Motor current closed-loop drive method, device, apparatus of unmanned aerial vehicle and storage medium
A current closed-loop and driving device technology, which is applied in the direction of controlling electromechanical transmission devices, controlling electromechanical brakes, controlling generators, etc., can solve problems such as poor load capacity and easy step loss, and achieve increased torque-power angle self-efficacy. "Balance" area, solve the effect of easy step loss, and solve the problem of step loss
Inactive Publication Date: 2018-12-21
SF TECH
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Problems solved by technology
The UAV motor current closed-loop dragging method (given orthogonal axis current dragging method) provided by the present invention can solve the problems of poor V / F dragging technology loading capacity and easy step loss in the open-loop dragging stage. Given the possible problems such as out-of-synchronization risk when the single-axis current drags the UAV motor, the method provided by the invention can realize the UAV motor drag stability, strong anti-interference, and the debugging method is simple
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[0061] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, rather than to limit the invention. In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. It should also be noted that, for ease of description, only parts related to the invention are shown in the drawings.
[0062] The application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments:
[0063] In this embodiment, the closed loop refers to the current closed loop, and the open loop refers to the rotational speed open loop.
[0064] Such as figure 1 As mentioned above, a current closed-loop dragging method of a UAV motor as an example of this embodiment includes the following steps: applyi...
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The invention discloses a motor current closed-loop driving method, device, and apparatus of an unmanned aerial vehicle and a storage medium. The method comprises: applying a first current vector toa stator winding of a motor, wherein a direct-axis current value of the first current vector is a first predetermined value, and a quadrature-axis current value is a second predetermined value; obtaining The direct-axis voltage value and the quadrature-axis voltage value respectively; converting the direct-axis voltage value and quadrature-axis voltage value to the corresponding ALPHA-axis voltagevalue and BETA-axis voltage value; modulating The voltage of ALPHA axis and BETA axis to get three-phase current signal, and inputting the three-phase current signal to the motor and driving the motor to work; obtaining The three-phase current sampling current value of the motor respectively, and transforming the three-phase current sampling current value to obtain the corresponding direct-axiscurrent feedback value and quadrature-axis current feedback value; and feeding the feedback value back to the first current vector to realize the current closed loop and drive the motor to work. Themethod disclosed by the invention solves the technical problems that the V / F driving technology has poor carrying capacity, is easy to be out of step and has the direct-axis current driving.
Description
technical field [0001] The invention belongs to the technical field of UAV motor dragging, and specifically relates to a UAV motor current closed-loop dragging method, device, equipment and storage medium. Background technique [0002] In recent years, electric drones have developed rapidly and are widely used in military, public security, agriculture, aerial photography and other fields. At present, most drones are driven by permanent magnet synchronous motors. The permanent magnet brushless motor has simple structure, small size, high operating efficiency, high power factor, and small moment of inertia, and is widely used in drive systems such as aerospace and electric vehicles. [0003] Due to the particularity of its structure, the UAV motor cannot use sensors to feed back the motor rotor position angle, and can only use sensorless control technology to feed back the motor rotor position angle; at the same time, because the salient polarity of the motor is relatively we...
Claims
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Login to View More IPC IPC(8): H02P21/22H02P21/18
CPCH02P21/22H02P21/18
Inventor 洪为伟
Owner SF TECH