WO2023133773A1 - 电机的温度检测方法、控制方法、设备及存储介质 - Google Patents

电机的温度检测方法、控制方法、设备及存储介质 Download PDF

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Publication number
WO2023133773A1
WO2023133773A1 PCT/CN2022/071893 CN2022071893W WO2023133773A1 WO 2023133773 A1 WO2023133773 A1 WO 2023133773A1 CN 2022071893 W CN2022071893 W CN 2022071893W WO 2023133773 A1 WO2023133773 A1 WO 2023133773A1
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Prior art keywords
motor
temperature detection
detection signal
signal
temperature
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PCT/CN2022/071893
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English (en)
French (fr)
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陈旭
马晨旭
李福�
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2022/071893 priority Critical patent/WO2023133773A1/zh
Publication of WO2023133773A1 publication Critical patent/WO2023133773A1/zh

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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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage

Definitions

  • the present application relates to the technical field of motors, and in particular to a temperature detection method for a motor, a control method for a motor, a control device, an unmanned aerial vehicle, and a storage medium.
  • the UAV uses the motor to drive the propeller to rotate to generate flight power and then fly.
  • the motor continues to output high torque, the temperature will rise rapidly, and even cause the motor to burn out. Excessive load on the machine or uneven power distribution may cause the motor to continuously output high torque, resulting in excessive temperature rise and motor burnout. Therefore, it is necessary to detect the temperature of the motor to protect the motor.
  • the embodiment of the present application provides a motor temperature detection method, motor control method, control device, unmanned aerial vehicle and storage medium, which can accurately detect the temperature of the motor in real time, and then protect the motor.
  • the embodiment of the present application provides a temperature detection method for a motor, the detection method includes:
  • the input combination signal includes a motor control signal and a first temperature detection signal, both the motor control signal and the first temperature detection signal are AC signals, and the motor control signal The frequency is higher than the frequency of the first temperature detection signal;
  • the embodiment of the present application also provides a motor control method, the control method comprising:
  • the input combination signal includes a motor control signal and a first temperature detection signal
  • the motor control signal and The first temperature detection signals are all AC signals, and the frequency of the motor control signal is higher than the frequency of the first temperature detection signal, and the first temperature detection signal is used to obtain the temperature of the motor;
  • the motor exhibits a frequency characteristic corresponding to the first temperature detection signal.
  • the embodiment of the present application also provides a control device, the control device is used to control the motor and detect the temperature of the motor, and the control device includes:
  • the memory is used to store a computer program; the processor is used to execute the computer program and when executing the computer program, realize the temperature for the motor described in any one of the embodiments of the present application.
  • the embodiment of the present application also provides an unmanned aerial vehicle, the unmanned aerial vehicle includes:
  • the fuselage including arms;
  • a power system the power system is installed on the fuselage, the power system includes one or more propellers and one or more motors corresponding to the one or more propellers, the motors and propellers are arranged on On the arm, the motor is used to drive the propeller to rotate;
  • a driver the driver is installed on the body and electrically connected to the motor, and the driver is used to execute the steps of any one of the motor control methods provided in the embodiments of the present application, or for Execute the steps of any one of the motor temperature detection methods provided in the embodiments of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor realizes the implementation of the present application.
  • the temperature detection method for the motor, the control method for the motor, the control device, the unmanned aerial vehicle and the storage medium disclosed in the embodiment of the present application can accurately detect the temperature of the motor while controlling the motor by using the input combined signal. Compared with using the temperature sensor, the cost of the product and the size of the product can also be reduced, thereby improving the competitiveness of the product.
  • Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present application
  • Fig. 2 is a schematic block diagram of the flight control system of the unmanned aerial vehicle provided by the embodiment of the present application;
  • Fig. 3 is a schematic flowchart of the steps of a temperature detection method for a motor provided in an embodiment of the present application
  • Fig. 4 is a schematic diagram of a motor control framework provided by an embodiment of the present application.
  • Fig. 5 is a schematic diagram of another motor control framework provided by the embodiment of the present application.
  • Fig. 6 is a schematic diagram of another motor control framework provided by the embodiment of the present application.
  • Fig. 7 is a schematic diagram of a temperature detection signal provided by an embodiment of the present application.
  • Fig. 8 is a schematic block diagram of a control device provided by an embodiment of the present application.
  • Fig. 9 is a schematic block diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • Fig. 10 is a schematic diagram of another motor control framework provided by the embodiment of the present application.
  • Figure 1 shows the structure of a drone 100 provided by the embodiment of the present application
  • Figure 2 shows the structural framework of the flight control system of the drone 100 provided by the embodiment of the present application
  • the UAV 100 may include a fuselage 10 , a power system 11 , a control system 12 and a radar.
  • Fuselage 10 may include a fuselage and undercarriages (also referred to as landing gear).
  • the fuselage may include a center frame and one or more arms connected to the center frame, and the one or more arms extend radially from the center frame.
  • the tripod is connected with the fuselage and is used for supporting when the UAV 100 lands.
  • the radar can be installed on the UAV, specifically, it can be installed on the fuselage 10 of the UAV 100. During the flight of the UAV 100, it is used to measure the surrounding environment of the UAV 100, such as obstacles, etc., to ensure Safety of flight. In the embodiment of the present application, the radar can also be used to scan and measure crops.
  • the radar is installed on the tripod of the unmanned aerial vehicle 100 , and the radar is connected with the control system 12 in communication.
  • the radar transmits the collected observation data to the control system 12 for processing by the control system 12 .
  • the drone 100 may include two or more tripods, and the radar is mounted on one of the tripods.
  • the radar can also be mounted on other positions of the UAV 100, which is not specifically limited.
  • the radar mainly includes a radio frequency front-end module and a signal processing module.
  • the radio frequency front-end module can include a transmitting antenna and a receiving antenna.
  • the transmitting antenna is used to send signals to the target, and the receiving antenna is used to receive signals reflected by the target.
  • the signal processing module is responsible for generating modulated signals And process and analyze the collected intermediate frequency signals, where the targets are, for example, buildings, iron towers, crops, etc.
  • the power system 11 may include one or more electronic governors (referred to as ESCs for short), one or more propellers and one or more motors corresponding to the one or more propellers, wherein the motors are connected between the electronic governor and the Between the propellers, the motor and the propeller are arranged on the arm of the UAV 100; the electronic governor is used to receive the drive signal generated by the control system, and provide drive current to the motor according to the drive signal to control the speed of the motor.
  • ESCs electronic governors
  • the motor is used to drive the propeller to rotate, so as to provide power for the flight of the UAV 100, and the power enables the UAV 100 to realize one or more degrees of freedom of movement.
  • drone 100 may rotate about one or more axes of rotation.
  • the above-mentioned rotation axes may include a roll axis, a yaw axis and a pitch axis.
  • the motor may be a DC motor or a permanent magnet synchronous motor.
  • the motor can be a brushless motor or a brushed motor.
  • Control system 12 may include a controller and a sensing system.
  • the controller is used to control the flight of the UAV 100, for example, the flight of the UAV 100 can be controlled according to the attitude information measured by the sensor system. It should be understood that the controller can control the UAV 100 according to pre-programmed instructions.
  • the sensing system is used to measure the attitude information of the UAV 100, that is, the position information and state information of the UAV 100 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration and three-dimensional angular velocity, etc.
  • the sensing system may include, for example, at least one of sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer.
  • sensors such as a gyroscope, an ultrasonic sensor, an electronic compass, an inertial measurement unit (Inertial Measurement Unit, IMU), a visual sensor, a global navigation satellite system, and a barometer.
  • IMU inertial Measurement Unit
  • the global navigation satellite system may be the Global Positioning System (GPS).
  • a controller may include one or more processors and memory.
  • the processor may be, for example, a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
  • the memory can be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk or a mobile hard disk.
  • the motor may continue to output high torque, so the temperature of the winding of the motor will rise rapidly, and the motor may burn out.
  • the temperature of the motor will rise rapidly. If there is no temperature protection, the motor will burn out if it lasts for tens of seconds.
  • Another example is the propeller of some UAVs. If the leaves are installed upside down, it is easy to burn the motor at full speed. Of course, it is also possible to burn the motor due to excessive load and uneven power distribution, which leads to an excessive temperature rise of a shaft. Therefore, it is necessary to detect the temperature of the motor, so as to protect the motor according to the temperature of the motor and avoid burning the motor.
  • the current motor temperature detection scheme mostly uses temperature sensor detection, such as embedding thermocouples or thermistors (Negative Temperature Coefficient, NTC) in the motor windings, and then connecting them to the ESC through leads.
  • temperature sensor detection such as embedding thermocouples or thermistors (Negative Temperature Coefficient, NTC) in the motor windings, and then connecting them to the ESC through leads.
  • NTC Negative Temperature Coefficient
  • the embodiment of the present application provides a temperature detection method for a motor and a control method for the motor.
  • the temperature detection method does not need to add an additional temperature sensor, and can also accurately detect the temperature of the motor in real time.
  • the temperature detection method can be applied to equipment including motors, such as applied to drones, by detecting the temperature of the motor of the drone, and then implementing corresponding protection strategies to avoid motor burnout of the drone.
  • motor temperature detection method and the motor control method are not limited to be applied to drones, but can also be applied to other devices including motors, such as robots, sweepers and so on.
  • FIG. 3 is a schematic flowchart of the steps of a method for detecting the temperature of a motor provided in an embodiment of the present application.
  • the motor temperature detection method can be applied to equipment including motors, for example, it can be applied to unmanned aerial vehicles.
  • the temperature detection method for a motor includes steps S101 to S103.
  • the temperature of the motor includes the temperature of a winding of the motor.
  • the input combined signal includes a motor control signal and a first temperature detection signal, both of which are AC signals, and the frequency of the motor control signal is higher than that of the first temperature detection signal frequency.
  • the frequency characteristics corresponding to the first temperature detection signal of the motor include that the frequency of the rotation frequency of the motor is basically consistent with the frequency of the first temperature detection signal.
  • the motor exhibiting a frequency characteristic corresponding to the first temperature detection signal further includes that the motor emits a pulsating sound at the frequency of the first temperature detection signal.
  • the motor when the motor is controlled according to the input combined signal, the motor can rotate at a speed corresponding to the input combined signal, and at the same time present a frequency characteristic corresponding to the first temperature detection signal, such as presenting a pulsation of a corresponding frequency.
  • the temperature of the motor can be obtained in real time by using the first temperature detection signal, and the protection strategy corresponding to the temperature of the motor can be executed to realize the protection of the motor, thereby improving the operation safety of the motor.
  • the temperature of the motor is obtained according to the first temperature detection signal.
  • the resistance value of the motor winding changes with the temperature change.
  • the change of the resistance value of the motor winding will inevitably cause the first temperature detection signal to correspond
  • the signal of the motor changes, and thus the temperature of the motor can be acquired according to the first temperature detection signal by using this characteristic.
  • the threshold method can be used to determine the protection strategy of the motor. For example, if the temperature of the motor is lower than the preset temperature threshold, the motor is controlled to run normally; for another example, if the temperature of the motor is greater than or equal to the preset temperature threshold, the motor is controlled to stop. run.
  • the value of the preset temperature threshold is related to the characteristics of the motor, for example, the enameled wire of the motor winding, and is not limited here.
  • the running safety of the motor can be improved through hierarchical protection of the motor.
  • the temperature of the motor is greater than or equal to the first preset threshold, determine that the protection strategy corresponding to the temperature of the motor is the first-level protection strategy, and execute the first-level protection strategy; if the temperature of the motor is greater than or equal to the second Preset the threshold, determine the protection strategy corresponding to the temperature of the motor as the second-level protection strategy, and execute the second-level protection strategy.
  • the first-level protection strategy is different from the second-level protection strategy.
  • the first-level protection strategy may be to reduce the speed of the motor
  • the second-level protection strategy may be to control the motor to stop running.
  • the first-level protection strategy corresponding to the hierarchical protection strategy may include at least one of the following: sending return prompt information to the control terminal of the drone to prompt the user to return as soon as possible, restrict the The flight attitude of the UAV;
  • the second-level protection strategy includes at least one of the following: controlling the UAV to return, controlling the UAV to land, controlling the UAV to return and sending prompt information to the control terminal, controlling The drone lands and sends prompt information to the control terminal. This can ensure the flight safety of the drone.
  • the ratio of the magnitude of the frequency of the motor control signal to the magnitude of the frequency of the first temperature detection signal is greater than a preset ratio.
  • the range corresponding to the preset ratio value may be 100-1000.
  • the frequency range corresponding to the motor control signal is 100 Hz-1000 Hz
  • the frequency range corresponding to the first temperature detection signal is 0-10 Hz.
  • the frequency range corresponding to the first temperature detection signal is 0-3 Hz. It can be seen that the order of magnitude of the frequency of the motor control signal is much greater than that of the frequency of the first temperature detection signal.
  • the temperature detection method for motors provided by the embodiment of the present application can be applied to specific equipment, such as unmanned aerial vehicles , since the UAV requires a relatively high rotational speed of the motor, the pulsation caused by the first temperature detection signal will not affect the flight of the UAV.
  • the first temperature detection signal may include one of a sinusoidal signal and a square wave signal.
  • the first temperature detection signal may be a sinusoidal signal. Selecting a sinusoidal signal or a square wave signal is convenient for subsequent processing. For example, using the change rule of the sinusoidal signal to obtain the temperature of the motor can improve the accuracy of the temperature detection of the motor.
  • the motor control signal and the first temperature detection signal in the input combined signal need to be both AC signals. signal, which will lead to low calculation accuracy of the temperature of the motor.
  • the reason is that a bias DC will be generated in the motor control, so the signal corresponding to the first temperature detection signal collected later will inevitably include a bias DC, so the temperature of the motor will be reduced.
  • Accuracy, and the use of the first temperature detection signal as an AC signal can solve this problem well, thereby improving the accuracy of the temperature of the motor.
  • the combined input signal may include one or more of the phase A voltage input, the phase B voltage input and the phase C voltage input of the motor; correspondingly, the first temperature detection signal is superimposed on the phase A of the motor One or more of the voltage input, B-phase voltage input and C-phase voltage input.
  • the input combined signal may also include a control signal in the ⁇ -axis and/or ⁇ -axis in the FOC control.
  • the control signal in the ⁇ -axis and/or ⁇ -axis in the FOC control The signal is, for example, the ⁇ -axis voltage V ⁇ and/or the ⁇ -axis voltage V ⁇ ; at the same time, it can also be understood by injecting the first temperature detection signal into the ⁇ -axis in the FOC control of the motor and/or the ⁇ -axis in the FOC control of the motor.
  • the input combination signal includes the control signal of the ⁇ -axis and/or the ⁇ -axis in the FOC control and the first temperature detection signal, and the control signal is used to control the motor.
  • the first temperature detection signal is superimposed on one or more of the A-phase voltage input, B-phase voltage input and C-phase voltage input of the motor, and can be passed to the A-phase input and B-phase input of the motor.
  • the C-phase input injects the first temperature detection signal to realize superposition.
  • the initial temperature detection signal can also be injected into the ⁇ -axis and/or ⁇ -axis in the FOC control of the motor, and the initial temperature detection signal is mapped to the A-phase voltage input, B-phase voltage input and /or C-phase voltage input to generate input combination signal to achieve superposition.
  • the initial temperature detection signal may be injected into the ⁇ -axis, or the initial temperature detection signal may be injected into the ⁇ -axis, and of course, the initial temperature detection signal may be injected into the ⁇ -axis and/or the ⁇ -axis at the same time.
  • the initial temperature detection signal V ⁇ -in can be injected into the ⁇ -axis and/or ⁇ -axis of the FOC control, and the initial temperature detection signal V ⁇ -in is mapped to the A-phase voltage input, B-phase voltage input and/or Or C-phase voltage input to generate input combination signal.
  • the initial temperature detection signal V ⁇ -in can be injected into the ⁇ axis of the FOC control, and the initial temperature detection signal V ⁇ -in is mapped to the A-phase voltage input of the motor.
  • the initial temperature detection signal V ⁇ -in may also be injected on the ⁇ -axis in the FOC control of the motor.
  • the ⁇ -axis and ⁇ -axis in the FOC control of the motor can also be injected at the same time.
  • the initial temperature detection signal may also include an ⁇ -axis temperature detection signal and/or a ⁇ -axis temperature detection signal.
  • one of the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal is zero, and the other is an AC voltage signal with a frequency lower than that of the motor control signal.
  • the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal can be expressed by the following expressions respectively:
  • V ⁇ -in is the ⁇ -axis temperature detection signal, that is, the initial temperature detection signal injected into the ⁇ -axis, the frequency corresponding to the ⁇ -axis temperature detection signal is between 0-3hz, and V ⁇ -in is ⁇
  • the shaft temperature detection signal is the initial temperature detection signal injected into the ⁇ -axis.
  • one of the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal is zero, which can conveniently extract the temperature of the motor and save computing power.
  • both the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal can also be non-zero.
  • the first temperature detection signal can be superimposed on one or more of the A-phase voltage input, B-phase voltage input and C-phase voltage input of the motor.
  • the first temperature detection signal V A-in may be injected into the phase A voltage input.
  • the initial temperature detection signal can be injected into the A-phase voltage output by the SVPWM (input before the inverter), and other processes are consistent with the above-mentioned process of injecting the initial temperature detection signal from the a-axis, here No longer.
  • the first temperature detection signal can also be injected into the A-phase voltage output by the SVPWM, and other processes are consistent with the above-mentioned process of injecting the first temperature detection signal from the A-phase input of the motor, and will not be repeated here.
  • the initial temperature detection signal can be injected into one or more of the A-phase voltage, B-phase voltage and C-phase voltage output by SVPWM, and the other process is the same as the above-mentioned injection of the initial temperature detection signal from the a-axis and/or ⁇ -axis , to get the temperature of the motor.
  • the first temperature detection signal can be injected into one or more of the A-phase voltage, B-phase voltage and C-phase voltage output by SVPWM, and the other process is the same as the above-mentioned slave and the A-phase input and B-phase input of the above-mentioned slave motor It is consistent with the process of injecting the first temperature detection signal into one or more of the C-phase inputs, so as to obtain the temperature of the motor.
  • the first temperature detection signal is extracted from the input combined signal according to the difference in frequency.
  • a low-pass filter Low- Past Filter, LPF extracts the first temperature detection signal V A-in .
  • the difference in frequency characteristics can also be used to extract the second temperature detection signal from the output combined signal.
  • a low-pass filter may also be used to extract the second temperature detection signal I a-in .
  • one or more of the A-phase voltage input, B-phase voltage input, and C-phase voltage input of the motor may be filtered to extract the first temperature detection signal; and the A-phase current, B-phase current, and One or more of the C-phase currents are filtered to extract the second temperature detection signal.
  • the phase A voltage of the motor can be filtered to obtain the first temperature detection signal; and the phase A current of the motor can be filtered to obtain the second temperature detection Signal.
  • the B-phase voltage and/or C-phase voltage of the motor are filtered to obtain the first temperature detection signal; the B-phase current and/or C-phase current of the motor are filtered filtering to obtain the second temperature detection signal.
  • the first temperature detection signal can be one of the two filtered values obtained by filtering the B-phase voltage and the C-phase voltage, or it can be the average value of the two, or the weighted value of the two etc.; correspondingly, the second temperature detection signal can also be one of the two filtered values obtained by filtering the B-phase current and the C-phase current, or it can be the average value of the two, or it can be the value of the two weighted value etc.
  • the first temperature detection signal may also be obtained without filtering, for example, the corresponding first temperature detection signal may be determined according to the injected initial temperature detection signal by using inverse Clark variation.
  • the first temperature detection signal corresponding to the phase A voltage of the motor can be determined by using the inverse Clark change according to the initial temperature detection signal injected, and at the same time, the phase A current of the motor is filtered to obtain The second temperature detection signal, so as to obtain the temperature of the motor according to the first temperature detection signal and the second temperature detection signal.
  • the second temperature detection signal it can be obtained by filtering the phase currents (I a , I b and I c ) of the motor directly, and of course the phase currents (I a , I b and I c ) in the FOC control of the motor can be obtained by The ⁇ current and/or ⁇ current after the Clark transformation are filtered, and then inverse Clark changes are performed to determine the second temperature detection signal.
  • obtaining the temperature of the motor according to the first temperature detection signal specifically includes: obtaining an output combination signal of the motor, and obtaining the temperature of the motor according to the first temperature detection signal and the second temperature detection signal in the output combination signal, wherein , the output combined signal further includes a motor feedback signal, both the motor feedback signal and the second temperature detection signal are AC signals, and the frequency of the motor feedback signal is higher than the frequency of the second temperature detection signal.
  • obtaining the temperature of the motor according to the first temperature detection signal and the second temperature detection signal includes: obtaining the winding resistance value of the motor according to the first temperature detection signal and the second temperature detection signal, and determining the temperature of the motor according to the winding resistance value.
  • the winding resistance of the motor can be calculated, and then the temperature of the motor can be obtained by using the corresponding relationship between the resistance value of the motor winding and the temperature.
  • the injected initial temperature signal is a low-frequency voltage signal (such as 0-3hz), and the resistance is calculated according to the corresponding current.
  • the specific reaction The Clark transformation formula is as follows:
  • V ⁇ V a-in
  • I ⁇ I a-in
  • V ⁇ V a-in
  • I ⁇ I a-in
  • V ⁇ _in sin(2*pi*f*t)
  • V ⁇ _in 0
  • the first temperature detection signal and the second temperature detection signal can be obtained only by filtering the A-phase voltage input and A-phase current of the motor, namely The resistance of the motor windings can be determined, which in turn can be used to determine the temperature of the motor.
  • the first temperature detection signal and the second temperature detection signal can be obtained by filtering through two low-pass filters (Low-Past Filter, LPF), specifically through the first low-pass filter LPF1 Filter the A-phase input of the motor to obtain the first temperature detection signal V a-in , and then filter the A-phase current of the motor through the first low-pass filter LPF1 to obtain the second temperature detection signal I a-in , then
  • the second temperature detection signal in the combined output signal of the motor can be filtered out.
  • the second temperature detection signal is filtered out by the filtering module before the FOC calculation, so as to prevent the injection signal from continuously superimposing and controlling the motor to affect the operation of the motor.
  • the extracted first temperature detection signal and the second temperature detection signal are both low-frequency AC signals, such as low-frequency sinusoidal signals, there will be obvious calculation errors at the zero-crossing position of the sinusoidal signal, so it is necessary to exclude the data near the zero point and take the sine Average filtering is performed at the position where the signal amplitude is large, so that the resistance result can be obtained accurately.
  • the first temperature detection signal and the second temperature detection signal are divided into a first zone signal and a second zone signal, wherein the second zone signal is closer to the zero point relative to the first zone signal. Furthermore, the first temperature detection signal and the first zone signal in the second temperature detection signal are used to obtain the temperature of the motor, so as to improve the accuracy of obtaining the temperature of the motor.
  • the signal in the first zone may be called an operation zone, and the signal in the second zone may be called a dead zone. Therefore, the temperature of the motor can be obtained according to the first temperature detection signal and the first zone signal in the second temperature detection signal. For example, the temperature of the motor is acquired according to the average value of the first zone signal in the first temperature detection signal and the second temperature detection signal.
  • the temperature of the motor is obtained according to the first temperature detection signal.
  • the winding resistance value of the motor may be obtained according to the first temperature detection signal, and the temperature of the motor is determined according to the winding resistance value. That is to use the relationship between resistance and temperature to determine the temperature of the motor.
  • the temperature of the motor is determined according to the winding resistance value.
  • the corresponding initial resistance of the motor winding at the initial temperature can be obtained, and the temperature coefficient of the motor winding can be obtained; according to the initial temperature, initial resistance, temperature coefficient As well as the winding resistance value, determine the temperature of the motor.
  • the temperature of the motor can be calculated using a preset calculation formula corresponding to resistance and temperature, and the preset calculation formula is as follows:
  • T 1 represents the initial temperature
  • R 1 represents the initial resistance of the motor at the initial temperature
  • T 1 represents the temperature coefficient
  • its size is related to the specific selection of materials, such as the selection of enameled wire
  • the temperature coefficient of the enameled wire is 234.5°C
  • R 2 represents the current winding resistance of the motor
  • T 2 represents the temperature of the motor, that is, the actual temperature of the motor to be detected.
  • the initial temperature and initial resistance can be obtained through calibration, and the temperature coefficient k is known.
  • the temperature of the motor can be calculated through the real-time resistance, and it does not depend on the external heat dissipation environment, so that a more accurate temperature can be obtained.
  • the temperature detection method for the motor uses the input combined signal to control the motor, and can accurately detect the temperature of the motor. At the same time, compared with the use of a temperature sensor, it can also reduce the cost of the product and reduce the size of the product. size of.
  • the embodiment of the present application provides a motor control method, which can be applied to equipment including motors.
  • the motor control method specifically includes: applying an input combination signal to the motor, and controlling the motor to operate according to the input combination The speed corresponding to the signal is rotated.
  • the input combination signal includes a motor control signal and a first temperature detection signal, both of which are AC signals, and the frequency of the motor control signal is higher than that of the first temperature detection signal, and the first temperature detection signal The signal is used to obtain the temperature of the motor.
  • the motor In the process of controlling the motor according to the input combined signal, in addition to the motor rotating according to the speed corresponding to the input combined signal, the motor presents a frequency characteristic corresponding to the first temperature detection signal, which is specifically expressed as corresponding to the first temperature detection signal The frequency characteristic corresponds to the pulsation.
  • the motor control method can also use the first temperature detection signal to detect the temperature of the motor in real time, so as to protect the motor.
  • the ratio of the frequency magnitude of the motor control signal to the frequency magnitude of the first temperature detection signal is greater than a preset ratio value.
  • the range corresponding to the preset ratio value may be 100-1000.
  • the frequency range corresponding to the motor control signal is 100 Hz-1000 Hz
  • the frequency range corresponding to the first temperature detection signal is 0-3 Hz.
  • the first temperature detection signal includes one of a sinusoidal signal and a square wave signal.
  • the combined input signal may include one or more of the phase A voltage input, the phase B voltage input and the phase C voltage input of the motor; correspondingly, the first temperature detection signal is superimposed on the phase A of the motor One or more of the voltage input, B-phase voltage input and C-phase voltage input.
  • the first temperature detection signal is superimposed on one or more of the A-phase voltage input, B-phase voltage input, and C-phase voltage input of the motor, and can be input to the A-phase input, B-phase input, and C-phase input of the motor. Injecting the first temperature detection signal to realize superposition.
  • the input combination signal includes a control signal in the ⁇ -axis and/or ⁇ -axis in FOC control; Inject the first temperature detection signal.
  • the initial temperature detection signal can also be injected into the ⁇ -axis and/or ⁇ -axis in the FOC control of the motor, and the initial temperature detection signal is mapped to the A-phase voltage input, B-phase voltage input and /or C-phase voltage input to generate input combination signal to achieve superposition.
  • the initial temperature detection signal may be injected into the ⁇ -axis, or the initial temperature detection signal may be injected into the ⁇ -axis, and of course, the initial temperature detection signal may be injected into the ⁇ -axis and/or the ⁇ -axis at the same time.
  • the initial temperature detection signal includes an ⁇ -axis temperature detection signal and a ⁇ -axis temperature detection signal.
  • one of the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal can be set to be zero, and the other can be set to be an AC voltage signal with a frequency lower than the motor control signal.
  • the combined output signal of the motor in the control method of the motor, can be obtained, wherein the combined output signal includes the motor feedback signal and the second temperature detection signal, and the motor feedback signal and the second temperature detection signal are both AC signal, and the frequency of the motor feedback signal is higher than the frequency of the second temperature detection signal; so as to obtain the temperature of the motor according to the first temperature detection signal and the second temperature detection signal.
  • the first temperature detection signal is obtained from the input combined signal and the second temperature signal is obtained from the output combined signal, specifically through the A-phase voltage input, B-phase voltage input and C-phase voltage input of the motor. Filtering one or more of the voltage input to extract the first temperature detection signal, and filtering one or more of the A-phase current, B-phase current and C-phase current of the motor to extract the second temperature detection signal .
  • phase A voltage of the motor is filtered to obtain the first temperature detection signal; and the phase A current of the motor is filtered to obtain the second temperature detection signal.
  • another example is to filter the B-phase voltage and/or C-phase voltage of the motor to obtain the first temperature detection signal; to filter the B-phase current and/or C-phase current of the motor to obtain the second temperature detection signal.
  • the ⁇ current and/or ⁇ current of the phase current of the motor in the FOC control of the motor can be filtered to obtain the second temperature detection signal, and then according to the first temperature detection signal and the second temperature The detection signal obtains the temperature of the motor.
  • the second temperature detection signal in the combined output signal of the motor can be filtered out.
  • the first temperature detection signal and the second temperature detection signal are divided into a first zone signal and a second zone signal, and the second zone signal is closer to the zero point relative to the first zone signal.
  • the signal in the first zone is an operation zone
  • the signal in the second zone is a dead zone. Therefore, the temperature of the motor can be obtained according to the first temperature detection signal and the first zone signal in the second temperature detection signal. For example, the temperature of the motor is acquired according to the average value of the first zone signal in the first temperature detection signal and the second temperature detection signal.
  • the temperature of the motor can be obtained according to the average value of the first zone signal in the first temperature detection signal and the second temperature detection signal.
  • the temperature of the motor is obtained according to the first temperature detection signal.
  • the winding resistance of the motor may be obtained according to the first temperature detection signal, and the temperature of the motor is determined according to the winding resistance. That is to use the relationship between resistance and temperature to determine the temperature of the motor.
  • the temperature of the motor can be calculated by using the calculation formula corresponding to the above resistance and temperature.
  • FIG. 8 is a schematic block diagram of a control device provided by an embodiment of the present application.
  • the control device can be installed in any equipment including a motor, such as a drone, so as to control the motor of the drone.
  • control device 400 includes at least one or more processors 401 and memory 402 .
  • the processor 401 may be, for example, a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP), etc.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 402 can be a Flash chip, a read-only memory (ROM, Read-Only Memory) disk, an optical disk, a U disk, or a mobile hard disk.
  • the memory 402 is used to store a computer program; the processor 401 is used to execute the computer program and when executing the computer program, perform any one of the temperature detection methods for motors provided in the embodiments of the present application, Alternatively, execute any one of the motor control methods provided in the embodiments of the present application.
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the input combination signal includes a motor control signal and a first temperature detection signal, both the motor control signal and the first temperature detection signal are AC signals, and the motor control signal The frequency is higher than the frequency of the first temperature detection signal; the motor is controlled according to the input combined signal, so that the motor rotates at the speed corresponding to the input combined signal Frequency characteristics corresponding to the temperature detection signal; acquiring the temperature of the motor according to the first temperature detection signal, and executing a protection strategy corresponding to the temperature of the motor.
  • the ratio of the magnitude of the frequency of the motor control signal to the magnitude of the frequency of the first temperature detection signal is greater than a preset ratio.
  • the range corresponding to the preset ratio is 100-1000.
  • the first temperature detection signal includes one of a sinusoidal signal and a square wave signal.
  • the combined input signal includes one or more of the phase A voltage input, phase B voltage input and phase C voltage input of the motor; the first temperature detection signal is superimposed on the One or more of the phase A voltage input, phase B voltage input and phase C voltage input of the motor.
  • the processor is further configured to: inject the first temperature detection signal into the A-phase input, B-phase input, and C-phase input of the motor.
  • the input combination signal includes a control signal in the ⁇ -axis and/or ⁇ -axis in FOC control; In the FOC control, the first temperature detection signal is injected into the ⁇ -axis.
  • the processor is further configured to: inject an initial temperature detection signal into the ⁇ -axis and/or ⁇ -axis in the FOC control of the motor, the initial temperature detection signal is mapped to the A of the motor phase voltage input, phase B voltage input and/or phase C voltage input to generate the input combination signal.
  • the initial temperature detection signal includes an ⁇ -axis temperature detection signal and a ⁇ -axis temperature detection signal.
  • one of the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal is zero, and the other is an AC voltage signal with a frequency lower than that of the motor control signal.
  • the processor when the processor implements the acquisition of the temperature of the motor according to the first temperature detection signal, it is specifically used to implement:
  • the combined output signal includes a motor feedback signal and a second temperature detection signal, both of the motor feedback signal and the second temperature detection signal are AC signals, and the frequency of the motor feedback signal is high Based on the frequency of the second temperature detection signal; acquiring the temperature of the motor according to the first temperature detection signal and the second temperature detection signal.
  • the processor is further configured to: filter one or more of the phase A voltage input, phase B voltage input, and phase C voltage input of the motor, and extract the first detected temperature signal; and filtering one or more of the A-phase current, B-phase current and C-phase current of the motor to extract the second temperature detection signal.
  • the processor is further configured to: filter the phase A voltage of the motor to obtain the first temperature detection signal; and filter the phase A current of the motor to obtain the first temperature detection signal Two temperature detection signals.
  • the processor is further configured to: filter the B-phase voltage and/or C-phase voltage of the motor to obtain the first temperature detection signal; or C-phase current to obtain the second temperature detection signal.
  • the processor is further configured to: filter the ⁇ current and/or ⁇ current obtained by Clark transforming the phase current of the motor in the FOC control of the motor to obtain the second temperature detection signal.
  • the processor is further configured to: filter out the second temperature detection signal in the combined output signal of the motor.
  • the first temperature detection signal and the second temperature detection signal both include a first zone signal and a second zone signal, and the second zone signal is closer to the zero point relative to the first zone signal; the The processor is configured to: acquire the temperature of the motor according to the first zone signal in the first temperature detection signal and the second temperature detection signal.
  • the processor is further configured to: acquire the temperature of the motor according to the average value of the first zone signal among the first temperature detection signal and the second temperature detection signal.
  • the processor when the processor acquires the temperature of the motor according to the first temperature detection signal, it is specifically configured to: acquire the winding resistance of the motor according to the first temperature detection signal , determining the temperature of the motor according to the winding resistance value.
  • the processor when the processor determines the temperature of the motor according to the winding resistance value, it is further specifically configured to: obtain the initial resistance corresponding to the motor winding at the initial temperature, and obtain the The temperature coefficient of the motor winding; determine the temperature of the motor according to the initial temperature, initial resistance, temperature coefficient and winding resistance.
  • the processor when the processor implements the protection strategy corresponding to the temperature of the motor, it is also used to implement:
  • the processor is configured to execute the computer program and implement the following steps when executing the computer program:
  • the input combination signal includes a motor control signal and a first temperature detection signal
  • the motor control signal and The first temperature detection signals are all AC signals, and the frequency of the motor control signal is higher than the frequency of the first temperature detection signal, and the first temperature detection signal is used to obtain the temperature of the motor;
  • the motor exhibits a frequency characteristic corresponding to the first temperature detection signal.
  • an unmanned aerial vehicle provided by the embodiment of the present application, for example, as shown in Fig. driver.
  • the driver can be a part of the control system, or can be independent of the processor of the control system.
  • the driver implements the following steps: acquiring an input combined signal input to the motor, the input combined signal includes a motor control signal and a first temperature detection signal, and the motor control signal and the first temperature detection signal are both AC signal, and the frequency of the motor control signal is higher than the frequency of the first temperature detection signal; the motor is controlled according to the input combination signal, so that the motor operates at the speed corresponding to the input combination signal exhibiting a frequency characteristic corresponding to the first temperature detection signal while rotating; obtaining the temperature of the motor according to the first temperature detection signal, and executing a protection strategy corresponding to the temperature of the motor.
  • the ratio of the magnitude of the frequency of the motor control signal to the magnitude of the frequency of the first temperature detection signal is greater than a preset ratio.
  • the range corresponding to the preset ratio is 100-1000.
  • the first temperature detection signal includes one of a sinusoidal signal and a square wave signal.
  • the combined input signal includes one or more of the phase A voltage input, phase B voltage input and phase C voltage input of the motor; the first temperature detection signal is superimposed on the One or more of the phase A voltage input, phase B voltage input and phase C voltage input of the motor.
  • the driver is further configured to: inject the first temperature detection signal into the A-phase input, B-phase input, and C-phase input of the motor.
  • the input combination signal includes a control signal in the ⁇ -axis and/or ⁇ -axis in FOC control; In the FOC control, the first temperature detection signal is injected into the ⁇ -axis.
  • the driver is further configured to: inject an initial temperature detection signal into the ⁇ -axis and/or ⁇ -axis in the FOC control of the motor, and the initial temperature detection signal is mapped to the A-phase of the motor voltage input, B-phase voltage input and/or C-phase voltage input to generate the input combined signal.
  • the initial temperature detection signal includes an ⁇ -axis temperature detection signal and a ⁇ -axis temperature detection signal.
  • one of the ⁇ -axis temperature detection signal and the ⁇ -axis temperature detection signal is zero, and the other is an AC voltage signal with a frequency lower than that of the motor control signal.
  • the driver when the driver achieves the acquisition of the temperature of the motor according to the first temperature detection signal, it is specifically used to achieve:
  • the combined output signal includes a motor feedback signal and a second temperature detection signal, both of the motor feedback signal and the second temperature detection signal are AC signals, and the frequency of the motor feedback signal is high Based on the frequency of the second temperature detection signal; acquiring the temperature of the motor according to the first temperature detection signal and the second temperature detection signal.
  • the driver is further configured to: filter one or more of the phase A voltage input, the phase B voltage input and the phase C voltage input of the motor, and extract the first temperature detection signal ; and filtering one or more of the A-phase current, B-phase current and C-phase current of the motor to extract the second temperature detection signal.
  • the driver is further configured to: filter the phase A voltage of the motor to obtain the first temperature detection signal; and filter the phase A current of the motor to obtain the second temperature detection signal. temperature detection signal.
  • the driver is also used to: filter the B-phase voltage and/or C-phase voltage of the motor to obtain the first temperature detection signal;
  • the C-phase current is filtered to obtain the second temperature detection signal.
  • the driver is further configured to: filter the ⁇ current and/or ⁇ current of the phase current of the motor in the FOC control of the motor after Clark transformation, to obtain the second temperature detection signal.
  • the driver is further configured to: filter out the second temperature detection signal in the combined output signal of the motor.
  • the first temperature detection signal and the second temperature detection signal both include a first zone signal and a second zone signal, and the second zone signal is closer to the zero point relative to the first zone signal; the The processor is configured to: acquire the temperature of the motor according to the first zone signal in the first temperature detection signal and the second temperature detection signal.
  • the driver is further configured to: obtain the temperature of the motor according to an average value of the first zone signal among the first temperature detection signal and the second temperature detection signal.
  • the driver when the driver achieves the obtaining of the temperature of the motor according to the first temperature detection signal, it is specifically configured to: obtain the winding resistance of the motor according to the first temperature detection signal, The temperature of the motor is determined according to the winding resistance value.
  • the driver when the driver implements the determination of the temperature of the motor according to the winding resistance value, it is further specifically configured to: obtain the initial resistance corresponding to the motor winding at the initial temperature, and obtain the The temperature coefficient of the winding; according to the initial temperature, the initial resistance, the temperature coefficient and the resistance value of the winding, the temperature of the motor is determined.
  • the driver when implementing the protection strategy corresponding to the temperature of the motor, the driver is also used to implement:
  • the driver is configured to execute the computer program and implement the following steps when executing the computer program:
  • the input combination signal includes a motor control signal and a first temperature detection signal
  • the motor control signal and The first temperature detection signals are all AC signals, and the frequency of the motor control signal is higher than the frequency of the first temperature detection signal, and the first temperature detection signal is used to obtain the temperature of the motor;
  • the motor exhibits a frequency characteristic corresponding to the first temperature detection signal.
  • Embodiments of the present application also provide a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the processor executes the program instructions to implement the above implementation
  • the computer-readable storage medium may be an internal storage unit of the drone described in any of the foregoing embodiments, such as the storage or internal memory of the drone.
  • the computer-readable storage medium can also be an external storage device of the drone, such as a plug-in hard disk equipped on the drone, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, flash memory card (Flash Card), etc.

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Abstract

一种用于电机的温度检测方法、控制方法、设备及存储介质，其中，温度检测方法包括：获取输入电机的输入组合信号，输入组合信号包括电机控制信号和第一温度检测信号(S101)；根据输入组合信号对电机进行控制，以使电机在按照输入组合信号对应的速度进行转动的同时呈现与第一温度检测信号相应的频率特性(S102)；根据第一温度检测信号获取电机的温度，并执行电机的温度对应的保护策略(S103)。该温度检测方法可以提高电机的温度检测准确度，同时确保电机的安全性。

Description

电机的温度检测方法、控制方法、设备及存储介质 技术领域
本申请涉及电机技术领域，尤其涉及一种用于电机的温度检测方法、电机的控制方法、控制装置、无人机以及存储介质。
背景技术
无人机通过电机带动螺旋桨旋转产生飞行动力进而飞行，但是在实际应用中电机若持续大扭矩输出，会导致温度迅速上升，甚至导致电机烧毁现象的出现，比如用户将桨叶装反、无人机载重过大或动力分配不均匀等，均可能导致电机持续输出大扭矩进而导致温升过高，而出现电机烧毁现象。因此，有必要检测电机的温度以对电机进行保护。
发明内容
本申请实施例供了一种用于电机的温度检测方法、电机的控制方法、控制装置、无人机和存储介质，可以实时准确地检测出电机的温度，进而对电机进行保护。
第一方面，本申请实施例提供了一种用于电机的温度检测方法，所述检测方法包括：
获取输入所述电机的输入组合信号，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率；
根据所述输入组合信号对电机进行控制，以使所述电机在按照所述输入组合信号对应的速度进行转动的同时呈现与所述第一温度检测信号相应的频率特性；
根据所述第一温度检测信号获取所述电机的温度，并执行所述电机的温度对应的保护策略。
第二方面，本申请实施例还提供了一种电机的控制方法，所述控制方法包括：
对所述电机施加输入组合信号，控制所述电机在按照所述输入组合信号对应的速度进行转动；其中，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率，所述第一温度检测信号用于获取所述电机的温度；在根据所述输入组合信号对电机进行控制的过程中，所述电机呈现与所述第一温度检测信号相应的频率特性。
第三方面，本申请实施例还提供了一种控制装置，所述控制装置用于控制电机并检测电机的温度，所述控制装置包括：
处理器和存储器；
其中，所述存储器用于存储计算机程序；所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现本申请实施例提供的任一项所述的用于电机的温度检测方法的步骤，或者，实现本申请实施例提供的任一项所述的电机的控制方法的步骤。
第四方面，本申请实施例还提供了一种无人机，所述无人机包括：
机身，所述机身包括机臂；
动力系统，所述动力系统安装于所述机身上，所述动力系统包括一个或多个螺旋桨以及与一个或多个所述螺旋桨相对应的一个或多个电机，所述电机和螺旋桨设置在所述机臂上，所述电机用于驱动所述螺旋桨旋转；
驱动器，所述驱动器安装在所述机身上并与所述电机电性连接，所述驱动器用于执行本申请实施例提供的任一项所述的电机的控制方法的步骤，或，用于执行本申请实施例提供的任一项所述的电机的温度检测方法的步骤。
第五方面，本申请实施例还提供了一种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程序，所述计算机程序被处理器执行时使所述处理器实现如本申请实施例提供的任一项所述的用于电机的温度检测方法的步骤，或者，实现如本申请实施例提供的任一项所述的电机的控制方法的步骤。
本申请实施例公开的用于电机的温度检测方法、电机的控制方法、控制装置、无人机及存储介质，利用输入组合信号在对电机进行控制时同时又可以准确地检测出电机的温度，相对使用温度传感器，还可以降低产品的成本以及减 小产品的尺寸，进而提高产品的竞争力。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本申请。
附图说明
为了更清楚地说明本申请实施例技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，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是本申请实施例提供的一种无人机的结构示意图；
图2是本申请实施例提供的无人机的飞行控制系统的示意性框图；
图3是本申请实施例提供的一种用于电机的温度检测方法的步骤示意流程图；
图4是本申请实施例提供的一种电机的控制框架的示意图；
图5是本申请实施例提供的另一种电机的控制框架的示意图；
图6是本申请实施例提供的又一种电机的控制框架的示意图；
图7是本申请实施例提供的温度检测信号的示意图；
图8是本申请实施例提供的一种控制装置的示意框图；
图9是本申请实施例提供的一种无人机的示意框图。
图10是本申请实施例提供的又一种电机的控制框架的示意图；
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
还应当理解，在此本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个” 及“该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
附图中所示的流程图仅是示例说明，不是必须包括所有的内容和操作/步骤，也不是必须按所描述的顺序执行。例如，有的操作/步骤还可以分解、组合或部分合并，因此实际执行的顺序有可能根据实际情况改变。
下面结合附图，对本申请的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
请参阅图1和图2，图1示出了本申请实施例提供的一种无人机100的结构，图2示出了本申请实施例提供的无人机100的飞行控制系统的结构框架。如图1和图2所示，无人机100可以包括机身10、动力系统11、控制系统12和雷达。
机身10可以包括机身和脚架(也称为起落架)。机身可以包括中心架以及与中心架连接的一个或多个机臂，一个或多个机臂呈辐射状从中心架延伸出。脚架与机身连接，用于在无人机100着陆时起支撑作用。
雷达可以安装在无人机上，具体可以安装在无人机100的机身10上，在无人机100的飞行过程中，用于测量无人机100的周围环境，比如障碍物等，以确保飞行的安全性。在本申请的实施例中，雷达还可以用于对农作物进行扫描测量。
雷达安装在无人机100的脚架上，该雷达与控制系统12通信连接，雷达将采集到的观测数据传输至控制系统12，由控制系统12进行处理。
需要说明的是，无人机100可以包括两个或两个以上脚架，雷达搭载在其中一个脚架上。雷达也可以搭载在无人机100的其他位置，对此不作具体限定。
雷达主要包括射频前端模块和信号处理模块，射频前端模块可以包括发射天线和接收天线，发射天线用于向目标发送信号，接收天线用于接收被目标反射回来的信号，信号处理模块负责产生调制信号以及对采集的中频信号进行处理分析，其中目标比如为建筑物、铁塔、农作物等。
动力系统11可以包括一个或多个电子调速器(简称为电调)、一个或多个螺旋桨以及与一个或多个螺旋桨相对应的一个或多个电机，其中电机连接在电 子调速器与螺旋桨之间，电机和螺旋桨设置在无人机100的机臂上；电子调速器用于接收控制系统产生的驱动信号，并根据驱动信号提供驱动电流给电机，以控制电机的转速。
电机用于驱动螺旋桨旋转，从而为无人机100的飞行提供动力，该动力使得无人机100能够实现一个或多个自由度的运动。在某些实施例中，无人机100可以围绕一个或多个旋转轴旋转。例如，上述旋转轴可以包括横滚轴、偏航轴和俯仰轴。应理解，电机可以是直流电机，也可以是永磁同步电机。或者，电机可以是无刷电机，也可以是有刷电机。
控制系统12可以包括控制器和传感系统。控制器用于控制无人机100的飞行，例如，可以根据传感系统测量的姿态信息控制无人机100的飞行。应理解，控制器可以按照预先编好的程序指令对无人机100进行控制。传感系统用于测量无人机100的姿态信息，即无人机100在空间的位置信息和状态信息，例如，三维位置、三维角度、三维速度、三维加速度和三维角速度等。
传感系统例如可以包括陀螺仪、超声传感器、电子罗盘、惯性测量单元(Inertial Measurement Unit，IMU)、视觉传感器、全球导航卫星系统和气压计等传感器中的至少一种。例如，全球导航卫星系统可以是全球定位系统(Global Positioning System，GPS)。
控制器可以包括一个或多个处理器和存储器。处理器例如可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。存储器可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
在实际应用中，电机可能会持续大扭矩输出，故电机的绕组温度会迅速上升，会出现电机烧毁的情况。比如无人机在原地满转运行时，由于没有空气来流对电机进行散热，电机温度会迅速上升，如果没有温度保护，持续几十秒就会出现电机烧毁，再比如一些无人机的桨叶装反的情况，很容易出现满转烧毁电机的情况，当然也可能出现因载重过大且动力分配不均导致某个轴温升过高而烧毁电机。因此有必要检测电机的温度，以根据电机的温度对电机进行保护，避免出现烧坏电机。
当前的电机的温度检测方案多采用通过温度传感器检测，比如在电机的绕 组中埋入热电偶或热敏电阻(Negative Temperature Coefficient，NTC)，然后通过引线连接到电调中。但是工艺复杂，并且要做好防水措施，成本较高，同时会增加电机的体积，不利于实现无人机的小型化。
为此，本申请实施例提供了一种用于电机的温度检测方法和电机的控制方法，该温度检测方法不需要额外增加温度传感器，也可以实时准确地检测出电机的温度。其中，该温度检测方法可以应用在包括电机的设备中，比如应用于无人机上，通过检测无人机的电机的温度，进而执行相应的保护策略，以避免无人机出现电机烧毁的现象。
需要说明的是，该用于电机的温度检测方法和电机的控制方法，并不限于应用于无人机中，还可以应用其他包括电机的设备中，比如机器人、扫地机等等。
请参阅图3，图3是本申请实施例提供的一种用于电机的温度检测方法的步骤示意流程图。该电机的温度检测方法可以应用于包括电机的设备中，比如可以应用于无人机中。
如图3所示，该用于电机的温度检测方法包括步骤S101至步骤S103。
S101、获取输入所述电机的输入组合信号，所述输入组合信号包括电机控制信号和第一温度检测信号；
S102、根据所述输入组合信号对电机进行控制，以使所述电机在按照所述输入组合信号对应的速度进行转动的同时呈现与所述第一温度检测信号相应的频率特性；
S103、根据所述第一温度检测信号获取所述电机的温度，并执行所述电机的温度对应的保护策略。
在本发明一些实施例中，所述电机的温度包括所述电机的绕组的温度。
在本申请的实施例中，输入组合信号包括电机控制信号和第一温度检测信号，电机控制信号和第一温度检测信号均为交流信号，且电机控制信号的频率高于第一温度检测信号的频率。
将输入组合信号输入至电机，根据该输入组合信号对电机进行控制，通过获取该输入组合信号，根据输入组合信号中的第一温度检测信号获取电机的温度，以便根据电机的温度对电机进行保护。
所述电机呈现与第一温度检测信号相应的频率特性包括，所述电机的转动 频率变化频率与所述第一温度检测信号的频率基本一致。所述电机呈现与第一温度检测信号相应的频率特性还包括，所述电机以所述第一温度检测信号的频率发出脉动的声音。
其中，在根据输入组合信号对电机进行控制时，电机可以按照输入组合信号对应的速度进行转动，同时呈现与第一温度检测信号相应的频率特性，比如呈现相应频率的脉动。在对电机的控制过程中，利用第一温度检测信号可以实时获取电机的温度，还可以执行该电机的温度对应的保护策略，实现对电机的保护，进而提高了电机的运行安全性。
根据第一温度检测信号获取电机的温度，电机绕组的阻值随着温度变化而变化，第一温度检测信号作用于电机时，电机绕组的阻值变化同时又必然会导致第一温度检测信号对应的信号发生变化，由此可以利用该特性根据第一温度检测信号获取电机的温度。
执行电机的温度对应的保护策略可以实现对电机进行保护，避免出现电机烧毁的现象。示例性的，具体可以利用阈值方法确定电机的保护策略，比如若电机的温度小于预设温度阈值，则控制电机正常运行；再比如若电机的温度大于或等于预设温度阈值，则控制电机停止运行。预设温度阈值的大小和电机的特性有关，比如与电机绕组的漆包线有关，在此不做限定。
在一些实施例中，为了提高电机的运行安全性，可以通过对电机的分级保护，提高电机的运行安全性。示例性的，比如若电机的温度大于或等于第一预设阈值，确定电机的温度对应的保护策略为第一级保护策略，并执行第一级保护策略；若电机的温度大于或等于第二预设阈值，确定电机的温度对应的保护策略为第二级保护策略，并执行第二级保护策略。第一级保护策略和第二级保护策略不同，比如第一级保护策略可以是减小电机的转速，第二级保护策略可以是控制电机停止运行。由此可以实现对电机进行分级保护，由此进一步地提高了保护效果。
示例性的，对于应用无人机中，分级保护策略对应的第一级保护策略可以包括如下至少一种：发送返航提示信息至所述无人机的控制终端以提示用户尽快返航、限制所述无人机的飞行姿态；第二级保护策略包括如下至少一种：控制所述无人机返航、控制所述无人机降落、控制所述无人机返航并发送提示信息至控制终端、控制所述无人机降落并发送提示信息至控制终端。由此可以确 保无人机的飞行安全性。
在一些实施例中，为了更好地控制电机运行性能，还可以限定电机控制信号的频率数量级与第一温度检测信号的频率的数量级之比大于预设比例值。比如，预设比例值对应的范围可以为100-1000。
示例性的，比如电机控制信号对应的频率范围为100Hz-1000Hz，第一温度检测信号对应的频率范围为0-10Hz。在一些实施例中，第一温度检测信号对应的频率范围是0-3Hz。由此可见，电机控制信号的频率数量级远大于第一温度检测信号的频率的数量级。
需要说明的是，由于需要减小电机运行时的转矩脉动，因此需要限定电机控制信号的频率与第一温度检测信号的频率的数量级差异，但是一般电机控制信号的频率是确定的，因此必须减小第一温度检测信号的频率，但是第一温度检测信号的频率太小又不便于检测，因此本申请实施例提供的用于电机的温度检测方法可以应用于特定的设备，比如无人机，由于无人机要求电机的转速较大，因此第一温度检测信号带来的脉动，不会影响无人机的飞行。
在一些实施例中，第一温度检测信号可以包括正弦信号、方波信号中的一种。优选地，第一温度检测信号可以选择正弦信号。选择正弦信号或方波信号，方便后续处理，比如利用正弦信号的变化规律，来获取电机的温度，可以提高电机的温度检测准确率。
需要说明的是，在本申请的实施例中，输入组合信号中的电机控制信号和第一温度检测信号需均为交流信号，发明人在实践过程中发现：若采用第一温度检测信号为直流信号，会导致电机的温度计算精度较低，原因在于电机控制中会产生偏置直流，因此后续采集的第一温度检测信号对应的信号时必然会包括偏置直流，因此会降低电机的温度的准确度，而采用第一温度检测信号为交流信号，则可以很好地解决该问题，进而提高电机的温度的准确度。
在一些实施例中，输入组合信号可以包括电机的A相电压输入、B相电压输入和C相电压输入中的一个输入或多个输入；相应地，第一温度检测信号叠加在电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
在一些实施例中，输入组合信号还可以包括FOC控制中α轴和/或β轴中的控制信号，示例性的，如图4所示，FOC控制中α轴和/或β轴中的控制信号 比如为α轴电压V α和/或β轴电压V β；同时还可以通过向电机的FOC控制中α轴和/或的FOC控制中β轴中注入第一温度检测信号，即可以理解，输入组合信号包括FOC控制中α轴和/或β轴中的控制信号和第一温度检测信号，控制信号用于控制电机。
在一些实施例中，第一温度检测信号叠加在电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中，可以通过向电机的A相输入、B相输入、C相输入注入第一温度检测信号，实现叠加。
在另一些实施例中，还可以向电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成输入组合信号，实现叠加。
示例性的，比如可以向α轴注入初始温度检测信号，也可以向β轴注入初始温度检测信号，当然也可以同时向α轴和/或β轴中注入初始温度检测信号。
示例性的，可以将初始温度检测信号V α-in注入在FOC控制的α轴和/或β轴，初始温度检测信号V α-in映射至电机的A相电压输入、B相电压输入和/或C相电压输入中以生成输入组合信号。
如图4所示，可以将初始温度检测信号V α-in注入在FOC控制的α轴，初始温度检测信号V α-in映射至电机的A相电压输入。
示例性的，如图5所示，还可以将初始温度检测信号V β-in注入在电机的FOC控制中β轴上。示例性的，还可以同时注入电机的FOC控制中α轴和β轴。
在一些实施例中，初始温度检测信号还可以包括α轴温度检测信号和/或β轴温度检测信号。示例性的，α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于电机控制信号的交流电压信号。具体地，α轴温度检测信号和β轴温度检测信号可以分别用以下表达式进行表示：
Figure PCTCN2022071893-appb-000001
在上述表达式中，V α-in为α轴温度检测信号，即为注入到α轴的初始温度检测信号，α轴温度检测信号对应的频率在0-3hz之间，V β-in为β轴温度检测信号，即为注入到β轴的初始温度检测信号。
其中，α轴温度检测信号和β轴温度检测信号中的一者为零，可以方便提取电机的温度，节省算力。当然，α轴温度检测信号和β轴温度检测信号也可 以是均不为零。
在一些实施例中，可以将第一温度检测信号叠加在电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中，示例性的，如图6所示，可以在A相电压输入注入第一温度检测信号V A-in。
示例性的，如图10所示，可以在SVPWM输出的A相电压(逆变器前的输入)注入初始温度检测信号，其他过程与上述从a轴注入初始温度检测信号的过程一致，在此不再赘述。
当然，也可以在在SVPWM输出的A相电压注入第一温度检测信号，其他过程与上述从电机的A相输入注入第一温度检测信号的过程一致，在此不再赘述。
示例性地，可以在SVPWM输出的A相电压、B相电压和C相电压中的一个或多个注入初始温度检测信号，其他过程与上述从a轴和/或β轴注入初始温度检测信号相同，以获取所述电机的温度。
示例性地，可以在SVPWM输出的A相电压、B相电压和C相电压中的一个或多个注入第一温度检测信号，其他过程与上述从与上述从电机的A相输入、B相输入和C相输入中的一个或多个注入第一温度检测信号的过程一致，以获取所述电机的温度。
由于第一温度检测信号的频率是小于电机控制信号的频率，由此根据频率的不同，从输入组合信号中提取出第一温度检测信号，示例性的，比如可以采用低通滤波器(Low-Past Filter，LPF)提取出第一温度检测信号V A-in。
同理由于电机反馈信号的频率高于第二温度检测信号的频率，由此也可以利用频率特性的不同，从输出组合信号中提取第二温度检测信号。示例性的，如图4所示，也可以采用低通滤波器提取出第二温度检测信号I a-in。
具体地，可以对电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取第一温度检测信号；以及对电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取第二温度检测信号。
示例性的，对于在α轴注入初始温度检测信号，可以对电机的A相电压进行滤波，即可得到第一温度检测信号；以及对电机的A相电流进行滤波，即可以得到第二温度检测信号。
示例性的，对于在β轴注入初始温度检测信号，对电机的B相电压和/或C 相电压进行滤波，可以获取第一温度检测信号；对电机的B相电流和/或C相电流进行滤波，可以获取第二温度检测信号。
需要说明的是，第一温度检测信号可以是B相电压和C相电压进行滤波得到两个滤波值中的其中一个值，或者也可以是两者的平均值，再或者是两者的加权值等；相应地，第二温度检测信号也可以是B相电流和C相电流进行滤波得到的两个滤波值中的其中一个值，或者也可以是两者的平均值，再或者是两者的加权值等。
对于第一温度检测信号，也可以不采用滤波的方式得到，比如可以根据注入的初始温度检测信号利用反Clark变化确定相应的第一温度检测信号。
示例性的，对于在α轴注入初始温度检测信号，可以根据注入初始温度检测信号利用反Clark变化确定电机的A相电压对应的第一温度检测信号，同时对电机的A相电流进行滤波，得到第二温度检测信号，以便根据第一温度检测信号和第二温度检测信号获取电机的温度。
对于第二温度检测信号，可以直接对电机的相电流(I a、I b和I c)进行滤波得到，当然也可以对电机的FOC控制中相电流(I a、I b和I c)经过Clark变换后的α电流和/或β电流进行滤波，再进行反Clark变化确定第二温度检测信号。
在一些实施例中，根据第一温度检测信号获取电机的温度，具体包括：获取电机的输出组合信号，根据第一温度检测信号和输出组合信号中的第二温度检测信号获取电机的温度，其中，输出组合信号还包括电机反馈信号，电机反馈信号和第二温度检测信号均为交流信号，且电机反馈信号的频率高于第二温度检测信号的频率。
具体地，根据第一温度检测信号和第二温度检测信号获取电机的温度，包括：根据第一温度检测信号和第二温度检测信号获取电机的绕组阻值，根据绕组阻值确定电机的温度。
以下以电机为永磁同步电机为例，说明根据第一温度检测信号获取电机的温度的原理，在α-β坐标系下建立数学模型如下：
Figure PCTCN2022071893-appb-000002
Figure PCTCN2022071893-appb-000003
根据该数学模型可以看出，电压等于电阻项+高频分量，若电压和电流都 为低频量时，模型简化为：
u α＝Ri α
u β＝Ri β
可以看出，如果能够获取α-β下的电压和电流，便可以计算出电机的绕组电阻，再利用电机绕组的阻值与温度的对应关系，则可以获取到电机的温度。
为此，可以选择在α轴或β轴下注入低频的初始温度检测信号，比如注入的初始温度信号为低频电压信号(比如0-3hz)，由此根据响应的电流来计算电阻，具体的反Clark变换公式如下：
Figure PCTCN2022071893-appb-000004
根据反Clark变换公式可知，V α＝V a-in，I α＝I a-in，其中，V α表示α轴对应的注入电压信号，V a-in表示电机的A相输入对应的第一温度检测信号，I α为电机A相的电流信号，I a-in表示为电机输出组合信号中的第二温度检测信号，由此可知为了最大限度节省硬件资源，在α轴和β轴注入V α_in＝sin(2*pi*f*t)，V β_in＝0，仅需要通过对电机的A相电压输入和A相电流进行滤波即可获取第一温度检测信号和第二温度检测信号，即可以确定电机绕组的阻值，进而利用阻值确定电机的温度。
示例性的，如图4所示，可以通过两个低通滤波器(Low-Past Filter，LPF)进行滤波得到第一温度检测信号和第二温度检测信号，具体通过第一低通滤波器LPF1对电机的A相输入进行滤波，得到第一温度检测信号V a-in，再通过第一低通滤波器LPF1对电机的A相电流进行滤波，得到第二温度检测信号I a-in，则可以计算出电机的电机绕组R＝V α-in/I a-in。
在一些实施例中，以便更好地控制电机的运行，可以在计算电机绕组的阻值之后，滤除电机的输出组合信号中的第二温度检测信号。示例性的，如图4、5或图6中，通过滤除模块在FOC计算之前滤除该第二温度检测信号，避免注入信号持续叠加控制电机影响电机的运转。
由于提取的第一温度检测信号和第二温度检测信号均为低频交流信号，比如为低频正弦信号，在正弦信号过零位置会有比较明显的计算误差，所以需要 排除零点附近的数据，取正弦信号幅度较大位置进行平均滤波，进而可以准确地获得电阻结果。
为此，在一些实施例中，将第一温度检测信号和第二温度检测信号划分为第一区信号和第二区信号，其中，第二区信号相对第一区信号靠近零点位置。进而利用第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度，以提高电机的温度获取的准确率。
示例性的，如图7所示，比如第一区信号可以称为为运算区，第二区信号可以称为为死区。故可以根据第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。比如，根据第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取电机的温度。
在本申请实施例中，根据第一温度检测信号获取电机的温度，具体可以根据第一温度检测信号获取电机的绕组阻值，根据绕阻阻值确定电机的温度。即利用阻值和温度的关系，来确定电机的温度。
在一些实施例中，根据绕阻阻值确定电机的温度，示例性的，可以获取电机绕组在初始温度下对应的初始电阻，以及获取电机绕组的温度系数；根据初始温度、初始电阻、温度系数以及绕阻阻值，确定所述电机的温度。
示例性的，可以电阻和温度对应的预设计算公式，计算电机的温度，预设的计算公式如下：
Figure PCTCN2022071893-appb-000005
在该预设的计算公式中，T 1表示初始温度，R 1表示电机在初始温度下的初始电阻，T 1表示温度系数，其大小与具体选择材料有关，比如选择漆包线，该漆包线的温度系数为234.5℃，R 2表示电机当前的绕组阻值，T 2表示电机的温度，即需要检测的电机的实施温度。其中，初始温度和初始电阻可以通过标定得到，温度系数k为已知，可以通过实时电阻计算出电机的温度，并且不依赖外界的散热环境，由此可以得到更为精确的温度。
需要说明的是，除了利用预设的计算公式来计算电机的温度外，还可以利用其他的电阻与温度的对应关系来确定电机的温度，比如利用电阻和温度的线性对应关系，该线性对应关系可以是预先拟合好的。
上述实施例提供的用于电机的温度检测方法，利用输入组合信号在对电机 进行控制，同时可以准确地检测出电机的温度，同时相对使用温度传感器，还可以降低产品的成本，以及减小产品的尺寸。
此外，本申请实施例提供的一种电机的控制方法，该电机的控制方法可以应用于包括电机的设备中，该电机的控制方法具体为：对电机施加输入组合信号，控制电机在按照输入组合信号对应的速度进行转动。
其中，输入组合信号包括电机控制信号和第一温度检测信号，电机控制信号和第一温度检测信号均为交流信号，且电机控制信号的频率高于第一温度检测信号的频率，第一温度检测信号用于获取所述电机的温度。
在根据输入组合信号对电机进行控制的过程中，电机除了根据输入组合信号对应的速度进行转动外，且电机呈现与第一温度检测信号相应的频率特性，具体表现为与第一温度检测信号相应的频率特性相对应的脉动。
相比现有的电机控制方法，仅通过电机控制信号控制电机，该电机的控制方法还可以利用第一温度检测信号实时检测出电机的温度，以便对电机进行保护。
在一些实施例中，为了更好地控制电机运行，减小电机的运行时的脉动，还可以限定电机控制信号的频率数量级与所述第一温度检测信号的频率的数量级之比大于预设比例值。
示例性的，比如，预设比例值对应的范围可以为100-1000。比如电机控制信号对应的频率范围为100Hz-1000Hz，第一温度检测信号对应的频率范围为0-3Hz。
在一些实施例中，第一温度检测信号包括正弦信号、方波信号中的一种。
在一些实施例中，输入组合信号可以包括电机的A相电压输入、B相电压输入和C相电压输入中的一个输入或多个输入；相应地，第一温度检测信号叠加在电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
其中，第一温度检测信号叠加在电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中，可以通过向电机的A相输入、B相输入、C相输入注入第一温度检测信号，实现叠加。
在一些实施例中，输入组合信号包括FOC控制中α轴和/或β轴中的控制信号；所述控制方法同时通过向所述电机的FOC控制中α轴和/或的FOC控制 中β轴中注入第一温度检测信号。
在另一些实施例中，还可以向电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成输入组合信号，实现叠加。
示例性的，比如可以向α轴注入初始温度检测信号，也可以向β轴注入初始温度检测信号，当然也可以同时向α轴和/或β轴中注入初始温度检测信号。其中，初始温度检测信号包括α轴温度检测信号和β轴温度检测信号。
在一些实施例中，为了节省计算资源，还可以设置α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于所述电机控制信号的交流电压信号。
在一些实施例中，在该电机的控制方法中，具体可以获取电机的输出组合信号，其中，输出组合信号包括电机反馈信号和第二温度检测信号，电机反馈信号和第二温度检测信号均为交流信号，且电机反馈信号的频率高于第二温度检测信号的频率；以便根据第一温度检测信号和第二温度检测信号获取电机的温度。
在本申请提供的电机控制方法中，从输入组合信号获取第一温度检测信号和从输出组合信号中获取第二温度信号，具体可以通过对电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取第一温度检测信号，以及对电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取第二温度检测信号。
示例性的，比如对电机的A相电压进行滤波，得到第一温度检测信号；以及对电机的A相电流进行滤波，得到第二温度检测信号。
示例性的，再比如对电机的B相电压和/或C相电压进行滤波，获取第一温度检测信号；对电机的B相电流和/或C相电流进行滤波，获取第二温度检测信号。
在一些实施例中，可以对电机的FOC控制中电机的相电流经过Clark变换后的α电流和/或β电流进行滤波，得到第二温度检测信号，再根据第一温度检测信号和第二温度检测信号获取电机的温度。
在一些实施例中，为了更好地控制电机的运行，该可以在计算电机绕组的阻值之后，滤除电机的输出组合信号中的第二温度检测信号。
在一些实施例中，将第一温度检测信号和第二温度检测信号划分为第一区信号和第二区信号，第二区信号相对第一区信号靠近零点位置。示例性的，如图7所示，第一区信号为运算区，第二区信号为死区。故可以根据第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。比如，根据第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取电机的温度。
具体地，可以根据第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取电机的温度。
在本申请实施例提供的电机控制方法中，根据第一温度检测信号获取电机的温度，具体可以根据第一温度检测信号获取电机的绕组阻值，根据绕阻阻值确定电机的温度。即利用阻值和温度的关系，来确定电机的温度。比如可以利用上述电阻和温度对应的计算公式计算电机的温度。
请参阅图8，图8是本申请实施例提供的一种控制装置的示意性框图。该控制装置可以安装在任何包括电机的设备中，比如安装在无人机，实现对无人机的电机进行控制。
如图8所示，该控制装置400至少包括一个或多个处理器401和存储器402。
其中，处理器401例如可以是微控制单元(Micro-controller Unit，MCU)、中央处理单元(Central Processing Unit，CPU)或数字信号处理器(Digital Signal Processor，DSP)等。
存储器402可以是Flash芯片、只读存储器(ROM，Read-Only Memory)磁盘、光盘、U盘或移动硬盘等。
其中，存储器402用于存储计算机程序；处理器401用于执行所述计算机程序并在执行所述计算机程序时，执行本申请实施例提供的任一项所述的用于电机的温度检测方法，或者，执行本申请实施例提供的任一项所述的电机的控制方法。
示例性的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
获取输入所述电机的输入组合信号，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率；根据所述 输入组合信号对电机进行控制，以使所述电机在按照所述输入组合信号对应的速度进行转动的同时呈现与所述第一温度检测信号相应的频率特性；根据所述第一温度检测信号获取所述电机的温度，并执行所述电机的温度对应的保护策略。
在一些实施例中，所述电机控制信号的频率数量级与所述第一温度检测信号的频率的数量级之比大于预设比例值。
在一些实施例中，所述预设比例值对应的范围为100-1000。
在一些实施例中，所述第一温度检测信号包括正弦信号、方波信号中的一种。
在一些实施例中，所述输入组合信号包括所述电机的A相电压输入、B相电压输入和C相电压输入中的一个输入或多个输入；所述第一温度检测信号叠加在所述电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
在一些实施例中，所述处理器还用于：通过向所述电机的A相输入、B相输入、C相输入注入第一温度检测信号。
在一些实施例中，所述输入组合信号包括FOC控制中α轴和/或β轴中的控制信号；所述处理器还用于：通过向所述电机的FOC控制中α轴和/或的FOC控制中β轴中注入第一温度检测信号。
在一些实施例中，所述处理器还用于：向所述电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，所述初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成所述输入组合信号。
在一些实施例中，所述初始温度检测信号包括α轴温度检测信号和β轴温度检测信号。
在一些实施例中，所述α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于所述电机控制信号的交流电压信号。
在一些实施例中，所述处理器在实现所述根据所述第一温度检测信号获取所述电机的温度，具体用于实现：
获取所述电机的输出组合信号，所述输出组合信号包括电机反馈信号和第二温度检测信号，所述电机反馈信号和第二温度检测信号均为交流信号，且所述电机反馈信号的频率高于所述第二温度检测信号的频率；根据第一温度检测 信号和第二温度检测信号获取所述电机的温度。
在一些实施例中，所述处理器还用于：对所述电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取所述第一温度检测信号；以及对所述电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取所述第二温度检测信号。
在一些实施例中，所述处理器还用于：对所述电机的A相电压进行滤波，得到所述第一温度检测信号；以及对所述电机的A相电流进行滤波，得到所述第二温度检测信号。
在一些实施例中，所述处理器还用于：对所述电机的B相电压和/或C相电压进行滤波，获取所述第一温度检测信号；对所述电机的B相电流和/或C相电流进行滤波，获取所述第二温度检测信号。
在一些实施例中，所述处理器还用于：对所述电机的FOC控制中电机的相电流经过Clark变换后的α电流和/或β电流进行滤波，得到所述第二温度检测信号。
在一些实施例中，所述处理器还用于：滤除所述电机的输出组合信号中的第二温度检测信号。
在一些实施例中，所述第一温度检测信号和第二温度检测信号均包括第一区信号和第二区信号，所述第二区信号相对所述第一区信号靠近零点位置；所述处理器用于：根据所述第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。
在一些实施例中，所述处理器还用于：根据所述第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取所述电机的温度。
在一些实施例中，所述处理器在实现所述根据所述第一温度检测信号获取所述电机的温度时，具体用于：根据所述第一温度检测信号获取所述电机的绕组阻值，根据所述绕阻阻值确定所述电机的温度。
在一些实施例中，所述处理器在实现所述根据所述绕阻阻值确定所述电机的温度时，还具体用于：获取电机绕组在初始温度下对应的初始电阻，以及获取所述电机绕组的温度系数；根据所述初始温度、初始电阻、温度系数以及绕阻阻值，确定所述电机的温度。
在一些实施例中，所述处理器在实现所述执行所述电机的温度对应的保护 策略时，还用于实现：
当所述温度大于或等于第一预设阈值时，确定所述温度对应的保护策略为第一级保护策略，并执行所述第一级保护策略；当所述温度大于或等于第二预设阈值时，确定所述温度对应的保护策略为第二级保护策略，并执行所述第二级保护策略。
示例性的，所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
对所述电机施加输入组合信号，控制所述电机在按照所述输入组合信号对应的速度进行转动；其中，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率，所述第一温度检测信号用于获取所述电机的温度；在根据所述输入组合信号对电机进行控制的过程中，所述电机呈现与所述第一温度检测信号相应的频率特性。
此外，本申请实施例提供的一种无人机，示例性的，如图1和图2所示，该无人机100除了包括机身10、动力系统11和控制系统12外，还可以包括驱动器。其中，该驱动器可以是控制系统的一部分，也可以独立于控制系统的处理器。
其中，所述驱动器实现如下步骤：获取输入所述电机的输入组合信号，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率；根据所述输入组合信号对电机进行控制，以使所述电机在按照所述输入组合信号对应的速度进行转动的同时呈现与所述第一温度检测信号相应的频率特性；根据所述第一温度检测信号获取所述电机的温度，并执行所述电机的温度对应的保护策略。
在一些实施例中，所述电机控制信号的频率数量级与所述第一温度检测信号的频率的数量级之比大于预设比例值。
在一些实施例中，所述预设比例值对应的范围为100-1000。
在一些实施例中，所述第一温度检测信号包括正弦信号、方波信号中的一种。
在一些实施例中，所述输入组合信号包括所述电机的A相电压输入、B相 电压输入和C相电压输入中的一个输入或多个输入；所述第一温度检测信号叠加在所述电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
在一些实施例中，所述驱动器还用于：通过向所述电机的A相输入、B相输入、C相输入注入第一温度检测信号。
在一些实施例中，所述输入组合信号包括FOC控制中α轴和/或β轴中的控制信号；所述处理器还用于：通过向所述电机的FOC控制中α轴和/或的FOC控制中β轴中注入第一温度检测信号。
在一些实施例中，所述驱动器还用于：向所述电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，所述初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成所述输入组合信号。
在一些实施例中，所述初始温度检测信号包括α轴温度检测信号和β轴温度检测信号。
在一些实施例中，所述α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于所述电机控制信号的交流电压信号。
在一些实施例中，所述驱动器在实现所述根据所述第一温度检测信号获取所述电机的温度，具体用于实现：
获取所述电机的输出组合信号，所述输出组合信号包括电机反馈信号和第二温度检测信号，所述电机反馈信号和第二温度检测信号均为交流信号，且所述电机反馈信号的频率高于所述第二温度检测信号的频率；根据第一温度检测信号和第二温度检测信号获取所述电机的温度。
在一些实施例中，所述驱动器还用于：对所述电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取所述第一温度检测信号；以及对所述电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取所述第二温度检测信号。
在一些实施例中，所述驱动器还用于：对所述电机的A相电压进行滤波，得到所述第一温度检测信号；以及对所述电机的A相电流进行滤波，得到所述第二温度检测信号。
在一些实施例中，所述驱动器还用于：对所述电机的B相电压和/或C相电压进行滤波，获取所述第一温度检测信号；对所述电机的B相电流和/或C 相电流进行滤波，获取所述第二温度检测信号。
在一些实施例中，所述驱动器还用于：对所述电机的FOC控制中电机的相电流经过Clark变换后的α电流和/或β电流进行滤波，得到所述第二温度检测信号。
在一些实施例中，所述驱动器还用于：滤除所述电机的输出组合信号中的第二温度检测信号。
在一些实施例中，所述第一温度检测信号和第二温度检测信号均包括第一区信号和第二区信号，所述第二区信号相对所述第一区信号靠近零点位置；所述处理器用于：根据所述第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。
在一些实施例中，所述驱动器还用于：根据所述第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取所述电机的温度。
在一些实施例中，所述驱动器在实现所述根据所述第一温度检测信号获取所述电机的温度时，具体用于：根据所述第一温度检测信号获取所述电机的绕组阻值，根据所述绕阻阻值确定所述电机的温度。
在一些实施例中，所述驱动器在实现所述根据所述绕阻阻值确定所述电机的温度时，还具体用于：获取电机绕组在初始温度下对应的初始电阻，以及获取所述电机绕组的温度系数；根据所述初始温度、初始电阻、温度系数以及绕阻阻值，确定所述电机的温度。
在一些实施例中，所述驱动器在实现所述执行所述电机的温度对应的保护策略时，还用于实现：
当所述温度大于或等于第一预设阈值时，确定所述温度对应的保护策略为第一级保护策略，并执行所述第一级保护策略；当所述温度大于或等于第二预设阈值时，确定所述温度对应的保护策略为第二级保护策略，并执行所述第二级保护策略。
示例性的，所述驱动器，用于执行所述计算机程序并在执行所述计算机程序时，实现如下步骤：
对所述电机施加输入组合信号，控制所述电机在按照所述输入组合信号对应的速度进行转动；其中，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电 机控制信号的频率高于所述第一温度检测信号的频率，所述第一温度检测信号用于获取所述电机的温度；在根据所述输入组合信号对电机进行控制的过程中，所述电机呈现与所述第一温度检测信号相应的频率特性。
本申请的实施例中还提供一种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程序，所述计算机程序中包括程序指令，所述处理器执行所述程序指令，实现上述实施例提供的任一种所述的用于电机的温度检测方法的步骤，或，实现上述实施例提供的任一种所述的电机的控制方法的步骤。
其中，所述计算机可读存储介质可以是前述任一实施例所述的无人机的内部存储单元，例如所述无人机的存储器或内存。所述计算机可读存储介质也可以是所述无人机的外部存储设备，例如所述无人机上配备的插接式硬盘，智能存储卡(Smart Media Card，SMC)，安全数字(Secure Digital，SD)卡，闪存卡(Flash Card)等。
以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以权利要求的保护范围为准。

Claims (65)

  1. 一种用于电机的温度检测方法，其特征在于，所述方法包括：
    获取输入所述电机的输入组合信号，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率；
    根据所述输入组合信号对电机进行控制，以使所述电机在按照所述输入组合信号对应的速度进行转动的同时呈现与所述第一温度检测信号相应的频率特性；
    根据所述第一温度检测信号获取所述电机的温度，并执行所述电机的温度对应的保护策略。
  2. 根据权利要求1所述的方法，其特征在于，所述电机控制信号的频率数量级与所述第一温度检测信号的频率的数量级之比大于预设比例值。
  3. 根据权利要求2所述的方法，其特征在于，所述预设比例值对应的范围为100-1000。
  4. 根据权利要求1所述的方法，其特征在于，所述第一温度检测信号包括正弦信号、方波信号中的一种。
  5. 根据权利要求1所述的方法，其特征在于，所述输入组合信号包括所述电机的A相电压输入、B相电压输入和C相电压输入中的一个输入或多个输入；所述第一温度检测信号叠加在所述电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
  6. 根据权利要求1所述的方法，其特征在于，所述方法还包括：通过向所述电机的A相输入、B相输入、C相输入注入第一温度检测信号。
  7. 根据权利要求1所述的方法，其特征在于，所述输入组合信号包括FOC控制中α轴和/或β轴中的控制信号；所述方法还包括：通过向所述电机的FOC控制中α轴和/或的FOC控制中β轴中注入第一温度检测信号。
  8. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    向所述电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，所 述初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成所述输入组合信号。
  9. 根据权利要求8所述的方法，其特征在于，所述初始温度检测信号包括α轴温度检测信号和β轴温度检测信号。
  10. 根据权利要求9所述的方法，其特征在于，所述α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于所述电机控制信号的交流电压信号。
  11. 根据权利要求1-10任一项所述的方法，其特征在于，所述根据所述第一温度检测信号获取所述电机的温度，包括：
    获取所述电机的输出组合信号，所述输出组合信号包括电机反馈信号和第二温度检测信号，所述电机反馈信号和第二温度检测信号均为交流信号，且所述电机反馈信号的频率高于所述第二温度检测信号的频率；
    根据第一温度检测信号和第二温度检测信号获取所述电机的温度。
  12. 根据权利要求11所述的方法，其特征在于，所述方法包括：
    对所述电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取所述第一温度检测信号；以及
    对所述电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取所述第二温度检测信号。
  13. 根据权利要求12所述的方法，其特征在于，所述方法包括：
    对所述电机的A相电压进行滤波，得到所述第一温度检测信号；以及对所述电机的A相电流进行滤波，得到所述第二温度检测信号。
  14. 根据权利要求12所述的方法，其特征在于，所述方法包括：
    对所述电机的B相电压和/或C相电压进行滤波，获取所述第一温度检测信号；
    对所述电机的B相电流和/或C相电流进行滤波，获取第二温度检测信号。
  15. 根据权利要求11所述的方法，其特征在于，所述方法包括：
    对所述电机的FOC控制中电机的相电流经过Clark变换后的α电流和/或β电流进行滤波，得到所述第二温度检测信号。
  16. 根据权利要求11所述的方法，其特征在于，所述方法还包括：
    滤除所述电机的输出组合信号中的第二温度检测信号。
  17. 根据权利要求11所述的方法，其特征在于，所述第一温度检测信号和第二温度检测信号均包括第一区信号和第二区信号，所述第二区信号相对所述第一区信号靠近零点位置；所述方法包括：
    根据所述第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。
  18. 根据权利要求17所述的方法，其特征在于，所述方法包括：
    根据所述第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取所述电机的温度。
  19. 根据权利要求1-10任一项所述的方法，其特征在于，所述根据所述第一温度检测信号获取所述电机的温度，包括：
    根据所述第一温度检测信号获取所述电机的绕组阻值，根据所述绕阻阻值确定所述电机的温度。
  20. 根据权利要求19所述的方法，其特征在于，所述根据所述绕阻阻值确定所述电机的温度，包括：
    获取电机绕组在初始温度下对应的初始电阻，以及获取所述电机绕组的温度系数；
    根据所述初始温度、初始电阻、温度系数以及绕阻阻值，确定所述电机的温度。
  21. 根据权利要求1所述的方法，其特征在于，所述执行所述电机的温度对应的保护策略，包括：
    当所述温度大于或等于第一预设阈值时，确定所述温度对应的保护策略为第一级保护策略，并执行所述第一级保护策略；
    当所述温度大于或等于第二预设阈值时，确定所述温度对应的保护策略为第二级保护策略，并执行所述第二级保护策略。
  22. 一种电机的控制方法，其特征在于，所述方法包括：
    对所述电机施加输入组合信号，控制所述电机在按照所述输入组合信号对应的速度进行转动；
    其中，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率，所述第一温度检测信号用于获取所述电 机的温度；在根据所述输入组合信号对电机进行控制的过程中，所述电机呈现与所述第一温度检测信号相应的频率特性。
  23. 根据权利要求22所述的方法，其特征在于，所述电机控制信号的频率数量级与所述第一温度检测信号的频率的数量级之比大于预设比例值。
  24. 根据权利要求23所述的方法，其特征在于，所述预设比例值对应的范围为100-1000。
  25. 根据权利要求22所述的方法，其特征在于，所述第一温度检测信号包括正弦信号、方波信号中的一种。
  26. 根据权利要求22所述的方法，其特征在于，所述输入组合信号包括所述电机的A相电压输入、B相电压输入和C相电压输入中的一个输入或多个输入；所述第一温度检测信号叠加在所述电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
  27. 根据权利要求22所述的方法，其特征在于，所述方法还包括：通过向所述电机的A相输入、B相输入、C相输入注入第一温度检测信号。
  28. 根据权利要求22所述的方法，其特征在于，所述输入组合信号包括FOC控制中α轴和/或β轴中的控制信号；所述方法还包括：通过向所述电机的FOC控制中α轴和/或的FOC控制中β轴中注入第一温度检测信号。
  29. 根据权利要求22所述的方法，其特征在于，所述方法还包括：
    向所述电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，所述初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成所述输入组合信号。
  30. 根据权利要求29所述的方法，其特征在于，所述初始温度检测信号包括α轴温度检测信号和β轴温度检测信号。
  31. 根据权利要求30所述的方法，其特征在于，所述α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于所述电机控制信号的交流电压信号。
  32. 根据权利要求22-31任一项所述的方法，其特征在于，所述控制方法还包括：
    获取所述电机的输出组合信号，所述输出组合信号包括电机反馈信号和第二温度检测信号，所述电机反馈信号和第二温度检测信号均为交流信号，且所 述电机反馈信号的频率高于所述第二温度检测信号的频率；
    根据第一温度检测信号和第二温度检测信号获取所述电机的温度。
  33. 根据权利要求32所述的方法，其特征在于，所述方法包括：
    对所述电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取所述第一温度检测信号；以及
    对所述电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取所述第二温度检测信号。
  34. 根据权利要求33所述的方法，其特征在于，所述方法包括：
    对所述电机的A相电压进行滤波，得到所述第一温度检测信号；以及对所述电机的A相电流进行滤波，得到所述第二温度检测信号。
  35. 根据权利要求33所述的方法，其特征在于，所述方法包括：
    对所述电机的B相电压和/或C相电压进行滤波，获取所述第一温度检测信号；
    对所述电机的B相电流和/或C相电流进行滤波，获取所述第二温度检测信号。
  36. 根据权利要求32所述的方法，其特征在于，所述方法包括：
    对所述电机的FOC控制中电机的相电流经过Clark变换后的α电流和/或β电流进行滤波，得到所述第二温度检测信号。
  37. 根据权利要求32所述的方法，其特征在于，所述方法还包括：
    滤除所述电机的输出组合信号中的第二温度检测信号。
  38. 根据权利要求32所述的方法，其特征在于，所述第一温度检测信号和第二温度检测信号均包括第一区信号和第二区信号，所述第二区信号相对所述第一区信号靠近零点位置；所述方法包括：
    根据所述第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。
  39. 根据权利要求38所述的方法，其特征在于，所述方法包括：
    根据所述第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取所述电机的温度。
  40. 根据权利要求22-31任一项所述的方法，其特征在于，所述根据所述第一温度检测信号获取所述电机的温度，包括：
    根据所述第一温度检测信号获取所述电机的绕组阻值，根据所述绕阻阻值确定所述电机的温度。
  41. 一种无人机，其特征在于，所述无人机包括：
    机身，所述机身包括机臂；
    动力系统，所述动力系统安装于所述机身上，所述动力系统包括一个或多个螺旋桨以及与一个或多个所述螺旋桨相对应的一个或多个电机，所述电机和螺旋桨设置在所述机臂上，所述电机用于驱动所述螺旋桨旋转；
    驱动器，所述驱动器安装在所述机身上并与所述电机电性连接，所述驱动器用于：
    获取输入所述电机的输入组合信号，所述输入组合信号包括电机控制信号和第一温度检测信号，所述电机控制信号和所述第一温度检测信号均为交流信号，且所述电机控制信号的频率高于所述第一温度检测信号的频率；
    根据所述输入组合信号对电机进行控制，以使所述电机在按照所述输入组合信号进行转动的同时呈现与所述第一温度检测信号相应的频率特性；
    根据所述第一温度检测信号获取所述电机的温度，并执行所述电机的温度对应的保护策略。
  42. 根据权利要求41所述的无人机，其特征在于，所述电机控制信号的频率数量级与所述第一温度检测信号的频率的数量级之比大于预设比例值。
  43. 根据权利要求42所述的无人机，其特征在于，所述预设比例值对应的范围为100-1000。
  44. 根据权利要求41所述的无人机，其特征在于，所述第一温度检测信号包括正弦信号、方波信号中的一种。
  45. 根据权利要求41所述的无人机，其特征在于，所述输入组合信号包括所述电机的A相电压输入、B相电压输入和C相电压输入中的一个输入或多个输入；所述第一温度检测信号叠加在所述电机的A相电压输入、B相电压输入和C相电压输入中一个输入或多个输入中。
  46. 根据权利要求41所述的无人机，其特征在于，所述方法还包括：通过向所述电机的A相输入、B相输入、C相输入注入第一温度检测信号。
  47. 根据权利要求41所述的无人机，其特征在于，所述输入组合信号包括FOC控制中α轴和/或β轴中的控制信号；所述方法还包括：通过向所述电机的 FOC控制中α轴和/或的FOC控制中β轴中注入第一温度检测信号。
  48. 根据权利要求41所述的无人机，其特征在于，所述方法还包括：
    向所述电机的FOC控制中的α轴和/或β轴中注入初始温度检测信号，所述初始温度检测信号映射至所述电机的A相电压输入、B相电压输入和/或C相电压输入中以生成所述输入组合信号。
  49. 根据权利要求48所述的无人机，其特征在于，所述初始温度检测信号包括α轴温度检测信号和β轴温度检测信号。
  50. 根据权利要求49所述的无人机，其特征在于，所述α轴温度检测信号和β轴温度检测信号中的一者为零、另一者为频率低于所述电机控制信号的交流电压信号。
  51. 根据权利要求41-50任一项所述的无人机，其特征在于，所述根据所述第一温度检测信号获取所述电机的温度，包括：
    获取所述电机的输出组合信号，所述输出组合信号包括电机反馈信号和第二温度检测信号，所述电机反馈信号和第二温度检测信号均为交流信号，且所述电机反馈信号的频率高于所述第二温度检测信号的频率；
    根据第一温度检测信号和第二温度检测信号获取所述电机的温度。
  52. 根据权利要求51所述的无人机，其特征在于，所述方法包括：
    对所述电机的A相电压输入、B相电压输入和C相电压输入中的一者或多者进行滤波，提取所述第一温度检测信号；以及
    对所述电机的A相电流、B相电流和C相电流中的一者或多者进行滤波，提取所述第二温度检测信号。
  53. 根据权利要求52所述的无人机，其特征在于，所述方法包括：
    对所述电机的A相电压进行滤波，得到所述第一温度检测信号；以及对所述电机的A相电流进行滤波，得到所述第二温度检测信号。
  54. 根据权利要求52所述的无人机，其特征在于，所述方法包括：
    对所述电机的B相电压和/或C相电压进行滤波，获取所述第一温度检测信号；
    对所述电机的B相电流和/或C相电流进行滤波，获取所述第二温度检测信号。
  55. 根据权利要求51所述的无人机，其特征在于，所述方法包括：
    对所述电机的FOC控制中电机的相电流经过Clark变换后的α电流和/或β电流进行滤波，得到所述第二温度检测信号。
  56. 根据权利要求51所述的无人机，其特征在于，所述方法还包括：
    滤除所述电机的输出组合信号中的第二温度检测信号。
  57. 根据权利要求51所述的无人机，其特征在于，所述第一温度检测信号和第二温度检测信号均包括第一区信号和第二区信号，所述第二区信号相对所述第一区信号靠近零点位置；所述方法包括：
    根据所述第一温度检测信号和第二温度检测信号中的第一区信号，获取所述电机的温度。
  58. 根据权利要求57所述的无人机，其特征在于，所述方法包括：
    根据所述第一温度检测信号和第二温度检测信号中的第一区信号的平均值，获取所述电机的温度。
  59. 根据权利要求41-50任一项所述的无人机，其特征在于，所述根据所述第一温度检测信号获取所述电机的温度，包括：
    根据所述第一温度检测信号获取所述电机的绕组阻值，根据所述绕阻阻值确定所述电机的温度。
  60. 根据权利要求59所述的无人机，其特征在于，所述根据所述绕阻阻值确定所述电机的温度，包括：
    获取电机绕组在初始温度下对应的初始电阻，以及获取所述电机绕组的温度系数；
    根据所述初始温度、初始电阻、温度系数以及绕阻阻值，确定所述电机的温度。
  61. 根据权利要求41所述的无人机，其特征在于，所述执行所述电机的温度对应的保护策略，包括：
    当所述温度大于或等于第一预设阈值时，确定所述温度对应的保护策略为第一级保护策略，并执行所述第一级保护策略；
    当所述温度大于或等于第二预设阈值时，确定所述温度对应的保护策略为第二级保护策略，并执行所述第二级保护策略。
  62. 根据权利要求61所述的无人机，其特征在于，所述第一级保护策略包括如下至少一种：发送返航提示信息至所述无人机的控制终端以提示用户尽快 返航、限制所述无人机的飞行姿态；
    所述第二级保护策略包括如下至少一种：控制所述无人机返航、控制所述无人机降落、控制所述无人机返航并发送提示信息至控制终端、控制所述无人机降落并发送提示信息至控制终端。
  63. 根据权利要求41所述的无人机，其特征在于，所述电机包括无刷直流电机、永磁同步电机中的一种。
  64. 一种控制装置，其特征在于，所述控制装置用于控制电机并检测电机的温度，所述控制装置包括：
    处理器和存储器；
    其中，所述存储器用于存储计算机程序；所述处理器，用于执行所述计算机程序并在执行所述计算机程序时，实现权利要求1至21提供的任一项所述的用于电机的温度检测方法的步骤，或者，实现如权利要求22至40任一项所述的电机的控制方法的步骤。
  65. 一种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程序，所述计算机程序被处理器执行时使所述处理器实现如权利要求1至21提供的任一项所述的用于电机的温度检测方法的步骤，或者，实现如权利要求22至40任一项所述的电机的控制方法的步骤。
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