Motor control method and device

Abstract

The invention provides a motor control method and a motor control device. The motor control method comprises the steps of: sending a first rotating speed control instruction to a motor driving a propeller to rotate after a UAV takes off, wherein the first rotating speed control instruction comprises a first rotating speed acceleration; if the propeller of the UAV is monitored to be in a low-damping operating state when the motor is accelerating a rotating speed with the first rotating speed acceleration, acquiring a current rotating speed of the motor; determining a second rotating speed acceleration of the motor according to the current rotating speed and the first rotating speed acceleration, wherein the second rotating speed acceleration is greater than the first rotating speed acceleration; and generating a second rotating speed control instruction according to the second rotating speed acceleration, and sending the second rotating speed control instruction to the motor, wherein the second rotating speed control instruction comprises the second rotating speed acceleration. Through adjusting the rotating speed acceleration in the rotating speed control instruction of the motor corresponding to the propeller in the low-damping operating state on the UAV, the synchronous rotational acceleration of the propellers of the UAV is realized, and the problem that the UAV is unbalanced during the acceleration process is avoided.

Description

Technical field [0001] The invention relates to the technical field of drone control, in particular to a motor control method and device. Background technique [0002] With the improvement of the level of technology and people's living standards, people have higher and higher requirements for the performance of drones in all aspects. The miniaturization of drones is a major trend in the development of civilian drones. The propeller on the drone is a key component of the drone. In order to adapt to the development of the miniaturization of the drone, the propeller of the drone usually adopts a foldable structure. [0003] For a foldable propeller, it usually includes a propeller clip and two blades. The propeller clip is used to fix the two blades on the outer shaft of the UAV motor. The blades are in an open state during actual flight and fold up when not in use. In order to save the space occupied by the drone. During the actual flight of the drone, the rotation of the motor dri...

AI Technical Summary

Problems solved by technology

[0004] However, if the UAV is used for a long time, the damping force between the blade and the paddle clip may decrease, that is, the connection between the blade and the paddle clip becomes loose.

At this time, after the motor receives the speed control command, it adjusts the speed of the motor according to the speed control command, and the paddle clamp rotates normally under the drive of the outer shaft of the motor. Because the damping force between the blade and the paddle clamp decreases, the blade and the paddle clamp The speed of the drone is not synchronized, and the motor load fluctuates greatly, which can easily cause the drone to crash or explode.

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