protection device 400 includes: a current current acquisition module 410, a preset curve generation module 420, a current threshold determination module 430, a judgment module 440, and an overcurrent protection module 450.
  • the current current acquisition module 410 is used to acquire the current throttle of the motor and the current current corresponding to the current throttle.
  • the preset curve generation module 420 is used to generate a preset throttle current curve.
  • the current threshold value determination module 430 is used to determine the current threshold value range of the current according to the current throttle and the preset throttle current curve.
  • the judgment module 440 is used for judging that the motor is in an abnormal state if the current value of the current exceeds the threshold range.
  • the overcurrent protection module 450 is configured to perform overcurrent protection if the time during which the motor is in an abnormal state exceeds a preset time threshold.
  • the preset curve generation module 420 includes: a test current acquisition sub-module 421 and a preset curve generation module 422.
  • the test current acquisition sub-module 421 is used to acquire the test current of the motor at a number of given throttles.
  • the preset curve generation sub-module 422 is configured to generate a preset throttle current curve according to the corresponding relationship between the given throttle and the test current.
  • the preset curve generation sub-module 422 specifically includes: a segment point determination unit and a segment generation unit.
  • the segment point determining unit is used to determine the segment point according to the corresponding relationship between the given throttle and the test current; the segment generating unit is used to generate the preset throttle current curve segment by segment according to the segment point.
  • the segment point determination unit includes: a change rate calculation subunit and a segment point determination subunit.
  • the rate of change calculation subunit is used to take any given throttle and its corresponding test current among several given throttles as a test point to calculate the rate of change between any two adjacent test points; the sub-unit is used for segment point determination According to the change trend of the rate of change, the segmentation point is determined.
  • the segment point includes a first segment point and a second segment point; the segment generating unit is specifically configured to: generate the preset throttle current curve in three segments, wherein the formula for calculating the preset throttle current curve is:
  • m, j, n are all natural numbers, the total number of test points is n, xi represents a given throttle, y i represents the test current, (x i , y i ) is one of the test points, (x m , y m ) is the first segment point, and ( xm+j , y m+j ) is the second segment point.
  • the current threshold value determining module 430 includes: a fitting current calculation unit and a current threshold value determining unit.
  • the fitting current calculation unit is used to calculate the fitting current according to the current throttle and the preset throttle current curve;
  • the current threshold determination unit is used to determine the threshold range of the current current according to the fitting current and the preset multiple.
  • the above-mentioned overcurrent protection device can execute the overcurrent protection method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the overcurrent protection method.
  • the overcurrent protection method provided in the embodiment of the present invention.
  • the overcurrent protection device obtains the current throttle of the motor and the corresponding current current through the current current obtaining module 410, the preset curve generating module 420 generates a preset throttle current curve, and the current threshold determining module 430 according to the current throttle and current
  • the throttle current curve is preset to determine the threshold range of the current current, and the overcurrent protection module performs overcurrent protection when the judgment module determines that the value of the current current exceeds the threshold range for more than the preset time, so that when the motor is locked, Effectively prevent the motor from being burned.
  • FIG. 5 is a schematic structural diagram of an overcurrent protection system provided by an embodiment of the present invention. As shown in FIG. 5, the overcurrent protection system 10 includes a motor 11 and a controller 12 electrically connected.
  • the controller 12 includes: one or more processors 121 and a memory 122.
  • one processor 121 is taken as an example.
  • the processor 121 and the memory 122 may be connected by a bus or in other ways.
  • the bus connection is taken as an example in FIG. 5.
  • the memory 122 can be used to store non-volatile software programs, non-volatile computer-executable programs and modules, such as programs corresponding to the overcurrent protection method in the embodiments of the present invention Instructions/units (for example, the current current acquisition module 420, the current threshold determination module 430, the judgment module 440, and the overcurrent protection module 450 shown in FIG. 4).
  • the processor 121 executes various functional applications and data processing of the overcurrent protection system by running non-volatile software programs, instructions, and units stored in the memory 122, that is, realizes the overcurrent protection method of the above method embodiment.
  • the memory 122 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of the overcurrent protection system.
  • the memory 122 may include a high-speed random access memory, and may also 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 devices.
  • the memory 122 may optionally include a memory remotely provided with respect to the processor 121, and these remote memories may be connected to the overcurrent protection system through a network. Examples of the aforementioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the one or more units are stored in the memory 122, and when executed by the one or more processors 121, the overcurrent protection method in any of the foregoing method embodiments is executed, for example, the method S210- in FIG. 2 described above is executed. S250, realize the functions of the modules 410-450 shown in FIG. 4.
  • the above-mentioned overcurrent protection system can execute the overcurrent protection method provided by the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for the execution method.
  • the overcurrent protection system can execute the overcurrent protection method provided by the embodiments of the present invention, and has the corresponding functional modules and beneficial effects for the execution method.
  • the embodiment of the present invention also provides a non-volatile computer-readable storage medium, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, as shown in FIG. 5
  • One processor 121 in the above-mentioned one or more processors can execute the overcurrent protection method in any of the above-mentioned method embodiments, for example, execute the above-described methods S210-S250 in FIG. 2 to implement the method shown in FIG. 4
  • the functions of the modules 410-450 can be executed the overcurrent protection method in any of the above-mentioned method embodiments, for example, execute the above-described methods S210-S250 in FIG. 2 to implement the method shown in FIG. 4
  • the functions of the modules 410-450 are examples of the modules 410-450.
  • an embodiment of the present invention also provides an unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 includes:
  • a power device provided on the arm
  • the unmanned aerial vehicle 100 may be a rotorcraft, and its arm and body may be fixedly connected, integrally formed or detachably connected.
  • the power device is used to provide flight power or lift for the UAV 100.
  • the power device usually includes a motor at the end of the arm and a rotor connected to the output shaft of the motor.
  • the motor drives the rotor to rotate at high speed to provide the unmanned aerial vehicle 100 flying. Power or lift.
  • the overcurrent protection system 10 is used to protect the motor 11 and prevent the motor 11 from being blocked or burnt under special circumstances.
  • the overcurrent protection system 10 is the overcurrent protection system described in the above-mentioned embodiment, and its functional modules and beneficial effects are as follows This will not be repeated here. For a detailed description, refer to the overcurrent protection system provided by the embodiment shown in FIG. 5 of the present invention.

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Abstract

本发明实施例涉及电机控制技术领域，公开了一种过流保护方法、装置、系统和无人飞行器。其中，该过流保护方法包括：获取电机的当前油门以及与当前油门对应的当前电流；生成预设油门电流曲线；根据所述当前油门和预设油门电流曲线，确定当前电流的阈值范围；若当前电流的值超出当前电流阈值范围，则判定电机为异常状态；若电机为异常状态的时间超过预设时间阈值，则进行过流保护。通过以上方式，本发明能够在电机发生堵转时进行过流保护，从而避免电机被烧毁。

Description

过流保护方法、装置、系统和无人飞行器
本申请要求于2019年2月22日提交中国专利局、申请号为2019101317064、申请名称为“过流保护方法、装置、系统和无人飞行器”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
本申请涉及电机控制技术领域，特别是涉及一种过流保护方法、装置、系统和无人飞行器。
背景技术
随着无人飞行器技术的发展，无人飞行器在军事及民用领域都得到了广泛的应用。无人飞行器通常包括多个桨叶，利用多个桨叶的旋转产生向上的升力和前进的动力，而桨叶旋转的动力通常由与其相连的电机提供。
在现有无人飞行器使用过程中，由于无人飞行器自身设计的问题或者用户操作不当，有时会导致无人飞行器侧翻，在无人飞行器侧翻时如果此时电机依然在旋转，即发生电机堵转，容易导致电机烧毁。
发明内容
本发明实施例的目的是提供一种过流保护方法、装置、系统和无人飞行器，能够在电机发生堵转时进行过流保护，从而避免电机被烧毁。
为解决上述技术问题，第一方面，本发明实施例提供了一种过流保护方法，包括：获取电机的当前油门以及与所述当前油门对应的当前电流；生成预设油门电流曲线；根据所述当前油门和所述预设油门电流曲线，确定所述当前电流的阈值范围；若所述当前电流的值超出所述阈值范围，则判定所述电机为异常状态；若所述电机为异常状态的时间超过预设时间阈值，则进行过流保护。
在一些实施例中，所述生成预设油门电流曲线，包括：获取所述电机在若干给定油门下的测试电流；根据所述给定油门和所述测试电流的对应关系，生成所述预设油门电流曲线。
在一些实施例中，所述根据所述给定油门和所述测试电流的对应关系，生成所述预设油门电流曲线，包括：根据所述给定油门和所述测试电流的对应关系，确定分段点；根据所述分段点，分段生成所述预设油门电流曲线。
在一些实施例中，所述根据所述给定油门和所述测试电流的对应关系，确定分段点，包括：将所述若干给定油门中任一给定油门及其对应的测试电流作为一测试点，并计算任意相邻两个所述测试点之间的变化率；根据所述变化率的变化趋势，确定所述分段点。
在一些实施例中，所述分段点包括第一分段点和第二分段点；所述根据所述分段点，分段生成所述预设油门电流曲线，包括：分三段生成所述预设油门电流曲线，其中，计算所述预设油门电流曲线的公式为：
Figure PCTCN2020073015-appb-000001
Figure PCTCN2020073015-appb-000002
Figure PCTCN2020073015-appb-000003
Figure PCTCN2020073015-appb-000004
其中，m、j、n均为自然数，测试点的总个数为n，x i表示给定油门，y i表示测试电流，(x i，y i)为其中一测试点，(x m，y m)为第一分段点，(x m+j，y m+j)为第二分段点。
在一些实施例中，所述根据所述当前油门和预设油门电流曲线，确定所述当前电流的阈值范围，包括：根据所述当前油门和所述预设油门电流曲线，计算拟合电流；根据所述拟合电流和预设倍数，确定所述当前电流阈值范围。
第二方面，本发明实施例还提供了一种过流保护装置，包括：当前电流获取模块，用于获取电机的当前油门以及与所述当前油门对应的当前电流；预设曲线生成模块，用于生成预设油门电流曲线；当前阈值确定模块，用于根据所述当前油门和所述预设油门电流曲线，确定所述当前电流的阈值范围；判断模块，用于若所述当前电流的值超出所述阈值范围，则判定所述电机为异常状态； 过流保护模块，用于若所述电机为异常状态的时间超过预设时间阈值，则进行过流保护。
在一些实施例中，所述预设曲线生成模块包括：测试电流获取子模块，用于获取所述电机在若干给定油门下的测试电流；预设曲线生成子模块，用于根据所述给定油门和所述测试电流的对应关系，生成所述预设油门电流曲线。
在一些实施例中，所述预设曲线生成子模块包括：分段点确定单元，用于根据所述给定油门和所述测试电流的对应关系，确定分段点；分段生成单元，用于根据所述分段点，分段生成所述预设油门电流曲线。
在一些实施例中，所述分段点确定单元包括：变化率计算子单元，用于将所述若干给定油门中任一给定油门及其对应的测试电流作为一测试点，计算任意相邻两个所述测试点之间的变化率；分段点确定子单元，用于根据所述变化率的变化趋势，确定所述分段点。
在一些实施例中，所述分段点包括第一分段点和第二分段点；所述分段生成单元具体用于：分三段生成所述预设油门电流曲线，其中，计算所述预设油门电流曲线的公式为：
Figure PCTCN2020073015-appb-000005
Figure PCTCN2020073015-appb-000006
Figure PCTCN2020073015-appb-000007
Figure PCTCN2020073015-appb-000008
其中，m、j、n均为自然数，测试点的总个数为n，x i表示给定油门，y i表 示测试电流，(x i，y i)为其中一测试点，(x m，y m)为第一分段点，(x m+j，y m+j)为第二分段点。
在一些实施例中，所述当前阈值确定模块包括：拟合电流计算单元，用于根据所述当前油门和所述预设油门电流曲线，计算拟合电流；当前阈值确定单元，用于根据所述拟合电流和预设倍数，确定所述当前电流阈值范围。
第三方面，本发明实施例还提供了一种过流保护系统，包括电机和控制器，所述电机与所述控制器电性连接，其特征在于，所述控制器包括：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过流保护方法。
第四方面，本发明实施例还提供了一种无人飞行器，包括：
机身；
与所述机身相连的机臂；
设于所述机臂的动力装置；以及
设置于所述机身上的过流保护系统；其中，所述过流保护系统为上述的过流保护系统。
第五方面，本发明实施例还提供了一种非易失性计算机可读存储介质，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无人飞行器执行时，使所述无人飞行器执行上述的过流保护方法。
本发明实施例通过获取电机的当前油门以及对应的当前电流，生成预设油门电流曲线，根据当前油门和拟合的预设油门电流曲线，确定当前电流的阈值范围，并在确定当前电流的值超出阈值范围的时间超过预设时间时，进行过流保护，从而在电机发生堵转时，有效避免电机被烧毁。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例中所需要使用的附图作简单地介绍。显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的过流保护方法和装置的应用场景示意图；
图2为本发明实施例提供的一种过流保护方法的流程示意图；
图3a和图3b为本发明实施例提供的测试点的图表示意图；
图4为本发明实施例提供的一种过流保护装置的结构示意图；
图5为本发明实施例提供的一种过流保护系统的硬件结构示意图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
需要说明的是，如果不冲突，本发明实施例中的各个特征可以相互结合，均在本发明的保护范围之内。另外，虽然在装置示意图中进行了功能模块划分，在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于装置中的模块划分，或流程图中的顺序执行所示出或描述的步骤。再者，本发明所采用的“第一”“第二”等字样并不对数据和执行次序进行限定，仅是对功能和作用基本相同的相同项或相似项进行区分。
本发明实施例的过流保护方法和装置，可以在任何类型，具有用户交互装置和运算能力的处理器的终端执行或设置，例如过流保护系统、电子调速器、无人飞行器、智能手机、平板电脑、掌上电脑、智能手表以及其他终端。
本发明实施例的过流保护方法，通过获取电机的当前油门以及与当前油门对应的当前电流，生成预设油门电流曲线，根据当前油门和拟合的预设油门电流曲线，确定当前电流的阈值范围，并在确定当前电流超出阈值范围的时间超过预设时间时，进行过流保护，从而在电机发生堵转时，有效避免电机被烧毁。
下面结合附图，对本发明实施例作进一步阐述。
其中，应当理解的是，本发明提供的下述实施例之间，只要不冲突，均可相互结合以形成新的实施方式。
本发明实施例提供的电机的过流保护方法和装置适用于图1所示的应用场景，该应用场景包括无人飞行器100，无人飞行器100包括过流保护系统10和飞行控制器20。过流保护系统10和飞行控制器20连接。
其中，无人飞行器100可以是任何合适类型的高空或者低空飞行器，包括典型的四轴飞行器、可悬停的遥控直升机等。
其中，过流保护系统10包括电机11和控制器12，电机11与控制器12电性连接，控制器12与飞行控制器20连接。
其中，电机11可以是永磁同步电机或异步交流电机等合适类型的电机。控制器12用于接收油门控制信号及其他控制信号，并根据控制信号调整电机11的转速，以使电机11带动负载运动。控制器12还用于根据电机11的电流判断电机11是否发生堵转，如果发生堵转超过一定时间时，启动重启电机或者关闭电机等保护措施，以避免电机被烧毁。
可选地，控制器12可以为电机控制器，过流保护系统10还可以包括电机驱动器13，电机驱动器13与电机11电性连接。电机驱动器13和控制器12可以集成为电子调速器，电子调速器与飞行控制器20连接，从而控制电机11的转动。飞行控制器20用于向电子调速器发送油门控制信号及其他控制信号，电子调速器用于根据飞行控制器20发送的控制信号调整电机11的转速，电机 11用于带动无人飞行器100的桨叶(图未示)旋转从而为无人飞行器100的飞行提供动力。
其中，控制器12通过电流传感器(图未示)检测来自电机11的两相或三相电流信号，通过电机驱动器13输出控制信号到电机11以控制电机11的运行。电子调速器可以根据电机11的电流判断电机11是否发生堵转，如果发生堵转超过一定时间时，启动重启电机或者关闭电机等保护措施，以避免电机被烧毁。
图2为本发明实施例提供的一种过流保护方法的流程示意图。该过流保护方法可以由图1的控制器12执行，如图2所示，该过流保护方法包括：
S210、获取电机的当前油门以及与当前油门对应的当前电流。
在本实施例中，“当前油门”是指当前时刻的油门信号，油门信号可以为PWM信号，即用于控制电子调速器或者舵机的脉冲宽度调制信号。PWM信号中每一周期的高电平的持续时间一般为1000-2000μs，则油门范围一般为1000-2000μs。在本实施例中，过流保护系统可向控制器输入油门信号，或者，无人飞行器可通过飞行控制器向控制器输入油门信号，以使控制器根据油门信号控制电机转动。
在本实施例中，获取电机的当前油门，具体可以通过获取控制器当前时刻接收到的油门信号，从而获取电机的当前油门。当然，在一些其他实施例中，也可以通过获取电子调速器的当前档位而获取电机的当前油门。例如，在无人飞行器中，电子调速器的油门范围为1200-1900μs，将电子调速器分为8个档位，每个档位油门区间为87.5μs，即，1287.5μs为第一档位，1375μs为第二档位，依此类推定义第三、第四、第五、第六、第七、第八档位等，假设获取到电子调速器的当前档位为第五档位，则确定当前油门为1637.5μs。
在本实施例中，“当前电流”是指在当前油门下获取的电流值，由于电机的油门与电流存在一定的对应关系，电流会随着油门信号的变化而变化，则在当前油门下获取的为当前时刻对应的电流值。获取当前电流，具体可以通过电流表测量电流大小、或者通过相关运算计算电流大小。
S220、生成预设油门电流曲线；
在本实施例中，“预设油门电流曲线”为对该过流保护系统进行测试，预先拟合生成的油门和电流的对应关系。
其中，S220可以设于S210之前，或者设于S210之后。S220包括：S221、获取电机在若干给定油门下的测试电流；
S222、根据给定油门和测试电流的对应关系，生成预设油门电流曲线。
在S221中，“给定油门”为对过流保护系统输入指定的油门信号，可以通过发送指令或者调节电子调速器的档位进行输入。在输入给定油门后，可获取对应的测试电流。例如，如图3a和图3b所示，从1200-1900μs中选取15个值作为给定油门x i，分别获取相应的测试电流y i。
在S222中，为了提高拟合预设油门电流曲线的精确度，进行分段生成预设油门电流曲线。根据给定油门和测试电流的对应关系，生成预设油门电流曲线，包括：S2221、根据给定油门和测试电流的对应关系，确定分段点；S2222、根据分段点，分段生成预设油门电流曲线。
其中，S2221包括：S22211、将若干给定油门中任一给定油门及其对应的测试电流作为一测试点，并计算任意相邻两个测试点之间的变化率；S22212、根据变化率的变化趋势，确定分段点。
其中，S22211中，“测试点”可以为以给定油门作为横坐标、测试电流作为纵坐标得到的坐标点；“相邻两个测试点之间的变化率”可以为两个测试点的斜率，即两个测试点的纵坐标之差与两个测试点的横坐标之差的比值。例如，如图3a和图3b所示，选取的15个测试点分别为(1200.00,0.66)、(1246.67,0.90)、(1293.34,1.16)……，则第一个测试点和第二个测试点之间的变化率k＝(0.90-0.66)/(1246.67-1200.00)＝0.00514，第二个测试点和第三个测试点之间的变化率k＝(1.16-0.90)/(1293.34-1246.67)＝0.00557。
其中，S22212中，根据变化率的变化趋势，确定分段点，可以是：在计算出所有相邻两个测试点之间的变化率后，若变化率的值超过预设变化率阈值，则确定该点为分段点。其中,分段点可以为两个,包括第一分段点和第二分段点,预设变化率阈值可以有两个，从而确定两个分段点。例如，如图3a所示，假设预设变化率阈值为0.01000和0.01500，第六个测试点和第七个测试点之间的变化率为0.01071，0.01071>0.01000,则确定第七个测试点为第一分段点；第十一个测试点和第十二个测试点之间的变化率为0.01564,0.01564>0.01500,则确定第十二个测试点为第二分段点。
其中，在S2222中，根据分段点，分段生成预设油门电流曲线，具体可以包括：在确定第一分端点和第二分段点后，分三段生成预设油门电流曲线。其中，计算预设油门电流曲线的公式为：
Figure PCTCN2020073015-appb-000009
Figure PCTCN2020073015-appb-000010
Figure PCTCN2020073015-appb-000011
Figure PCTCN2020073015-appb-000012
其中，m、j、n均为自然数，测试点的总个数为n，x i表示给定油门，y i表示测试电流，(x i，y i)为其中一测试点，(x m，y m)为第一分段点，(x m+j，y m+j)为第二分段点。
例如，如图3a和图3b所示，确定第七个测试点(1480.02,2.84)为第一分段点、第十二个测试点(1713.37,5.96)为第二分段点，则m＝7，m+j＝12，计算预设油门电流曲线为：
Figure PCTCN2020073015-appb-000013
Figure PCTCN2020073015-appb-000014
Figure PCTCN2020073015-appb-000015
则
Figure PCTCN2020073015-appb-000016
若当前油门为1600.00μs时，代入预设油门电流曲线，计算得到拟合电流为4.33A，则确定当前电流阈值范围为[3.03 5.63]。S230、根据当前油门和预设油门电流曲线，确定当前电流的阈值范围。
其中，根据当前油门和预设油门电流曲线，确定当前电流的阈值范围，包括：S231、根据当前油门和预设油门电流曲线，计算拟合电流；S232、根据拟合电流和预设倍数，确定当前电流的阈值范围。其中，“拟合电流”为在当前油门下，根据预设油门电流曲线计算得到的理论电流。其中，“预设倍数”可以根据实际情况自由设定，将拟合电流与预设倍数进行相乘或相除，则得到当前电流阈值范围。例如，假设计算得到拟合电流为a，预设倍数为[0.7 1.3]，则当前电流阈值范围为[0.7a 1.3a]。
S240、若当前电流的值超出阈值范围，则判定电机为异常状态。
在本实施例中，“异常状态”为电机的当前电流超出当前电流的阈值范围的状态，此时，电机发生堵转，处于非正常运行状态。例如，假设确定在当前油门为1600.00μs时的当前电流的阈值范围为[3.03 5.63]，若测得当前电流为2.00或6.00，则当前电流超出当前电流的阈值范围，从而判断电机为异常状态。
S250、若电机为异常状态的时间超过预设时间阈值，则进行过流保护。
在本实施例中，“预设时间阈值”为预先设定的时间阈值，例如0.7s，则当判定电机为异常状态时开始计时，期间不断实时获取电机的当前油门以及与当前油门对应的当前电流，并实时确定当前电流的阈值范围，若电机为异常状态的持续时间超过0.7s，则进行过流保护。
其中，进行过流保护，可以是：当电机为异常状态超过预设时间间隔(例如0.7s)，则重新启动电机，当电机的重新启动超过预设次数(例如三次)时，则关闭电机。在实际应用中，可以设置故障次数(例如初始值为0)，当电机发生重新启动时，则故障次数加1，当再次发生重新启动时，如果两次重新启动的时间间隔小于预设停机间隔(例如2s)，则故障次数再加1，否则，故障次数清零。当故障次数达到预设次数(例如三次)时，则使电机停机。
可选地，在一些其他实施例中，该过流保护方法还包括：S260、若当前电流的值未超出当前电流的阈值范围，则判定电机为正常状态，以使电极正常运行。
需要说明的是，本发明实施例的过流保护方法，适用于电机的多种控制策略，例如无功电压通过无功电流采用PI调节器闭环输出、有功电压直接给定、无感策略采用滑膜观测进行速度计位置估计的控制策略，也适用于其他控制策 略，例如电流环、速度环+电流环控制策略。
在本发明实施例中，过流保护方法通过获取电机的当前油门以及与当前油门对应的当前电流，生成预设油门电流曲线，根据当前油门和预设油门电流曲线，确定当前电流的阈值范围，并在确定当前电流的值超出阈值范围的时间超过预设时间时，进行过流保护，从而在电机发生堵转时，有效避免电机被烧毁。
图4为本发明实施例提供的一种过流保护装置的结构示意图。该过流保护装置可以用于图1的控制器12。如图4所示，该过流保护装置400包括：当前电流获取模块410、预设曲线生成模块420、当前阈值确定模块430、判断模块440和过流保护模块450。
其中，当前电流获取模块410用于获取电机的当前油门以及与当前油门对应的当前电流。预设曲线生成模块420用于生成预设油门电流曲线.当前阈值确定模块430用于根据当前油门和预设油门电流曲线，确定当前电流的阈值范围。判断模块440用于若当前电流的值超出阈值范围，则判定电机为异常状态。过流保护模块450用于若电机为异常状态的时间超过预设时间阈值，则进行过流保护。
其中，预设曲线生成模块420包括：测试电流获取子模块421和预设曲线生成模块422。测试电流获取子模块421用于获取电机在若干给定油门下的测试电流。预设曲线生成子模块422用于根据给定油门和测试电流的对应关系，生成预设油门电流曲线。
具体的，在一些实施例中，预设曲线生成子模块422具体包括：分段点确定单元和分段生成单元。分段点确定单元用于根据给定油门和测试电流的对应关系，确定分段点；分段生成单元用于根据分段点，分段生成预设油门电流曲线。
其中，分段点确定单元包括：变化率计算子单元和分段点确定子单元。变化率计算子单元用于将若干给定油门中任一给定油门及其对应的测试电流作为一测试点，计算任意相邻两个测试点之间的变化率；分段点确定子单元用于根据变化率的变化趋势，确定分段点。
其中，分段点包括第一分段点和第二分段点；分段生成单元具体用于：分三段生成预设油门电流曲线，其中，计算预设油门电流曲线的公式为：
Figure PCTCN2020073015-appb-000017
Figure PCTCN2020073015-appb-000018
Figure PCTCN2020073015-appb-000019
Figure PCTCN2020073015-appb-000020
其中，m、j、n均为自然数，测试点的总个数为n，x i表示给定油门，y i表示测试电流，(x i，y i)为其中一测试点，(x m，y m)为第一分段点，( xm+j，y m+j)为第二分段点。
其中，当前阈值确定模块430包括：拟合电流计算单元和当前阈值确定单元。拟合电流计算单元用于根据当前油门和预设油门电流曲线，计算拟合电流；当前阈值确定单元用于根据拟合电流和预设倍数，确定当前电流的阈值范围。
需要说明的是，上述过流保护装置可执行本发明实施例所提供的过流保护方法，具备执行过流保护方法相应的功能模块和有益效果。未在装置实施例中详尽描述的技术细节，可参见本发明实施例所提供的过流保护方法。
在本发明实施例中，过流保护装置通过当前电流获取模块410获取电机的当前油门以及对应的当前电流，预设曲线生成模块420生成预设油门电流曲线，当前阈值确定模块430根据当前油门和预设油门电流曲线，确定当前电流的阈值范围，并且过流保护模块在判断模块确定当前电流的值超出阈值范围的时间超过预设时间时，进行过流保护，从而在电机发生堵转时，有效避免电机被烧毁。
图5为本发明实施例提供的一种过流保护系统的结构示意图。如图5所示，过流保护系统10包括电性连接的电机11和控制器12。
其中，控制器12包括：一个或多个处理器121以及存储器122，图2中以一个处理器121为例。处理器121和存储器122可以通过总线或者其他方式连接，图5中以总线连接为例。
存储器122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，如本发明实施例中的过流保护方法对应的程序指令/单元(例如，附图4所示的当前电流获取模块420、当前阈值确定模块430、判断模块440和过流保护模块450)。处理器121通过运行存储在存储器122中的非易失性软件程序、指令以及单元，从而执行过流保护系统的各种功能应用以及数据处理，即实现上述方法实施例的过流保护方法。
存储器122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过流保护系统使用所创建的数据等。此外，存储器122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122可选包括相对于处理器121远程设置的存储器，这些远程存储器可以通过网络连接至过流保护系统。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。
该一个或者多个单元存储在存储器122中，当被一个或者多个处理器121执行时，执行上述任意方法实施例中的过流保护方法，例如，执行以上描述的图2中的方法S210-S250，实现图4所示的模块410-450的功能。
上述过流保护系统可执行本发明实施例所提供的过流保护方法，具备执行方法相应的功能模块和有益效果。未在过流保护系统可实施例中详尽描述的技术细节，可参见本发明实施例所提供的方法。
本发明实施例还提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图5中的一个处理器121，可使得上述一个或多个处理器可执行上述任意方法实施例中的过流保护方法，例如，执行以上描述的图2中的方法S210-S250，实现图4所示的模块410-450的功能。
如图1所示，本发明实施例还提供了一种无人飞行器100，无人飞行器100包括：
机身；
与所述机身相连的机臂；
设于所述机臂的动力装置；以及
安装于所述机身上的飞行控制器20、以及过流保护系统10，其中，该过流保护系统10为上述的过流保护系统10。
其中在图1中，机身、机臂和动力装置均未示出。在本实施例中，无人飞行器100可以是旋翼飞行器，其机臂与机身可以是固定连接、一体成型或可拆卸连接。动力装置用于给无人飞行器100提供飞行的动力或升力，动力装置通常包括设于机臂末端的电机和与电机的输出轴相连的旋翼，电机驱动旋翼高速 旋转以提供无人飞行器100飞行的动力或升力。过流保护系统10用于保护电机11，防止电机11在特殊情况下堵转或烧毁，该过流保护系统10为上述实施例中描述的过流保护系统，其具备的功能模块和有益效果在此不再赘述，详细描述可参见本发明图5所示实施例所提供的过流保护系统。
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 (15)

  1. 一种过流保护方法，其特征在于，包括：
    获取电机的当前油门以及与所述当前油门对应的当前电流；
    生成预设油门电流曲线；
    根据所述当前油门和所述预设油门电流曲线，确定所述当前电流的阈值范围；
    若所述当前电流的值超出所述阈值范围，则判定所述电机为异常状态；
    若所述电机为异常状态的时间超过预设时间阈值，则进行过流保护。
  2. 根据权利要求1所述的方法，其特征在于，所述生成预设油门电流曲线，包括：
    获取所述电机在若干给定油门下的测试电流；
    根据所述给定油门和所述测试电流的对应关系，生成所述预设油门电流曲线。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述给定油门和所述测试电流的对应关系，生成所述预设油门电流曲线，包括：
    根据所述给定油门和所述测试电流的对应关系，确定分段点；
    根据所述分段点，分段生成所述预设油门电流曲线。
  4. 根据权利要求3所述的方法，其特征在于，所述根据所述给定油门和所述测试电流的对应关系，确定分段点，包括：
    将所述若干给定油门中任一给定油门及其对应的测试电流作为一测试点，并计算任意相邻两个所述测试点之间的变化率；
    根据所述变化率的变化趋势，确定所述分段点。
  5. 根据权利要求3所述的方法，其特征在于，所述分段点包括第一分段点和第二分段点；
    所述根据所述分段点，分段生成所述预设油门电流曲线，包括：
    分三段生成所述预设油门电流曲线，其中，计算所述预设油门电流曲线的公式为：
    Figure PCTCN2020073015-appb-100001
    Figure PCTCN2020073015-appb-100002
    Figure PCTCN2020073015-appb-100003
    Figure PCTCN2020073015-appb-100004
    其中，m、j、n均为自然数，测试点的总个数为n，x i表示给定油门，y i表示测试电流，(x i，y i)为其中一测试点，(x m，y m)为第一分段点，(x m+j，y m+j)为第二分段点。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述根据所述当前油门和预设油门电流曲线，确定所述当前电流的阈值范围，包括：
    根据所述当前油门和所述预设油门电流曲线，计算拟合电流；
    根据所述拟合电流和预设倍数，确定所述当前电流的阈值范围。
  7. 一种过流保护装置，其特征在于，包括：
    当前电流获取模块，用于获取电机的当前油门以及与所述当前油门对应的当前电流；
    预设曲线生成模块，用于生成预设油门电流曲线；
    当前阈值确定模块，用于根据所述当前油门和所述预设油门电流曲线，确定所述当前电流的阈值范围；
    判断模块，用于若所述当前电流的值超出所述阈值范围，则判定所述电机为异常状态；
    过流保护模块，用于若所述电机为异常状态的时间超过预设时间阈值，则进行过流保护。
  8. 根据权利要求7所述的装置，其特征在于，所述预设曲线生成模块包 括：
    测试电流获取子模块，用于获取所述电机在若干给定油门下的测试电流；
    预设曲线生成子模块，用于根据所述给定油门和所述测试电流的对应关系，生成所述预设油门电流曲线。
  9. 根据权利要求8所述的装置，其特征在于，所述预设曲线生成子模块包括：
    分段点确定单元，用于根据所述给定油门和所述测试电流的对应关系，确定分段点；
    分段生成单元，用于根据所述分段点，分段生成所述预设油门电流曲线。
  10. 根据权利要求8所述的装置，其特征在于，所述分段点确定单元包括：
    变化率计算子单元，用于将所述若干给定油门中任一给定油门及其对应的测试电流作为一测试点，计算任意相邻两个所述测试点之间的变化率；
    分段点确定子单元，用于根据所述变化率的变化趋势，确定所述分段点。
  11. 根据权利要求10所述的装置，其特征在于，所述分段点包括第一分段点和第二分段点；
    所述分段生成单元具体用于：
    分三段生成所述预设油门电流曲线，其中，计算所述预设油门电流曲线的公式为：
    Figure PCTCN2020073015-appb-100005
    Figure PCTCN2020073015-appb-100006
    Figure PCTCN2020073015-appb-100007
    Figure PCTCN2020073015-appb-100008
    其中，m、j、n均为自然数，测试点的总个数为n，x i表示给定油门，y i表示测试电流，(x i，y i)为其中一测试点，(x m，y m)为第一分段点，(x m+j，y m+j)为第二分段点。
  12. 根据权利要求7-11任一项所述的装置，其特征在于，所述当前阈值确定模块包括：
    拟合电流计算单元，用于根据所述当前油门和所述预设油门电流曲线，计算拟合电流；
    当前阈值确定单元，用于根据所述拟合电流和预设倍数，确定所述当前电流的阈值范围。
  13. 一种过流保护系统，包括电机和控制器，所述电机与所述控制器电性连接，其特征在于，所述控制器包括：
    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任一项所述的过流保护方法。
  14. 一种无人飞行器，其特征在于，包括：
    机身；
    与所述机身相连的机臂；
    设于所述机臂的动力装置；以及
    设置于所述机身上的过流保护系统；其中，所述过流保护系统为权利要求13所述的过流保护系统。
  15. 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无人飞行器执行时，使所述无人飞行器执行权利要求1-6的任一项所述的过流保护方法。
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