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Motor control method and control system for tethered drone, and storage medium

A technology for motor control and UAV, applied in the control system, vector control system, motor generator control and other directions, can solve the problem of large load of tethered UAV, achieve convenient control, realize step-down conversion, realize voltage Amplitude effect

Inactive Publication Date: 2019-11-15
HUAZHONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a motor control method, a storage medium and a control system for a tethered drone, which are used to solve the problem that the existing tethered drone has a large load due to the use of a high-voltage cable for power supply and the setting of a step-down module. technical problem

Method used

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  • Motor control method and control system for tethered drone, and storage medium
  • Motor control method and control system for tethered drone, and storage medium
  • Motor control method and control system for tethered drone, and storage medium

Examples

Experimental program
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Effect test

Embodiment 1

[0037] A motor control method 100 for a tethered drone, such as figure 1 As shown, for tethered drones, the motor is powered by a high-voltage cable or a low-voltage battery through an inverter circuit. The inverter circuit is a diode-clamped three-level inverter circuit, and specifically includes the following steps:

[0038] Step 110, based on the power supply voltage, determine the power supply of the motor;

[0039] Step 120. When the power supply is a high-voltage cable, control the switches of each switching tube in the diode-clamped three-level inverter circuit based on the space vector pulse width modulation method to realize two-level output to the motor; when the power supply is When the battery is low-voltage, control the switch of each switching tube in the diode-clamped three-level inverter circuit to realize the three-level output to the motor.

[0040] Such as figure 2As shown in the figure, the diode-clamped three-level inverter circuit, the DC bus terminal ...

Embodiment 2

[0061] A storage medium, in which instructions are stored, and when the computer reads the instructions, the computer is made to execute the steps in any one of the motor control methods for tethered drones described in the first embodiment above. The relevant technical solutions are the same as those in Embodiment 1, and will not be repeated here.

Embodiment 3

[0063] A motor control system 200 of a tethered drone, such as Figure 4 As shown, it is used for mooring unmanned aerial vehicles, including a motor driver, a permanent magnet synchronous motor and a voltage detection module. The motor is powered by a high-voltage cable or a low-voltage battery through the motor driver. The motor driver includes: a diode clamp A type three-level inverter circuit and a processor, the processor is used to execute the steps in any motor control method for a tethered drone as described in the first embodiment above.

[0064] It should be noted that the voltage detection module may be a voltage sensor, which is connected to the processor in communication. Figure 4 The dotted framed part in is the motor control system for the tethered UAV.

[0065] The system uses a diode-clamped three-level inverter circuit as the circuit topology of the motor drive, and through the innovation and improvement of the control algorithm, the controllable conversion...

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Abstract

The invention discloses a motor control method and a control system for a tethered drone, and a storage medium and is applied to the tethered drone. A motor is powered by an inverter circuit through ahigh-voltage cable or a low-voltage battery, and the inverter circuit is a diode clamping type three-level inverter circuit. The method includes steps that when a power supply power source is the high-voltage cable, based on the space vector pulse width modulation method, switches of the switches tubes in the diode clamping type three-level inverter circuit are controlled for achieving two-leveloutput to the motor; when the power supply power source is the low-voltage battery, the switches of the switches tubes in the diode clamping type three-level inverter circuit are controlled for achieving three-level output to the motor. The method is advantaged in that the diode clamping type three-level inverter circuit is utilized as the circuit topology of motor driving, through innovation andimprovement of the control algorithm, switching between high-voltage cable power supply and low-voltage battery power supply can be achieved, stable control of the motor is achieved, and problems of complexity, the relatively large volume and the relatively large weight of a motor control system in the prior art are solved.

Description

technical field [0001] The invention belongs to the field of motor control, and more specifically relates to a motor control method, a storage medium and a control system for a tethered drone. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an aircraft that can fly autonomously or remotely without an operator. It has the characteristics of simple and novel structure, low manufacturing cost and good flight performance. In recent years, it has been widely used in military reconnaissance, communication support, environmental detection, security monitoring and other fields. However, as its application range becomes wider and wider, its shortcomings are gradually highlighted, that is, its power supply capability. Its electrical energy usually comes from its own lithium battery. In addition to powering the aircraft, it also needs to power other equipment on board, which greatly restricts the working time and application range of the drone. Based on this...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/00H02P27/08H02M7/487
CPCH02M7/487H02P21/0003H02P27/085
Inventor 孔武斌高慧达曲荣海
Owner HUAZHONG UNIV OF SCI & TECH