Motor current of closed-loop driving method and device for unmanned aerial vehicle, equipment and storage medium

Abstract

The invention discloses a motor current closed-loop driving method and device for an unmanned aerial vehicle, equipment and a storage medium. The method comprises the following steps of: applying a first current vector to a stator winding of a motor, wherein a direct-axis current value of the first current vector is 0 and a quadrature-axis current value is a predetermined value; The direct-axis voltage value and the quadrature-axis voltage value are obtained respectively; The direct-axis voltage value and quadrature-axis voltage value are converted to the corresponding ALPHA-axis voltage valueand BETA-axis voltage value. The voltage of ALPHA axis and BETA axis are modulated to get three-phase current signal, and the three-phase current signal is inputted to the motor and the motor is driven to work. The three-phase current sampling current value of the motor is obtained respectively, and the three-phase current sampling current value is transformed to obtain the corresponding direct-axis current feedback value and quadrature-axis current feedback value. The feedback value is fed back to the first current vector to realize the current closed loop and drive the motor to work. The method 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 unmanned aerial vehicle motor dragging, in particular to an unmanned aerial vehicle 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 UAVs are driven by permanent magnet synchronous motors. Permanent magnet brushless motors have simple structure, small size, high operating efficiency, high power factor, and small moment of inertia. They are 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 feedback the position angle of the motor rotor, and can only use sensorless control technology to feedback the position angle of the motor rotor; at the same time, because the saliency of t...

AI Technical Summary

Problems solved by technology

The given direct-axis current dragging method of the UAV motor provided by the present invention can solve the problems of poor load capacity and easy loss of steps of the V / F drag technology in the open-loop drag stage of the UAV motor, and can solve the problem of the given direct current at the same time. Axis (d-axis) current drags the problems that occur when the UAV motor, the method provided by the present invention can realize the UAV motor drag stability, strong anti-interference, and the debugging method is simple

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