WO2020177594A1 - 温度保护方法、装置和无人飞行器 - Google Patents

温度保护方法、装置和无人飞行器 Download PDF

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Publication number
WO2020177594A1
WO2020177594A1 PCT/CN2020/076798 CN2020076798W WO2020177594A1 WO 2020177594 A1 WO2020177594 A1 WO 2020177594A1 CN 2020076798 W CN2020076798 W CN 2020076798W WO 2020177594 A1 WO2020177594 A1 WO 2020177594A1
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motor
unit
power
current
preset
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French (fr)
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颜世智
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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
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/60—Controlling or determining the temperature of the motor or of the drive

Definitions

  • This application relates to the technical field of motor temperature control, in particular to a temperature protection method, device 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 main source of heat is the heat generated by the current flowing through the coil winding and the heat generated by the eddy current loss of the magnetic flux in the stator silicon steel sheet. If the motor temperature is too high, it is easy to cause problems such as the burning of the coil insulation layer and the demagnetization of the permanent magnet.
  • a current limitation method is generally adopted, that is, the maximum current of the motor is limited during operation so that the operating current is within the limited current, thereby controlling the temperature.
  • this method directly limits the maximum output capacity of the motor, and easily leads to the deterioration of the acceleration maneuverability and wind resistance of the UAV.
  • the purpose of the embodiments of the present invention is to provide a temperature protection method, device, and unmanned aerial vehicle without detecting temperature, which can prevent the motor from burning out at high temperature without affecting the performance of the motor.
  • an embodiment of the present invention provides a temperature protection method, including: obtaining unit power corresponding to a number of preset unit times of a motor; calculating according to the unit power and a preset total power threshold The current power threshold of the motor; controlling the instantaneous power of the motor to be less than or equal to the current power threshold.
  • the calculating the current power threshold of the motor according to the unit power and a preset total power threshold includes:
  • P_slmt (P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;
  • P_slmt is the current power threshold
  • P_lmt is the preset total power threshold
  • T_0 is the preset unit time
  • the unit power corresponding to the N preset unit times T_0 from the start of work to the current moment is P_1, P_2, P_3, P_4 ,..., P_N.
  • the controlling the instantaneous power of the motor to be less than or equal to the current power threshold includes: obtaining the instantaneous current and instantaneous voltage of the motor; controlling the instantaneous current or the instantaneous voltage, So that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the controlling the magnitude of the instantaneous current or the instantaneous voltage so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold includes: when the motor accelerates Controlling the instantaneous voltage to decrease so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the obtaining the unit power corresponding to several preset unit times of the motor specifically includes: obtaining the unit power corresponding to each preset unit time of the motor within the preset time.
  • the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
  • the obtaining the unit power corresponding to several preset unit times of the motor within the preset time includes: obtaining the total power of the motor within the preset time; and calculating according to the total power Obtain the average power of a number of preset unit times within a preset time, and use the average power as the unit power.
  • an embodiment of the present invention also provides a temperature protection device, including: a unit power module for obtaining the unit power corresponding to a number of preset unit times of the motor; a current power threshold module for obtaining the unit power according to a number of the units The power and the preset total power threshold are used to calculate the current power threshold of the motor; the control module is used to control the instantaneous power of the motor to be less than or equal to the current power threshold.
  • the current power threshold module is specifically used to:
  • P_slmt (P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;
  • P_slmt is the current power threshold
  • P_lmt is the preset total power threshold
  • T_0 is the preset unit time
  • the unit power corresponding to the N preset unit times T_0 from the start of work to the current moment is P_1, P_2, P_3, P_4 ,..., P_N.
  • control module includes: an acquisition unit for acquiring the instantaneous current and instantaneous voltage of the motor; a control unit for controlling the instantaneous current or the instantaneous voltage so that the The product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • control unit is specifically configured to control the instantaneous voltage to decrease when the motor accelerates, so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the unit power module includes: a timing obtaining unit configured to obtain the unit power corresponding to each preset unit time of the motor within a preset time.
  • the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
  • the timing obtaining unit includes: a total power subunit, used to obtain the total power of the motor within the preset time; an average power subunit, used to calculate according to the total power The average power of a number of preset unit times within a preset time is taken as the unit power.
  • an embodiment of the present invention also provides an unmanned aerial vehicle, including:
  • An arm connected to the fuselage
  • the power device is provided on the arm, and includes a motor provided on the arm and a propeller connected to the motor; and
  • the controller is provided in the body, and the controller is electrically connected to the motor,
  • the controller includes:
  • At least one processor and,
  • a memory communicatively connected with the at least one processor; wherein,
  • the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the above-mentioned temperature protection method.
  • 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 execute the above-mentioned temperature protection method.
  • the embodiment of the present invention calculates the current power threshold of the motor by obtaining the unit power corresponding to a number of preset unit times from the start of the motor to the current moment, and controls the instantaneous power of the motor not to exceed the current power threshold, thereby controlling the motor within a certain period of time
  • the total power does not exceed the total power limit, achieving the purpose of controlling the temperature of the motor without detecting the temperature, which can prevent the motor from burning at high temperature without affecting the performance of the motor.
  • FIG. 1 is a schematic diagram of an application scenario of a temperature protection method and device provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a temperature protection method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a temperature protection device provided by an embodiment of the present invention.
  • Fig. 4 is a schematic diagram of the hardware structure of a controller provided by an embodiment of the present invention.
  • the temperature protection method and device of the embodiment of the present invention can be executed or set in any type of terminal with a user interaction device and a processor with computing capability, such as temperature protection system, electronic speed controller, unmanned aerial vehicle, smart phone, tablet Computers, PDAs, smart watches and other terminals.
  • a processor with computing capability such as temperature protection system, electronic speed controller, unmanned aerial vehicle, smart phone, tablet Computers, PDAs, smart watches and other terminals.
  • the temperature protection method of the embodiment of the present invention achieves the purpose of controlling the temperature of the motor by controlling the total power of the motor within a certain period of time not to exceed the limited total power without detecting the temperature, which can prevent the motor from being burnt at high temperature without affecting the performance of the motor.
  • the motor temperature protection method and device 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.
  • the unmanned aerial vehicle 100 may include a fuselage and an arm connected to the fuselage.
  • the power unit installed in the arm and the controller 12 installed in the fuselage.
  • the power device includes a motor 11 provided on the arm and a propeller connected to the output shaft of the motor 11, and the motor 11 drives the propeller to rotate at a high speed to provide lift or power for flight of the UAV 100.
  • the motor 11 is electrically connected to the controller 12.
  • the unmanned aerial vehicle 100 may be any suitable type of high-altitude or low-altitude aircraft, including a typical quadcopter, a hovering remote control helicopter, and the like.
  • 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 adjust the rotation speed of the motor 11 according to the control signal, so that the motor 11 drives the load to move.
  • the controller 12 may be a motor controller or a flight controller.
  • the motor 11 when the controller 12 is a flight controller, the motor 11 can be set in an electronic governor, and the controller 12 is connected to the electronic governor.
  • the controller 12 is used to calculate the current power threshold of the motor 11, according to the current power Threshold, which sends a throttle control signal or 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 controller 12 so that the instantaneous power of the motor 11 is less than or equal to the current power threshold.
  • the UAV 100 may also include a motor driver.
  • the motor driver is electrically connected to the motor 11, and the motor driver and the controller 12 are integrated into an electronic speed governor.
  • the flight controller in the human aircraft 100 is connected.
  • the controller 12 detects the two-phase or three-phase current signal from the motor 11 through a current sensor (not shown), calculates the current power threshold of the motor 11, and passes it according to the current power threshold.
  • the motor driver outputs a throttle control signal or other control signals to the motor 11 so that the instantaneous power of the motor 11 is less than or equal to the current power threshold.
  • FIG. 2 is a schematic flowchart of a temperature protection method provided by an embodiment of the present invention.
  • the temperature protection method is executed by the controller 12 in FIG. 1. As shown in FIG. 2, the temperature protection method includes:
  • the “preset unit time” refers to a value of a preset unit time.
  • the preset unit time T_0 is greater than or equal to 1 second and less than or equal to 30 seconds.
  • unit power is the output power corresponding to each preset unit time. Because the current and voltage are not constant when the motor is working, the output power of the motor also changes, so each preset unit The output power corresponding to time may also be different.
  • obtaining the unit power corresponding to a number of preset unit times of the motor includes:
  • the preset time is a preset time length. In this embodiment, the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
  • S211 may specifically be: recording the working time of the motor from the time the motor starts to work, and each time a preset time is reached, the unit power corresponding to each preset unit time within the preset time is obtained, so as The unit power calculates the current power threshold of the motor to control the power of the motor. For example, every time the preset time T is reached, the unit powers P_1, P_2, P_3, P_4...P_N corresponding to the N preset unit times T_0 within the preset time T are acquired. For another example, assuming that the preset time is 10 seconds and the unit preset time is 1 second, the unit power P_1, P_2, P_3, P_4...P_10 corresponding to each second of the motor within 10 seconds is obtained.
  • S211 may include:
  • the average voltage and average current of the motor within the preset time are obtained, the total power within the preset time is calculated, and the total power within the preset time is divided into several parts according to the preset unit time to obtain the average power.
  • the unit power corresponding to each preset unit time is obtained.
  • the electrical average voltage and average current can be obtained separately through a current detection circuit and a voltage detection circuit.
  • the unit power corresponding to each preset unit time can also be directly calculated, and S211 can also include:
  • S2114 Calculate each unit power within the preset time according to the unit average voltage and the unit average current.
  • the unit average voltage and unit average current corresponding to the preset unit time refers to the unit average voltage and unit average current of the motor in a preset unit time. Obtain the unit average voltage and unit average current corresponding to the preset unit time, which can be obtained by the current detection circuit and the voltage detection circuit. Among them, in some cases, for example, when the preset unit time is short, the instantaneous voltage and instantaneous current at a certain time within the preset unit time can be regarded as unit average voltage and unit average current, respectively.
  • the preset time T includes N preset unit times T_0
  • the unit average voltage corresponding to the first preset unit time T_0 U_1
  • the unit average current I_1
  • the second preset unit time T_0 is The unit average voltage corresponding to the unit time T_0 is U_2
  • the unit average current is I_2
  • the unit average voltage corresponding to the third preset unit time T_0 is U_3, the unit average current is I_3
  • the Nth preset unit time T_0 corresponds to The unit average voltage is U_N and the unit average current is I_N
  • the unit power corresponding to the first preset unit time T_0 U_1 I_1
  • S220 Calculate the current power threshold of the motor according to several unit powers and a preset total power threshold.
  • the "preset total power threshold” is the preset limited total power, so that the temperature of the motor is controlled by controlling the total power of the motor within a certain period of time not to exceed the limited total power.
  • the preset total power threshold can be set according to the parameters, performance and other actual conditions of the motor.
  • the current power threshold of the motor can be calculated based on the unit power and the unit power and the preset total power threshold.
  • the preset time T is divided into N preset unit times T_0, and the units corresponding to the N preset unit times T_0 are obtained.
  • the power is P_1, P_2, P_3, P_4...P_N, the total power in the preset time T is:
  • P_slmt (P_lmt-(P_2+P_3+P_4+...+P_N))/T_0
  • the current power threshold is calculated according to the following formula:
  • P_slmt (P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;
  • P_slmt is the current power threshold
  • P_lmt is the preset total power threshold
  • T_0 is the preset unit time
  • the unit power corresponding to the N preset unit times T_0 from the start of work to the current moment is P_1, P_2, P_3, P_4 ,..., P_N.
  • the current power threshold of the motor at the current moment is calculated every preset time interval, so as to obtain the current power thresholds at different times, so that the motor can be dynamically controlled.
  • S230 Control the instantaneous power of the motor to be less than or equal to the current power threshold.
  • the instantaneous power of the control motor is less than or equal to the current power threshold, so that the total power of the motor within a certain period of time does not exceed the limited total power, and the temperature of the motor can be controlled.
  • S230 it may include:
  • the instantaneous current and instantaneous voltage of the motor can be obtained through related detection devices. Assuming that the obtained instantaneous current is I_s and the instantaneous voltage is U_s, by controlling the instantaneous voltage U_s or the instantaneous current I_s, U_s I_s ⁇ P_slmt, that is, U_s I_s ⁇ (P_lmt-(P_2+P_3+P_4+...+P_N))/ T_0.
  • the specific implementation in S232 may be: when the motor accelerates, the instantaneous voltage is controlled to decrease, so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the motor When the motor is accelerating, it needs a short-time high-current operation. In order to make the instantaneous power of the motor not exceed the current power threshold, it is necessary to control the instantaneous voltage drop of the motor to control the instantaneous power of the motor.
  • the instantaneous voltage of the motor increases, the instantaneous current of the control motor is reduced, so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the instantaneous voltage and/or instantaneous current of the motor can be controlled by sending a throttle control signal or other control signals to the motor so that the instantaneous power of the motor is less than or equal to the current power threshold.
  • the temperature protection method of the embodiment of the present invention is suitable for multiple control strategies of the motor, such as reactive voltage through reactive current using PI regulator closed-loop output, active voltage directly given, and non-inductive strategy using sliding film
  • the observation control strategy for estimating the position of the speedometer is also applicable to other control strategies, such as current loop, speed loop + current loop control strategy.
  • the current power threshold of the motor is calculated by obtaining the unit power corresponding to a number of preset unit times from the start of the motor to the current moment, and the instantaneous power of the motor is controlled not to exceed the current power threshold, so as to control the motor at a certain
  • the total power within the time does not exceed the limited total power, achieving the purpose of controlling the temperature of the motor without detecting the temperature, which can prevent the motor from being burned at high temperature without affecting the performance of the motor.
  • Fig. 3 is a schematic structural diagram of a temperature protection device provided by an embodiment of the present invention.
  • the temperature protection device can be used in the controller 12 of FIG. 1.
  • the temperature protection device 300 includes: a unit power module 310, a current power threshold module 320, and a control module 330.
  • the unit power module 310 is used to obtain the unit power corresponding to a number of preset unit times of the motor.
  • the current power threshold module 320 calculates the current power threshold of the motor according to a number of unit powers and a preset total power threshold.
  • the control module 330 is used to control the instantaneous power of the motor to be less than or equal to the current power threshold.
  • the current power threshold module 320 is specifically used for:
  • P_slmt (P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;
  • P_slmt is the current power threshold
  • P_lmt is the preset total power threshold
  • T_0 is the preset unit time
  • the unit power corresponding to the N preset unit times T_0 from the start of work to the current moment is P_1, P_2, P_3, P_4 ,..., P_N.
  • control module 330 includes: an acquisition unit and a control unit.
  • the obtaining unit is used to obtain the instantaneous current and the instantaneous voltage of the motor;
  • the control unit is used to control the magnitude of the instantaneous current or the instantaneous voltage, so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the control unit is specifically used to control the instantaneous voltage to decrease when the motor accelerates, so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
  • the unit power module 310 includes: a timing acquisition unit.
  • the timing obtaining unit is used to obtain the unit power corresponding to each preset unit time of the motor within the preset time.
  • the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
  • the timing acquisition unit includes: a total power subunit and an average power subunit.
  • the total power sub-unit is used to obtain the total power of the motor within a preset time;
  • the average power sub-unit is used to calculate the average power of a number of preset unit times within the preset time according to the total power, and use the average power as the unit power .
  • the above-mentioned temperature protection device can execute the temperature protection method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the temperature protection method.
  • the temperature protection method provided in the embodiments of the present invention.
  • the temperature protection device 300 obtains the unit power corresponding to a number of preset unit times from the start of the motor to the current moment through the unit power module 310, the current power threshold module 320 calculates the current power threshold of the motor, and the control module 330 controls the instantaneous power of the motor not to exceed the current power threshold, so that the total power of the motor within a certain period of time does not exceed the total power limit, achieving the purpose of controlling the temperature of the motor, without detecting the temperature, which can prevent the motor from burning at high temperature without affecting the motor Performance.
  • an embodiment of the present invention also provides an unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 includes:
  • the power device is arranged on the arm, and includes a motor 11 arranged on the arm and a propeller connected to the motor 11; and
  • the controller 12 is arranged on the body, and the controller 12 is electrically connected to the motor 11.
  • 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 to the UAV 100.
  • the power device usually includes a motor 11 at the end of the arm and a rotor connected to the output shaft of the motor 11.
  • the motor 11 drives the rotor to rotate at high speed to provide all The power or lift of the unmanned aerial vehicle 100 is described.
  • the controller 12 includes one or more processors 121 and a memory 122.
  • processors 121 are 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. 1.
  • the memory 122 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the temperature protection method in the embodiments of the present invention /Unit (for example, the unit power module 310, the current power threshold module 320, and the control module 330 shown in FIG. 3).
  • the processor 121 executes various functional applications and data processing of the unmanned aerial vehicle by running non-volatile software programs, instructions, and units stored in the memory 122, that is, realizing the temperature protection method of the foregoing 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 UAV.
  • 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 unmanned aerial vehicle 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 one or more processors 121, the temperature protection method in any of the foregoing method embodiments is executed, for example, the method S211-S250 in FIG. 2 described above is executed. , To realize the functions of the modules 310-330 shown in FIG. 3.
  • the above-mentioned unmanned aerial vehicle can execute the temperature protection method provided by the embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.
  • the unmanned aerial vehicle can execute the temperature protection method provided by the embodiment of the present invention, and has functional modules and beneficial effects corresponding to 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, the computer-executable instructions are executed by one or more processors, for example, FIG. 4
  • One processor 121 in the above-mentioned one or more processors can execute the temperature protection method in any of the above-mentioned method embodiments, for example, execute the above-described methods S210-S230 in FIG. 2 to implement the method shown in FIG. 3 Functions of modules 310-330.

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Abstract

本发明实施例涉及电机温度控制技术领域，公开了一种温度保护方法、装置和无人飞行器。其中，该温度保护方法包括：获取电机在若干预设单位时间对应的单位功率；根据单位功率以及预设总功率阈值，计算电机的当前功率阈值；控制电机的瞬时功率小于或者等于当前功率阈值。通过以上方式，本发明无需检测温度，既能防止电机高温烧毁，又不影响电机的性能。

Description

温度保护方法、装置和无人飞行器
本申请要求于2019年3月1日提交中国专利局、申请号为201910154682.4、申请名称为“温度保护方法、装置和无人飞行器”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
本申请涉及电机温度控制技术领域，特别是涉及一种温度保护方法、装置和无人飞行器。
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。
电机在正常运行的过程中，会产生热量，热量的主要来源于：电流流经线圈绕组产生的热量以及磁通在定子硅钢片中发生涡流损耗产生的热量。电机温度过高，容易导致线圈绝缘层烧毁、永磁铁退磁等问题。
在现有无人飞行器的设计中，一般采用电流限制的方法，即限制电机运转时的最大电流以使工作电流在限制电流内，从而控制温度。但是这种方法直接限制了电机的最大输出能力，容易导致无人机的加速机动性能以抗风性能变差。
发明内容
本发明实施例的目的是提供一种温度保护方法、装置和无人飞行器，无需检测温度，既能防止电机高温烧毁，又不影响电机的性能。
为解决上述技术问题，第一方面，本发明实施例提供了一种温度保护方法，包括：获取电机在若干预设单位时间对应的单位功率；根据所述单位功率以及预设总功率阈值，计算所述电机的当前功率阈值；控制所述电机的瞬时功率小于或者等于所述当前功率阈值。
在一些实施例中，所述根据所述单位功率以及预设总功率阈值，计算所述电机的当前功率阈值，包括：
根据以下公式计算所述当前功率阈值：
P_slmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0；
其中，P_slmt为当前功率阈值，P_lmt为预设总功率阈值，T_0为预设单位时间，从开始工作到当前时刻内的N个预设单位时间T_0对应的单位功率为P_1、P_2、P_3、P_4、…、P_N。
在一些实施例中，所述控制所述电机的瞬时功率小于或者等于所述当前功率阈值，包括：获取所述电机的瞬时电流和瞬时电压；控制所述瞬时电流或者所述瞬时电压的大小，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
在一些实施例中，所述控制所述瞬时电流或者所述瞬时电压的大小，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值，包括：当所述电机加速时，控制所述瞬时电压减少，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
在一些实施例中，所述获取电机若干预设单位时间对应的单位功率，具体包括：获取电机在预设时间内各所述预设单位时间对应的单位功率。
在一些实施例中，所述预设时间大于等于1秒并且小于等于30秒。
在一些实施例中，所述获取电机在预设时间内的若干预设单位时间对应的单位功率，包括：获取所述电机在所述预设时间内的总功率；根据所述总功率，计算得到在预设时间内的若干预设单位时间的平均功率，将所述平均功率作为所述单位功率。
第二方面，本发明实施例还提供了一种温度保护装置，包括：单位功率模块，用于获取电机在若干预设单位时间对应的单位功率；当前功率阈值模块，用于根据若干所述单位功率以及预设总功率阈值，计算所述电机的当前功率阈值；控制模块，用于控制所述电机的瞬时功率小于或者等于所述当前功率阈值。
在一些实施例中，所述当前功率阈值模块具体用于：
根据以下公式计算所述当前功率阈值：
P_slmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0；
其中，P_slmt为当前功率阈值，P_lmt为预设总功率阈值，T_0为预设单位时间，从开始工作到当前时刻内的N个预设单位时间T_0对应的单位功率为P_1、P_2、P_3、P_4、…、P_N。
在一些实施例中，所述控制模块包括：获取单元，用于获取所述电机的瞬时电流和瞬时电压；控制单元，用于控制所述瞬时电流或者所述瞬时电压的大小，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
在一些实施例中，所述控制单元具体用于：当所述电机加速时，控制所述瞬时电压减少，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
在一些实施例中，所述单位功率模块包括：定时获取单元，用于获取电机在预设时间内各所述预设单位时间对应的单位功率。
在一些实施例中，所述预设时间大于等于1秒并且小于等于30秒。
在一些实施例中，所述定时获取单元包括：总功率子单元，用于获取所述电机在所述预设时间内的总功率；平均功率子单元，用于根据所述总功率，计算得到在预设时间内的若干预设单位时间的平均功率，将所述平均功率作为 所述单位功率。
第三方面，本发明实施例还提供了一种无人飞行器，包括：
机身；
机臂，与所述机身相连；
动力装置，设于所述机臂，包括设于所述机臂的电机和与所述电机相连的螺旋桨；以及
控制器，设于所述机身，所述控制器与所述电机电性连接，
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温度保护方法。
第四方面，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温度保护方法。
本发明实施例通过获取电机从开始工作到当前时刻内的若干预设单位时间对应的单位功率，计算电机的当前功率阈值，控制电机的瞬时功率不超过当前功率阈值，从而控制电机在一定时间内的总功率不超过限制总功率，达到控制电机温度的目的，无需检测温度，既能防止电机高温烧毁，又不影响电机的性能。
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温度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温度保护方法的流程示意图；
图3为本发明实施例提供的一种温度保护装置的结构示意图；
图4为本发明实施例提供的一种控制器的硬件结构示意图。
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。
本发明实施例的温度保护方法和装置，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，例如温度保护系统、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。
本发明实施例的温度保护方法，通过控制电机在一定时间内的总功率不超过限制总功率，达到控制电机温度的目的，无需检测温度，既能防止电机高温烧毁，又不影响电机的性能。
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温度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可以包括机身、与所述机身相连的机臂、设于机臂的动力装置和设于机身的控制器12。其中，动力装置包括设于机臂的电机11和与电机11的输出轴相连的螺旋桨，电机11带动螺旋桨高速旋转以提供无人飞行器100飞行的升力或飞行的动力。电机11与控制器12电性连接。
在其他可能的实施例中，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，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。其中，控制器12可以为电机控制器或飞行控制器。
其中，当控制器12为飞行控制器时，电机11可以设于电子调速器中，控制器12通过与电子调速器连接，控制器12用于计算电机11的当前功率阈值，根据当前功率阈值，向电子调速器发送油门控制信号或其他控制信号，电子调速器用于根据控制器12发送的控制信号调整电机11的转速，以使电机11的瞬时功率小于或者等于当前功率阈值。
其中，当控制器12为电机控制器时，无人飞行器100还可以包括电机驱动器，电机驱动器与电机11电性连接，电机驱动器和控制器12集成为电子调速器，电子调速器与无人飞行器100中的飞行控制器连接，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，从计算电机11的当前功率阈值，并根据当前功率阈值，通过电机驱动器输出油门控制信号或其他控制信号到电机11，以使电机11的瞬时功率小于或者等于当前功率阈值。
图2为本发明实施例提供的一种温度保护方法的流程示意图。该温度保护方法由图1的控制器12执行，如图2所示，该温度保护方法包括：
S210、获取电机在若干预设单位时间对应的单位功率。
在本实施例中，“预设单位时间”是指预先设定的单位时间的值，在本实施例中，预设单位时间T_0大于等于1秒并且小于等于30秒。“若干预设单位时间”可以为预设时间内的若干个预设单位时间，例如，预设时间为T，将T分为N个预设单位时间T_0，则N＝T_0/T。
在本实施例中，“单位功率”为每个预设单位时间对应的输出功率，由于电机工作时，电流和电压并不是恒定的，因此电机的输出功率也是变化的，所以每个预设单位时间对应的输出功率也可能不相同。
其中，获取电机在若干预设单位时间对应的单位功率，具体包括：
S211、获取电机在预设时间内各预设单位时间对应的单位功率。
其中，预设时间为预先设定的时长，在本实施例中，预设时间大于等于1秒并且小于等于30秒。S211具体可以为：从电机开始工作时记录电机的工作时间，每当达到一次预设时间，则获取在预设时间内的各个预设单位时间对应的单位功率，从而根据该预设时间内的单位功率计算电机的当前功率阈值，以控制电机的功率。例如，每当达到一次预设时间T，则获取在预设时间T内的N个预设单位时间T_0对应的单位功率P_1、P_2、P_3、P_4…P_N。又例如，假设预设时间为10秒、单位预设时间为1秒，则获取电机在10秒内每一秒对应的单位功率P_1、P_2、P_3、P_4…P_10。
其中，获取单位功率的方法有多种，S211可以包括：
S2111、获取电机在预设时间内的总功率；
S2112、根据总功率，计算得到在预设时间内的若干预设单位时间的平均功率，将平均功率作为单位功率。
在该实施例中，获取电机在预设时间内的平均电压和平均电流，计算预设时间内的总功率，将预设时间内的总功率按照预设单位时间分成若干份，得到平均功率，从而得到各个预设单位时间对应的单位功率。其中，电平均电压、平均电流可以通过电流检测电路、电压检测电路分别进行获取。例如，假设电机在预设时间T内的平均电压为U和I，则预设时间内的总功率P＝UI，假设预设单位时间为T_0，T/T_0＝N，则平均功率P_平＝P/N，则得到各个预设单位时间对应的单位功率P_1＝P_2＝P_3＝P_4＝…＝P_N＝P_平。
可选地，还可以直接计算各个预设单位时间对应的单位功率，S211还可以包括：
S2113、获取电机在预设时间内各预设单位时间对应的单位平均电压和单位平均电流；
S2114、根据单位平均电压和单位平均电流，计算预设时间内各单位功率。
在S2113中，“预设单位时间对应的单位平均电压和单位平均电流”是指在一个预设单位时间内，电机的单位平均电压和单位平均电流。获取预设单位 时间对应的单位平均电压和单位平均电流，可以通过电流检测电路和电压检测电路进行获取。其中，在某些情况下，例如当预设单位时间很短时，可以将预设单位时间内某个时刻的瞬时电压、瞬时电流分别看作单位平均电压、单位平均电流。
在该实施例中，假设预设时间T内包括N个预设单位时间T_0，获取得到第一个预设单位时间T_0对应的单位平均电压为U_1、单位平均电流为I_1，第二个预设单位时间T_0对应的单位平均电压为U_2、单位平均电流为I_2，第三个预设单位时间T_0对应的单位平均电压为U_3、单位平均电流为I_3……第N个预设单位时间T_0对应的单位平均电压为U_N、单位平均电流为I_N，则第一个预设单位时间T_0对应的单位功率P_1＝U_1 I_1，第二个预设单位时间T_0对应的单位功率P_2＝U_2 I_2，第三个预设单位时间T_0对应的单位功率P_3＝U_3 I_3……第N个预设单位时间T_0对应的单位功率P_N＝U_N I_N，则得到P_1、P_2、P_3、P_4…P_N为预设时间T内的N个单位功率。
S220、根据若干单位功率以及预设总功率阈值，计算电机的当前功率阈值。
在本实施例中，“预设总功率阈值”为预先设定的限制总功率，从而通过控制电机在一定时间内的总功率不超过限制总功率，达到控制电机的温度的目的。其中，预设总功率阈值可以根据电机的参数、性能以及其他实际情况进行设置。
在本实施例中，当获取若干个单位功率后，根据单位功率和单位功率和预设总功率阈值，能够计算得到电机的当前功率阈值。具体分析如下：
假设在预设时间T内，需要限制电机的总功率不超过预设总功率阈值P_lmt，将预设时间T分成N个预设单位时间T_0，获取得到N个预设单位时间T_0分别对应的单位功率为P_1、P_2、P_3、P_4…P_N，则预设时间T内的总功率为：
P＝P_1+P_2+P_3+P_4+…+P_N
假设电机在下一预设单位时间T_0对应的单位功率为P_(N+1)，则：
P≤P_lmt
即
P_2+P_3+P_4+…+P_N+P_(N+1)≤P_lmt
即
P_(N+1)≤P_lmt-(P_2+P_3+P_4+…+P_N)  ○1
则在下一预设单位时间T_0内的瞬时功率为：
P_s＝P_(N+1)/T_0  ○2
将式○1代入式○2，得到
P_s≤(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0
则当前功率阈值为
P_slmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0
在本实施例中，在获取若干个单位功率后，根据以下公式计算当前功率阈 值：
P_slmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0；
其中，P_slmt为当前功率阈值，P_lmt为预设总功率阈值，T_0为预设单位时间，从开始工作到当前时刻内的N个预设单位时间T_0对应的单位功率为P_1、P_2、P_3、P_4、…、P_N。
在本实施例中，在每间隔一个预设时间计算一次电机当前时刻的当前功率阈值，从而得不同时间的当前功率阈值，从而能够对电机进行动态控制。
S230、控制电机的瞬时功率小于或者等于当前功率阈值。
在本实施例中，在计算得到当前功率阈值后，控制电机的瞬时功率小于或者等于当前功率阈值，能够使得电机在一定时间内的总功率不超过限制总功率，从能够控制电机的温度。
在S230中，可以包括：
S231、获取电机的瞬时电流和瞬时电压；
S232、控制瞬时电流或者瞬时电压的大小，以使瞬时电流与瞬时电压的乘积小于或者等于当前功率阈值。
其中，获取电机的瞬时电流和瞬时电压可以通过相关的检测装置进行获取。假设获取到的瞬时电流为I_s、瞬时电压为U_s，则通过控制瞬时电压U_s或瞬时电流I_s，使得U_s I_s≤P_slmt，即U_s I_s≤(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0。
可选地，S232中具体实施方式可以为：当电机加速时，控制瞬时电压减少，以使瞬时电流与瞬时电压的乘积小于或者等于当前功率阈值。由于电机在加速时，需要短时间的大电流工作，为了使电机的瞬时功率不超过当前功率阈值，则需控制电机的瞬时电压降低，以控制电机的瞬时功率。当然，在另一实施例中，当电机的瞬时电压升高时，控制电机的瞬时电流减少，以使瞬时电流与瞬时电压的乘积小于或者等于当前功率阈值。当然，还可以是，同时控制电机的瞬时电压和瞬时电流，以控制电机的瞬时功率。
需要说明的是，控制电机的瞬时电压和/或瞬时电流，可以通过向电机发送油门控制信号或其他控制信号，以使电机的瞬时功率小于或者等于当前功率阈值。
需要说明的是，本发明实施例的温度保护方法，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。
在本实施例中，通过获取电机从开始工作到当前时刻内的若干预设单位时间对应的单位功率，计算电机的当前功率阈值，控制电机的瞬时功率不超过当前功率阈值，从而控制电机在一定时间内的总功率不超过限制总功率，达到控制电机温度的目的，无需检测温度，既能防止电机高温烧毁，又不影响电机的性能。
图3为本发明实施例提供的一种温度保护装置的结构示意图。该温度保护装置可以用于图1的控制器12。如图3所示，该温度保护装置300包括：单位功率模块310、当前功率阈值模块320和控制模块330。
其中，单位功率模块310用于获取电机在若干预设单位时间对应的单位功率。当前功率阈值模块320于根据若干单位功率以及预设总功率阈值，计算电机的当前功率阈值。控制模块330用于控制电机的瞬时功率小于或者等于当前功率阈值。
其中，当前功率阈值模块320具体用于：
根据以下公式计算所述当前功率阈值：
P_slmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0；
其中，P_slmt为当前功率阈值，P_lmt为预设总功率阈值，T_0为预设单位时间，从开始工作到当前时刻内的N个预设单位时间T_0对应的单位功率为P_1、P_2、P_3、P_4、…、P_N。
其中，控制模块330包括：获取单元和控制单元。获取单元用于获取电机的瞬时电流和瞬时电压；控制单元用于控制瞬时电流或者所述瞬时电压的大小，以使瞬时电流与所述瞬时电压的乘积小于或者等于当前功率阈值。
其中，控制单元具体用于：当电机加速时，控制瞬时电压减少，以使瞬时电流与瞬时电压的乘积小于或者等于当前功率阈值。
其中，单位功率模块310包括：定时获取单元。定时获取单元用于获取电机在预设时间内各预设单位时间对应的单位功率。
其中，预设时间大于等于1秒并且小于等于30秒。
其中，定时获取单元包括：总功率子单元和平均功率子单元。总功率子单元用于获取电机在预设时间内的总功率；平均功率子单元用于根据总功率，计算得到在预设时间内的若干预设单位时间的平均功率，将平均功率作为单位功率。
需要说明的是，上述温度保护装置可执行本发明实施例所提供的温度保护方法，具备执行温度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温度保护方法。
在本发明实施例中，温度保护装置300通过单位功率模块310获取电机从开始工作到当前时刻内的若干预设单位时间对应的单位功率，当前功率阈值模块320计算电机的当前功率阈值，控制模块330控制电机的瞬时功率不超过当前功率阈值，从而控制电机在一定时间内的总功率不超过限制总功率，达到控制电机温度的目的，无需检测温度，既能防止电机高温烧毁，又不影响电机的性能。
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；
机臂，与机身相连；
动力装置，设于机臂，包括设于机臂的电机11和与电机11相连的螺旋桨；以及
控制器12，设于机身，控制器12与电机11电性连接。
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。动力装置用于给所述无人飞行器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11和与电机11的输出轴相连的旋翼，电机11驱动旋翼高速旋转以提供所述无人飞行器100飞行的动力或升力。
其中，控制器12包括：一个或多个处理器121以及存储器122，图4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1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温度保护方法对应的程序指令/单元(例如，附图3所示的单位功率模块310、当前功率阈值模块320和控制模块330)。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，从而执行无人飞行器的各种功能应用以及数据处理，即实现上述方法实施例的温度保护方法。
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无人飞行器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无人飞行器。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温度保护方法，例如，执行以上描述的图2中的方法S211-S250，实现图3所示的模块310-330的功能。
上述无人飞行器可执行本发明实施例所提供的温度保护方法，具备执行方法相应的功能模块和有益效果。未在无人飞行器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4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温度保护方法，例如，执行以上描述的图2中的方法S210-S230，实现图3所示的模块310-330的功能。
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 (16)

  1. 一种温度保护方法，其特征在于，包括：
    获取电机在若干预设单位时间对应的单位功率；
    根据所述单位功率以及预设总功率阈值，计算所述电机的当前功率阈值；
    控制所述电机的瞬时功率小于或者等于所述当前功率阈值。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述单位功率以及预设总功率阈值，计算所述电机的当前功率阈值，包括：
    根据以下公式计算所述当前功率阈值：
    P_s lmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0；
    其中，P_s lmt为当前功率阈值，P_lmt为预设总功率阈值，T_0为预设单位时间，从开始工作到当前时刻内的N个预设单位时间T_0对应的单位功率为P_1、P_2、P_3、P_4、…、P_N。
  3. 根据权利要求1或2所述的方法，其特征在于，所述控制所述电机的瞬时功率小于或者等于所述当前功率阈值，包括：
    获取所述电机的瞬时电流和瞬时电压；
    控制所述瞬时电流或者所述瞬时电压的大小，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
  4. 根据权利要求3所述的方法，其特征在于，所述控制所述瞬时电流或者所述瞬时电压的大小，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值，包括：
    当所述电机加速时，控制所述瞬时电压减少，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述获取电机若干预设单位时间对应的单位功率，具体包括：
    获取电机在预设时间内各所述预设单位时间对应的单位功率。
  6. 根据权利要求5所述的方法，其特征在于，所述预设时间大于等于1秒并且小于等于30秒。
  7. 根据权利要求5所述的方法，其特征在于，所述获取电机在预设时间内的若干预设单位时间对应的单位功率，包括：
    获取所述电机在所述预设时间内的总功率；
    根据所述总功率，计算得到在预设时间内的若干预设单位时间的平均功 率，将所述平均功率作为所述单位功率。
  8. 一种温度保护装置，其特征在于，包括：
    单位功率模块，用于获取电机在若干预设单位时间对应的单位功率；
    当前功率阈值模块，用于根据若干所述单位功率以及预设总功率阈值，计算所述电机的当前功率阈值；
    控制模块，用于控制所述电机的瞬时功率小于或者等于所述当前功率阈值。
  9. 根据权利要求8所述的装置，其特征在于，所述当前功率阈值模块具体用于：
    根据以下公式计算所述当前功率阈值：
    P_s lmt＝(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0；
    其中，P_s lmt为当前功率阈值，P_lmt为预设总功率阈值，T_0为预设单位时间，从开始工作到当前时刻内的N个预设单位时间T_0对应的单位功率为P_1、P_2、P_3、P_4、…、P_N。
  10. 根据权利要求8或9所述的装置，其特征在于，所述控制模块包括：
    获取单元，用于获取所述电机的瞬时电流和瞬时电压；
    控制单元，用于控制所述瞬时电流或者所述瞬时电压的大小，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
  11. 根据权利要求10所述的装置，其特征在于，所述控制单元具体用于：
    当所述电机加速时，控制所述瞬时电压减少，以使所述瞬时电流与所述瞬时电压的乘积小于或者等于所述当前功率阈值。
  12. 根据权利要求8-11任一项所述的装置，其特征在于，所述单位功率模块包括：
    定时获取单元，用于获取电机在预设时间内各所述预设单位时间对应的单位功率。
  13. 根据权利要求12所述的装置，其特征在于，所述预设时间大于等于1秒并且小于等于30秒。
  14. 根据权利要求12所述的装置，其特征在于，所述定时获取单元包括：
    总功率子单元，用于获取所述电机在所述预设时间内的总功率；
    平均功率子单元，用于根据所述总功率，计算得到在预设时间内的若干预设单位时间的平均功率，将所述平均功率作为所述单位功率。
  15. 一种无人飞行器，其特征在于，包括：
    机身；
    机臂，与所述机身相连；
    动力装置，设于所述机臂，包括设于所述机臂的电机和与所述电机相连的螺旋桨；以及
    控制器，设于所述机身，所述控制器与所述电机电性连接，
    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1-7任一项所述的温度保护方法。
  16. 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1-7的任一项所述的温度保护方法。
PCT/CN2020/076798 2019-03-01 2020-02-26 温度保护方法、装置和无人飞行器 Ceased WO2020177594A1 (zh)

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