Given rotational speed calculation method and device, electronic speed controller, power system and unmanned aerial vehicle

Abstract

The embodiments of the invention relate to the technical field of aircraft, and disclose a given rotational speed calculation method and device, an electronic speed controller, a power system and an unmanned aerial vehicle. The method comprises the following steps: obtaining a maximum rotational speed, a minimum rotational speed and a current throttle value; acquiring at least one maximum throttlevalue and at least one minimum throttle value; determining an average value of the at least one maximum throttle value and an average value of the at least one minimum throttle value by an average value calculation formula; and calculating a given rotational speed from the maximum rotational speed, the minimum rotational speed, the current throttle value, the average value of the maximum throttlevalues and the average value of the minimum throttle values. Therefore the dependency on the constant maximum throttle value and the constant minimum throttle value can be effectively reduced duringthe calculation of the given rotational speed, and the control accuracy of the electronic speed controller can be improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of aircraft, and in particular, to a calculation method, device, electric regulator, power system, and unmanned aircraft for a given rotational speed. Background technique [0002] Each action (or attitude) of an unmanned aerial vehicle (such as a UAV) is realized by controlling different speeds of multiple motors. In order to control the state of the UAV more accurately (such as forward, backward, left, right, up, down, etc.), the ESC of the UAV, also known as the electronic governor, must accurately control the throttle signal. analysis. [0003] In the current technology, the commonly used analysis method for the throttle signal is to directly calculate the given speed through the relationship between the fixed maximum throttle value, the fixed minimum throttle value and the given speed, and use it as the speed given signal of the ESC. [0004] In the process of realizing the prese...

AI Technical Summary

Problems solved by technology

[0004] In the process of realizing the present invention, the inventors have found that at least the following problems exist in the related art: when calculating a given speed, it depends on a fixed maximum throttle value and a fixed minimum throttle value, and a fixed maximum throttle value and a fixed minimum throttle value They are all specific and constant single values. Due to the differences in chip precision and different circuits, etc., the final calculated given speed will have a large error.

At the same time, many protection functions of the ESC control UAV depend on the throttle signal. If the calculated given speed has a large error, it will affect the accuracy of the flight system control, and even bring the risk of misjudgment to the flight system.

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