WO2020177594A1

WO2020177594A1 - Temperature protection method and apparatus, and unmanned aerial vehicle

Info

Publication number: WO2020177594A1
Application number: PCT/CN2020/076798
Authority: WO
Inventors: 颜世智
Original assignee: 深圳市道通智能航空技术有限公司
Priority date: 2019-03-01
Filing date: 2020-02-26
Publication date: 2020-09-10
Also published as: CN109831144A

Abstract

Embodiments of the present invention relate to the technical field of motor temperature control. Disclosed are a temperature protection method and apparatus, and an unmanned aerial vehicle. The temperature protection method comprises: obtaining corresponding unit powers of a motor in several preset unit time; calculating the current power threshold of the motor according to the unit powers and a preset total power threshold; and controlling the transient power of the motor to be less than or equal to the current power threshold. According to the approach of the present invention, the temperature is not required to be detected, which can protect the motor from being burned at high temperature without affecting the performance of the motor.

Description

Temperature protection method, device and unmanned aerial vehicle

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201910154682.4, and the application name is "temperature protection method, device and unmanned aerial vehicle" on March 1, 2019. The entire content is incorporated herein by reference. Applying.

Technical field

This application relates to the technical field of motor temperature control, in particular to a temperature protection method, device and unmanned aerial vehicle.

Background technique

With the development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely used in military and civil fields. 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.

During the normal operation of the motor, heat is generated. 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.

In the design of existing unmanned aerial vehicles, 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. However, 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.

Summary of the invention

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.

In order to solve the above technical problems, in the first aspect, 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.

In some embodiments, the calculating the current power threshold of the motor according to the unit power and a preset total power threshold includes:

Calculate the current power threshold according to the following formula:

P_slmt=(P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;

Among them, P_slmt is the current power threshold, P_lmt is the preset total power threshold, T_0 is the preset unit time, and 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.

In some embodiments, 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.

In some embodiments, 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.

In some embodiments, 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.

In some embodiments, the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.

In some embodiments, 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.

In the second aspect, 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.

In some embodiments, the current power threshold module is specifically used to:

Calculate the current power threshold according to the following formula:

P_slmt=(P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;

In some embodiments, the 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.

In some embodiments, the 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.

In some embodiments, 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.

In some embodiments, 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.

In the third aspect, an embodiment of the present invention also provides an unmanned aerial vehicle, including:

body;

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.

In a fourth aspect, 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.

Description of the drawings

In order to explain the technical solutions of the embodiments of the present invention more clearly, the following will briefly introduce the drawings that need to be used in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

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;

2 is a schematic flowchart of a temperature protection method provided by an embodiment of the present invention;

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.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

It should be noted that if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, and all fall within the protection scope of the present invention. In addition, although functional modules are divided in the schematic diagram of the device, and the logical sequence is shown in the flowchart, in some cases, it may be different from the module division in the device, or the sequence shown in the flowchart may be executed. Or the steps described. Furthermore, the words "first" and "second" used in the present invention do not limit the data and execution order, but only distinguish the same or similar items with basically the same function and effect.

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.

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 embodiments of the present invention will be further described below in conjunction with the drawings.

Among them, it should be understood that, as long as there is no conflict between the following embodiments provided by the present invention, they can be combined with each other to form a new implementation.

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. Wherein, 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.

In other possible embodiments, 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.

Wherein, 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.

Wherein, 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.

Wherein, when the controller 12 is a motor controller, 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:

S210. Obtain unit power corresponding to a number of preset unit times of the motor.

In this embodiment, the “preset unit time” refers to a value of a preset unit time. In this embodiment, the preset unit time T_0 is greater than or equal to 1 second and less than or equal to 30 seconds. The "several preset unit times" may be a number of preset unit times within a preset time. For example, the preset time is T. If T is divided into N preset unit times T_0, then N=T_0/T.

In this embodiment, "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.

Among them, obtaining the unit power corresponding to a number of preset unit times of the motor includes:

S211. Obtain unit power corresponding to each preset unit time of the motor within a preset time.

Wherein, 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.

Among them, there are multiple methods for obtaining unit power, and S211 may include:

S2111. Obtain the total power of the motor within a preset time;

S2112. According to the total power, calculate the average power of a number of preset unit times within the preset time, and use the average power as the unit power.

In this embodiment, 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. Thus, the unit power corresponding to each preset unit time is obtained. Among them, the electrical average voltage and average current can be obtained separately through a current detection circuit and a voltage detection circuit. For example, assuming that the average voltage of the motor during the preset time T is U and I, then the total power within the preset time P=UI, if the preset unit time is T_0, T/T_0=N, then the average power P_level =P/N, the unit power corresponding to each preset unit time is obtained P_1=P_2=P_3=P_4=...=P_N=P_ping.

Optionally, the unit power corresponding to each preset unit time can also be directly calculated, and S211 can also include:

S2113. Obtain unit average voltage and unit average current corresponding to each preset unit time of the motor within the preset time;

S2114: Calculate each unit power within the preset time according to the unit average voltage and the unit average current.

In S2113, "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.

In this embodiment, assuming that the preset time T includes N preset unit times T_0, the unit average voltage corresponding to the first preset unit time T_0 is U_1, the unit average current is I_1, and 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, then the unit power corresponding to the first preset unit time T_0 = U_1 I_1, the second preset unit time T_0 corresponds to the unit power P_2 = U_2 I_2, and the third The unit power corresponding to the preset unit time T_0 is P_3=U_3 I_3...The unit power corresponding to the Nth preset unit time T_0 is P_N=U_N I_N, then P_1, P_2, P_3, P_4...P_N are the values within the preset time T N unit power.

S220: Calculate the current power threshold of the motor according to several unit powers and a preset total power threshold.

In this embodiment, 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. Among them, the preset total power threshold can be set according to the parameters, performance and other actual conditions of the motor.

In this embodiment, after obtaining several unit powers, 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 specific analysis is as follows:

Assuming that within the preset time T, the total power of the motor needs to be restricted to not exceed the preset total power threshold P_lmt, 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=P_1+P_2+P_3+P_4+…+P_N

Assuming that the unit power corresponding to the motor in the next preset unit time T_0 is P_(N+1), then:

P≤P_lmt

which is

P_2+P_3+P_4+…+P_N+P_(N+1)≤P_lmt

which is

P_(N+1)≤P_lmt-(P_2+P_3+P_4+…+P_N) ○1

Then the instantaneous power in the next preset unit time T_0 is:

P_s=P_(N+1)/T_0 ○2

Substituting formula ○1 into formula ○2, we get

P_s≤(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0

Then the current power threshold is

P_slmt=(P_lmt-(P_2+P_3+P_4+…+P_N))/T_0

In this embodiment, after obtaining several unit powers, 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;

In this embodiment, 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.

In this embodiment, after the current power threshold is calculated, 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.

In S230, it may include:

S231: Obtain the instantaneous current and instantaneous voltage of the motor;

S232. Control the instantaneous current or instantaneous voltage so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.

Among them, 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.

Optionally, 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. 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. Of course, in another embodiment, when 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. Of course, it is also possible to control the instantaneous voltage and instantaneous current of the motor at the same time to control the instantaneous power of the motor.

It should be noted that 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.

It should be noted that 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.

In this embodiment, 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. As shown in FIG. 3, the temperature protection device 300 includes: a unit power module 310, a current power threshold module 320, and a control module 330.

Wherein, 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.

Among them, the current power threshold module 320 is specifically used for:

Calculate the current power threshold according to the following formula:

P_slmt=(P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;

Wherein, the 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.

Wherein, 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.

Wherein, the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.

Among them, 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 .

It should be noted that 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. For technical details not described in detail in the device embodiments, please refer to the temperature protection method provided in the embodiments of the present invention.

In the embodiment 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.

As shown in FIG. 1, an embodiment of the present invention also provides an unmanned aerial vehicle 100, and the unmanned aerial vehicle 100 includes:

body;

Arm, connected to the fuselage;

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.

In Figure 1, the fuselage, the arms, and the power unit are not shown. In this embodiment, 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. In FIG. 4, 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. 1.

As a non-volatile computer-readable storage medium, 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. In addition, 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. In some embodiments, 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. For technical details not described in detail in the embodiments of the unmanned aerial vehicle, refer to the methods provided in the embodiments of the present invention.

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.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, not to limit them; under the idea of this application, the above embodiments or the technical features in different embodiments can also be combined. The steps can be implemented in any order, and there are many other variations in different aspects of the application as described above. For the sake of brevity, they are not provided in the details; although the application has been described in detail with reference to the foregoing embodiments, the ordinary The technical personnel should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or equivalently replace some of the technical features; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the implementation of this application Examples of the scope of technical solutions.

Claims

A temperature protection method, characterized in that it comprises:

Obtain the unit power corresponding to a number of preset unit times of the motor;

Calculating the current power threshold of the motor according to the unit power and a preset total power threshold;

Control the instantaneous power of the motor to be less than or equal to the current power threshold.
The method according to claim 1, wherein the calculating the current power threshold of the motor according to the unit power and a preset total power threshold comprises:

Calculate the current power threshold according to the following formula:

P_s lmt=(P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;

Among them, P_s lmt is the current power threshold, P_lmt is the preset total power threshold, T_0 is the preset unit time, and the unit power corresponding to the N preset unit time T_0 from the start of work to the current moment is P_1, P_2, P_3, P_4, ..., P_N.
The method according to claim 1 or 2, wherein the controlling the instantaneous power of the motor to be less than or equal to the current power threshold comprises:

Obtaining the instantaneous current and instantaneous voltage of the motor;

The magnitude of the instantaneous current or the instantaneous voltage is controlled so that the product of the instantaneous current and the instantaneous voltage is less than or equal to the current power threshold.
The method according to claim 3, wherein 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, include:

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 method according to any one of claims 1 to 4, wherein the obtaining unit power corresponding to several preset unit times of the motor specifically comprises:

Obtain the unit power corresponding to each preset unit time of the motor within the preset time.
The method according to claim 5, wherein the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
The method according to claim 5, wherein the obtaining unit power corresponding to a number of preset unit times of the motor within a preset time comprises:

Obtaining the total power of the motor in the preset time;

According to the total power, the average power of a number of preset unit times within a preset time is calculated, and the average power is taken as the unit power.
A temperature protection device, characterized by comprising:

The unit power module is used to obtain the unit power corresponding to a number of preset unit times of the motor;

The current power threshold module is configured to calculate the current power threshold of the motor according to a number of the unit powers and a preset total power threshold;

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 device according to claim 8, wherein the current power threshold module is specifically configured to:

Calculate the current power threshold according to the following formula:

P_s lmt=(P_lmt-(P_2+P_3+P_4+...+P_N))/T_0;

Among them, P_s lmt is the current power threshold, P_lmt is the preset total power threshold, T_0 is the preset unit time, and the unit power corresponding to the N preset unit time T_0 from the start of work to the current moment is P_1, P_2, P_3, P_4, ..., P_N.
The device according to claim 8 or 9, wherein the control module comprises:

An obtaining unit for obtaining the instantaneous current and instantaneous voltage of the motor;

The control unit is configured 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 device according to claim 10, wherein the control unit is specifically configured to:

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 device according to any one of claims 8-11, wherein the unit power module comprises:

The timing obtaining unit is used to obtain the unit power corresponding to each preset unit time of the motor within a preset time.
The device according to claim 12, wherein the preset time is greater than or equal to 1 second and less than or equal to 30 seconds.
The device according to claim 12, wherein the timing acquisition unit comprises:

The total power subunit is used to obtain the total power of the motor in the preset time;

The average power subunit is configured to calculate the average power of a number of preset unit times within a preset time according to the total power, and use the average power as the unit power.
An unmanned aerial vehicle, characterized in that it comprises:

body;

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 executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1-7. Temperature protection method.
A non-volatile computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by an unmanned aerial vehicle, the unmanned aerial vehicle Implement the temperature protection method of any one of claims 1-7.