A starting and launching integrated system for small and medium power unmanned equipment and control method thereof

Abstract

The present invention provides a starting and starting integrated system for small and medium power unmanned equipment and a control method thereof, including: an engine, a permanent magnet synchronous motor, a three-phase PWM module, a four-switch buck-boost module, a state switching module, an auxiliary power supply, a position detection module, a control module, a motor drive module, a power generation control module, and a communication interface. In the starting state, the battery is controlled to supply power to the three-phase PWM module through the intermediate DC bus; in the power generation state, the four-switch buck-boost module is controlled to charge the battery. Beneficial effects: The present invention can improve the reuse of the entire system device level, improve the overall power density, and solve the problem of large fluctuations in the input voltage of the rear-stage DCDC caused by the wide engine speed range. At the same time, the modular design of the rear stage realizes the parallel output of multiple modules to achieve power improvement.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned equipment, and in particular to a starting and launching integrated system for small and medium power unmanned equipment and a control method thereof. Background Art

[0002] The starter-starter system can be applied to various platforms powered by internal combustion engines, such as UAV systems, mobile vehicle systems, etc., and its main application direction is various UAV systems. The starter-starter system can use a motor installed at the end of the engine shaft. When the engine needs to be started, the starter-starter system uses the starter-starter motor as a starter motor, and uses the battery as a power source to drag the engine to the ignition speed and maintain it for a certain period of time; after the engine is successfully ignited and running, the starter-starter system uses the starter-starter motor as a generator, and uses the AC / DC and DC / DC in the starter-starter system to stably output direct current, and can charge the onboard battery and use the back-end load.

[0003] At present, the field of unmanned equipment, especially the field of drones, is particularly sensitive to the volume and weight of the entire system. At the same time, from the perspective of use, a starting and starting system with both starting and power generation output functions is more convenient to use. In terms of technology, considering the motor control, power supply and other fields, the development of two-in-one or even all-in-one products is the current mainstream development direction.

[0004] For unmanned equipment that requires engines to provide power or energy, there are usually three options:

[0005] Solution 1 is that the unmanned equipment only includes a power generation controller to power the battery or load; the starting controller is an external handheld device. When starting, the engine crankshaft is driven to rotate to the engine operating speed through the external handheld device, and then the handheld device is removed. When switching to power generation, the engine drives the generator to rotate and output three-phase alternating current, which is converted into direct current through AC / DC, and then converted into the required regulated direct current through DC / DC. The most significant disadvantage of Solution 1 is that it can only be started manually, and for drone applications, the engine can only be started on the ground, and the ability to start in the air and restart the engine is also lost, and manual operation also has certain safety risks.

[0006] Solution 2 is that the unmanned equipment includes a starting controller and a power generation controller. When starting, the starting controller drives the engine crankshaft to rotate to the engine operating speed and then automatically exits. When switching to power generation, the engine drives the generator to rotate and output three-phase AC power, and the three-phase AC power is output through the power generation controller to output the required regulated DC. This solution is based on Solution 1, and realizes the starting function and power generation function at the module level, which greatly improves the convenience of use and reduces the operational risk. However, it fails to achieve the sharing and optimization of devices in the entire system, as well as structural integration. It is usually costly, large in overall size, and inconvenient to install and maintain.

[0007] The third scheme is that the unmanned equipment includes the starting part and the power generation part. The starting part is driven by a three-phase inverter bridge. The power generation part is at the AC / DC level. The three-phase uncontrolled rectifier circuit composed of the three-phase inverter bridge body diode and the parallel diode is used to convert the three-phase AC power of the permanent magnet synchronous generator into DC, and the DC / DC step-down BUCK circuit is used to convert the DC into a regulated DC. On the basis of the second scheme, this scheme three integrates the sharing of the AC / DC inverter bridge, and a stable DC output can be achieved through the latter BUCK circuit. Its disadvantages are: the engine speed usually has a wide range, and the result is that the output voltage range is large after AC / DC, resulting in a wide input voltage range for the DC / DC BUCK circuit. At the same time, the power switch tube in the AC / DC inverter bridge has a large body diode directly used for rectification. The loss is relatively large. On the one hand, the wide range of input makes the design of the BUCK circuit more difficult, and the efficiency is more difficult to design under a wide range; on the other hand, since the BUCK circuit can only achieve step-down conversion, it has certain requirements on the engine speed range, and also has certain requirements on the motor back electromotive force. And when the circuit is designed in a modular way, for example, when a regulated output of 28V, 48V or even above 58V is required, the limitations are even more obvious. Summary of the invention

[0008] In order to solve the above technical problems, the present invention provides a starting and launching integrated system for small and medium power unmanned equipment and a control method thereof.

[0009] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:

[0010] A launching system for small and medium power unmanned equipment, comprising:

[0011] An engine, connected to the permanent magnet synchronous motor via a shaft, and used to drive the permanent magnet synchronous motor to rotate so that the permanent magnet synchronous motor is in a power generation state;

[0012] A three-phase PWM module, connected to the three-phase output of the permanent magnet synchronous motor, converting the three-phase signal into a two-phase signal under the action of a first driving signal;

[0013] A four-switch buck-boost module, connected to the two-phase output of the three-phase PWM module via an intermediate DC bus, outputting a stable DC voltage under the action of a second drive signal;

[0014] a state switching module, controllably connected to the three-phase PWM module and controllably connected to the four-switch buck-boost module via an output DC bus, the state switching module also connected to the positive and negative electrodes of the battery and to the input positive and negative electrodes of an auxiliary power supply, for controlling the battery to supply power to the three-phase PWM module via the intermediate DC bus when in a starting state; and for controlling the four-switch buck-boost module to charge the battery when in a power generation state;

[0015] A position detection module, connected to the permanent magnet synchronous motor, for collecting position information of the permanent magnet synchronous motor;

[0016] A control module, connected to the position detection module, the communication interface and the auxiliary power supply, respectively, for outputting a pulse width modulation signal and a power generation control signal according to the position information;

[0017] a motor driving module, connected to the control module and the three-phase PWM module respectively, and configured to output the first driving signal after power amplifying the pulse width modulation signal;

[0018] The power generation control module is respectively connected to the control module and the four-switch buck-boost module, and is used to process the power generation control signal and output the second drive signal.

[0019] Preferably, the three-phase PWM module comprises:

[0020] A three-phase full-bridge circuit, wherein the AC input side of the three-phase full-bridge circuit is connected to the three-phase signal, the three-phase full-bridge circuit comprises first to twelfth switch tubes (Q1-Q12) and first to sixth diodes (D1-D6), and the upper bridge arm and the lower bridge arm of each phase bridge arm are respectively composed of two switch tubes and a diode connected in parallel;

[0021] Sampling resistors (RS1-RS3), respectively connected between the negative output end of the three-phase full-bridge circuit and the negative pole of the intermediate DC bus;

[0022] A plurality of filter capacitors (C4-C6) are connected in parallel and connected between the positive electrode and the negative electrode of the intermediate DC bus.

[0023] Preferably, the three-phase PWM module further includes a drive conditioning circuit, and the drive conditioning circuit includes:

[0024] Pull-down resistors (R3-R12) are respectively connected between the gate and source of each switch tube of the three-phase full-bridge circuit;

[0025] Discharge diodes (D7-D20) and discharge resistors (R13-R24), each of the discharge diodes and each of the discharge resistors are connected in series and are respectively connected between the gate of each switch tube of the three-phase full-bridge circuit and the output end of the motor drive module;

[0026] The driving resistors (R25-R36) are respectively connected between the gate of each switch tube of the three-phase full-bridge circuit and the output end of the motor driving module.

[0027] Preferably, the four-switch buck-boost module comprises:

[0028] A first filter circuit, comprising a plurality of input filter capacitors (C15-C20) connected in parallel, connected between the positive and negative electrodes of the intermediate DC bus;

[0029] Four identical BUCK / BOOST circuits, comprising thirteenth to twenty-fourth switch tubes (Q19-Q30) and a first inductor (L1), the drains of the sixteenth to eighteenth switch tubes (Q22-Q24) being connected to the first filter circuit, the first end of the first inductor (L1) being connected to the sources of the sixteenth to eighteenth switch tubes (Q22-Q24) and the drains of the nineteenth to twenty-first switch tubes (Q25-Q27), and the second end of the first inductor (L1) being connected to the sources of the thirteenth to fifteenth switch tubes (Q19-Q21) and the drains of the twenty-second to twenty-fourth switch tubes (Q28-Q30);

[0030] Sampling resistors (R56-R57) are connected between the source electrodes of the nineteenth to twenty-fourth switch tubes (Q25-Q30) and the ground terminal;

[0031] a second filtering circuit, connected to the drains of the thirteenth to fifteenth switching tubes (Q19-Q21), comprising a plurality of output filtering capacitors (C21-C27) connected in parallel, connected between the positive and negative electrodes of the output DC bus;

[0032] The BUCK / BOOST control circuit is used for outputting four control signals to the control end of each of the BUCK / BOOST circuits according to the second driving signal.

[0033] Preferably, it also includes a voltage signal acquisition module, and the voltage signal acquisition module includes:

[0034] A first voltage acquisition circuit, used for acquiring the battery power supply voltage and outputting it to the first voltage signal input terminal of the control module;

[0035] A second voltage acquisition circuit, used for acquiring the positive voltage of the intermediate DC bus and outputting it to the second voltage signal input terminal of the control module;

[0036] The third voltage acquisition circuit is used to acquire the voltage at the positive output terminal of the four-switch buck-boost module and output it to the third voltage signal input terminal of the control module.

[0037] Preferably, the motor drive module includes several drive circuits, the input of each drive circuit is respectively connected to the PWM drive signal output end of the control module, and the output of each drive circuit is respectively connected to the two drive conditioning circuits of each phase bridge arm to form a three-phase inverter drive circuit.

[0038] Preferably, the three-phase PWM module further comprises: a current sensor (U1), a fifth end of the current sensor being connected to the positive output end of the three-phase full-bridge circuit, and a fourth end of the current sensor being connected to the positive pole of the intermediate DC bus;

[0039] It also includes a current signal acquisition module, which includes:

[0040] A current signal processing circuit is connected to the current sensor and is used to process the collected Hall current sampling signal and then output it to the control module;

[0041] The overcurrent protection processing circuit is connected to the current sensor and the control module respectively, and is used for comparing the Hall current sampling signal with a reference signal and then outputting a comparison signal to the overcurrent protection terminal of the control module.

[0042] Preferably, the power generation control module comprises:

[0043] A power generation control circuit, connected to the power generation control terminal of the control module and the BUCK / BOOST control circuit respectively;

[0044] The power generation enable control circuit is connected to the power generation control circuit and the four-switch buck-boost module respectively, and is used to output a power generation enable signal or a power generation enable prohibition signal.

[0045] Preferably, the state switching module includes:

[0046] The main power loop circuit comprises a first power supply path, the input of the first power supply path is connected to the positive electrode of the battery, and the output of the first power supply path is connected to the three-phase PWM module through the intermediate DC bus; a second power supply path, the input of the second power supply path is connected to the four-switch buck-boost module, and the output of the second power supply path is connected to the positive electrode of the battery;

[0047] The logic switching circuit includes a comparator circuit, a logic circuit and a logic drive circuit. The comparator circuit is used to compare the output voltage of the four-switch buck-boost module with a preset voltage. The logic circuit is used to process the signal output by the comparator circuit and the enable signal of the four-switch buck-boost module through a logic gate and output it to the logic drive circuit. The logic drive circuit is connected to the first power supply path of the main power loop circuit.

[0048] The present invention also provides a control method for a starting and starting integrated system for small and medium power unmanned equipment, which is applied to the starting and starting integrated system for small and medium power unmanned equipment as described above, and the control method includes a starting state control process and a power generation state control process;

[0049] The starting state control process includes:

[0050] Step A1, the state switching module cuts off the connection with the four-switch buck-boost module, the battery is connected to the intermediate DC bus via the state switching module, and the battery supplies power to the intermediate DC bus;

[0051] Step A2, the control module receives the collected position information of the permanent magnet synchronous motor, and outputs a pulse width modulation signal, and outputs a first drive signal after power amplification processing to drive the engine to work;

[0052] The power generation state control process includes:

[0053] Step B1, the engine drives the permanent magnet synchronous motor to rotate, so that the permanent magnet synchronous motor is in a power generation state;

[0054] Step B2, the three-phase signal output by the permanent magnet synchronous motor is converted into a two-phase signal by the three-phase PWM module, and then the four-switch buck-boost module outputs a stable DC voltage according to the two-phase signal under the action of the second drive signal;

[0055] Step B3, the state switching module cuts off the connection with the intermediate DC bus voltage and switches to the four-switch buck-boost module, and the stable DC voltage is connected to the battery through the state switching circuit to charge the battery.

[0056] The advantages or beneficial effects of the technical solution of the present invention are:

[0057] The present invention provides a starting and starting integrated system and a control method for small and medium power unmanned equipment, which improves the reuse of the device level of the entire system, improves the overall power density, designs the control logic of the power flow of the entire system, reduces the design difficulty of the entire system, solves the problem of large fluctuation of the input voltage of the rear-stage DCDC caused by the wide range of engine speed, reduces the restriction on the motor design, and at the same time, the modular design of the rear stage realizes the parallel output of multiple modules to achieve power improvement. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a principle block diagram of a starting and launching integrated system for small and medium power unmanned equipment in a preferred embodiment of the present invention;

[0059] Figure 2 This is a circuit diagram of a three-phase PWM module in a preferred embodiment of the present invention;

[0060] Figure 3 This is a circuit diagram of a four-switch buck-boost module in a preferred embodiment of the present invention;

[0061] Figure 4 This is a circuit diagram of a voltage signal acquisition module in a preferred embodiment of the present invention;

[0062] Figure 5 A schematic diagram of a control module in a preferred embodiment of the present invention;

[0063] Figure 6 A circuit diagram of a motor drive module in a preferred embodiment of the present invention;

[0064] Figure 7 This is a circuit diagram of a current signal acquisition module in a preferred embodiment of the present invention;

[0065] Figure 8 A circuit diagram of a position detection module in a preferred embodiment of the present invention;

[0066] Fig. 9 A schematic diagram of a circuit of an auxiliary power supply in a preferred embodiment of the present invention;

[0067] Fig.10 A circuit diagram of a communication interface in a preferred embodiment of the present invention;

[0068] Fig.11 This is a circuit diagram of a BUCK / BOOST control module in a preferred embodiment of the present invention;

[0069] Fig.12 A circuit diagram of a power generation control module in a preferred embodiment of the present invention;

[0070] Fig.13FIG. 4 is a circuit diagram of a state switching module in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0071] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0072] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0073] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0074] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a starting and launching integrated system for small and medium power unmanned equipment is provided, which belongs to the technical field of unmanned equipment. Figure 1-Figure 13 As shown, including:

[0075] The engine is connected to the permanent magnet synchronous motor through a shaft, and is used to drive the permanent magnet synchronous motor to rotate, so that the permanent magnet synchronous motor is in a power generation state;

[0076] A three-phase PWM module, connected to the three-phase output of the permanent magnet synchronous motor, converts the three-phase signal into a two-phase signal under the action of a first drive signal;

[0077] A four-switch buck-boost module is connected to the two-phase output of the three-phase PWM module through an intermediate DC bus, and outputs a stable DC voltage under the action of a second drive signal;

[0078] A state switching module, controllably connected to the three-phase PWM module and controllably connected to the four-switch buck-boost module via the output DC bus, the state switching module is also connected to the positive and negative electrodes of the battery and to the input positive and negative electrodes of an auxiliary power supply, and is used to control the battery to supply power to the three-phase PWM module via the intermediate DC bus when in the starting state; and is used to control the four-switch buck-boost module to charge the battery when in the power generation state;

[0079] A position detection module is connected to the permanent magnet synchronous motor and is used to collect position information of the permanent magnet synchronous motor;

[0080] The control module is respectively connected to the position detection module, the communication interface and the auxiliary power supply, and is used to output a pulse width modulation signal and a power generation control signal according to the position information;

[0081] The motor drive module is connected to the control module and the three-phase PWM module respectively, and is used to output a first drive signal after power amplification processing of the pulse width modulation signal;

[0082] The power generation control module is respectively connected to the control module and the four-switch buck-boost module, and is used to process the power generation control signal and output a second drive signal.

[0083] Specifically, in this embodiment, the starting integrated system of the present invention includes an engine, a permanent magnet synchronous motor, a three-phase PWM module, a four-switch buck-boost module, a state switching module, an auxiliary power supply, a battery, a position detection module, a current signal acquisition module, a motor drive module, a voltage signal acquisition module, a control circuit, a communication interface and a power generation control module.

[0084] Among them, a permanent magnet synchronous motor is used as the starting-integrated motor, the engine and the permanent magnet synchronous motor are connected through a shaft, the three-phase output of the permanent magnet synchronous motor is respectively connected to the three-phase PWM module, and connected to the intermediate DC bus (MIDBUS+ and MIDBUS-) through the three-phase PWM module; the intermediate DC bus is connected to the output (Vout+ and Vout-) of the output DC bus through a four-switch buck-boost module; the output DC bus is connected to the positive and negative poles of the battery through a state switching module; the input positive and negative poles of the auxiliary power supply are connected to the state switching module, and the output of the auxiliary power supply is connected to the power supply input terminal of the control module;

[0085] The control module includes a microcomputer circuit (such as DSP, MCU, etc.). In this embodiment, DSP is used. Preferably, the DSP chip model used in the control module is dspic33EV256gm106. Figure 5As shown, the microcomputer circuit includes a voltage signal input terminal (V_BATTERY, V_MIDBUS, V_OUT), which is connected to the output of the voltage signal acquisition module, and the input of the voltage signal acquisition module is connected to the state switching module; a current signal input terminal (M_Cur_AD, PWM_Block), which is connected to the output of the current signal acquisition module, and the input of the current signal acquisition module is connected to the three-phase PWM module; a communication terminal (UART1_RX, UART1_TX), which is connected to the communication interface; a Hall interface (HALLA_CAP, HALLB_CAP, HALLC_CAP), which is connected to the position detection module; The electrical control end (BUCKBOOST_EN, POWER_CTL) is connected to the power generation control module, and the other end of the power generation control module is connected to the four-switch buck-boost module; the PWM drive signal output end (PWM1H, PWM1L, PWM2H, PWM2L, PWM3H, PWM3L) is connected to the PWM signal input end of the motor drive module, and the other end of the motor drive module is connected to the three-phase PWM module. The motor drive module is a three-phase inverter drive circuit. Each drive circuit receives the PWM signal output from the PWM drive signal output end, and transmits it to the control end of each switch tube in the three-phase PWM module after passing through the drive circuit.

[0086] As a preferred embodiment, the engine drives the permanent magnet synchronous motor to rotate at the lowest generating speed, and the corresponding three-phase winding line voltage peak value is greater than 20V under full output load.

[0087] The engine drives the permanent magnet synchronous motor to rotate at the highest generating speed, and the corresponding three-phase winding line voltage peak value is less than 140V when the output is no-load.

[0088] As a preferred embodiment, wherein Figure 2 As shown, the three-phase PWM module includes:

[0089] A three-phase full-bridge circuit, wherein the AC input side of the three-phase full-bridge circuit is connected to a three-phase signal, the three-phase full-bridge circuit comprises first to twelfth switch tubes (Q1-Q12) and first to sixth diodes (D1-D6), and the upper bridge arm and the lower bridge arm of each phase bridge arm are respectively composed of two switch tubes and a diode connected in parallel;

[0090] The sampling resistors (RS1-RS3) are respectively connected between the negative output terminal of the three-phase full-bridge circuit and the negative pole of the intermediate DC bus;

[0091] A plurality of filter capacitors (C4-C6) are connected in parallel and connected between the positive pole and the negative pole of the intermediate DC bus.

[0092] Specifically, in this embodiment, the three-phase PWM module includes: first to twelfth switch tubes (Q1-Q12), first to sixth diodes (D1-D6), filter capacitors (C4-C6), current sensors (U1), and sampling resistors (RS1-RS3). The first to twelfth switch tubes (Q1-Q12) form a three-phase full-bridge circuit, and the midpoints of the bridge arms of each phase are the output ends (motor control) or input ends (power generation state) of the three-phase full-bridge circuit, respectively. The first switch tube Q1 and the second switch tube Q2 are connected in parallel, the first diode D1 is connected in parallel with the first switch tube Q1 and the second switch tube Q2, the third switch tube Q3 and the fourth switch tube Q4 are connected in parallel, the second diode D2 is connected in parallel with the third switch tube Q3 and the fourth switch tube Q4, the fifth switch tube Q5 and the sixth switch tube Q6 are connected in parallel, the third diode (D3) is connected in parallel with the fifth switch tube Q5 and the sixth switch tube Q6, and the seventh switch tube Q7 and the eighth switch tube Q8 are connected in parallel. The third embodiment is a three-phase full-bridge circuit comprising a first diode (D1-D6) and a second diode (D2-D6) connected in parallel, wherein the fourth diode D4 is connected in parallel with the seventh switch tube Q7 and the eighth switch tube Q8, the ninth switch tube Q9 and the tenth switch tube Q10 are connected in parallel, the fifth diode D5 is connected in parallel with the ninth switch tube Q9 and the tenth switch tube Q10, the eleventh switch tube Q11 and the twelfth switch tube Q12 are connected in parallel, the sixth diode D6 is connected in parallel with the eleventh switch tube Q11 and the twelfth switch tube Q12, the conduction directions of the first to sixth diodes (D1-D6) are respectively the same as the conduction directions of the first to twelfth switch tubes (Q1-Q12) when they are in a conduction state, the positive input end of the three-phase full-bridge circuit is connected to the first end of the current sensor (U1), the second end of the current sensor (U1) serves as the positive port (MIDBUS+) of the three-phase full-bridge circuit, the negative output end of the three-phase full-bridge circuit is connected to the first end of the sampling resistor (RS1-RS3), and the second end of the sampling resistor (RS1-RS3) serves as the negative port (MIDBUS-) of the three-phase full-bridge circuit.

[0093] As a preferred embodiment, the first diode to the sixth diode (D1-D6) in the three-phase PWM module are Schottky diodes. The body diode voltage drop of MOS itself is generally greater than that of Schottky diode, so its conduction loss is large in uncontrolled rectification. Therefore, an external parallel Schottky diode is used to reduce the conduction loss. At the same time, the reverse recovery characteristics of the body diode are also worse than those of the Schottky diode. The external parallel Schottky diode can reduce the reverse recovery loss.

[0094] As a preferred embodiment, wherein Figure 2 As shown, the three-phase PWM module also includes a drive conditioning circuit, which includes:

[0095] The pull-down resistors (R3-R12) are respectively connected between the gate and source of each switch tube of the three-phase full-bridge circuit;

[0096] Discharge diodes (D7-D20) and discharge resistors (R13-R24), each discharge diode and each discharge resistor are connected in series and respectively connected between the gate of each switch tube of the three-phase full-bridge circuit and the output end of the motor drive module;

[0097] The driving resistors (R25-R36) are respectively connected between the gate of each switch tube of the three-phase full-bridge circuit and the output end of the motor driving module.

[0098] Specifically, the three-phase PWM module also includes a drive conditioning circuit, which includes a pull-down resistor (R3-R12), a discharge diode (D7-D12, D15-D20), a discharge resistor (R13-R24), and a drive resistor (R25-R36).

[0099] As a preferred embodiment, wherein Figure 3 and Fig.11 As shown, the four-switch buck-boost module includes:

[0100] A first filter circuit, comprising a plurality of input filter capacitors (C15-C20) connected in parallel, connected between the positive and negative electrodes of the intermediate DC bus;

[0101] Four identical BUCK / BOOST circuits, including thirteenth to twenty-fourth switch tubes (Q19-Q30) and a first inductor (L1), the drains of the sixteenth to eighteenth switch tubes (Q22-Q24) are connected to the first filter circuit, the first end of the first inductor (L1) is connected to the source of the sixteenth to eighteenth switch tubes (Q22-Q24) and the drain of the nineteenth to twenty-first switch tubes (Q25-Q27), and the second end of the first inductor (L1) is connected to the source of the thirteenth to fifteenth switch tubes (Q19-Q21) and the drain of the twenty-second to twenty-fourth switch tubes (Q28-Q30);

[0102] Sampling resistors (R56-R57) are connected between the source electrodes of the nineteenth to twenty-fourth switch tubes (Q25-Q30) and the ground terminal;

[0103] A second filter circuit, connected to the drains of the thirteenth to fifteenth switch tubes (Q19-Q21), includes a plurality of output filter capacitors (C21-C27) connected in parallel, and is connected between the positive and negative electrodes of the output DC bus;

[0104] The BUCK / BOOST control circuit is used for outputting four control signals to the control end of each BUCK / BOOST circuit according to the second driving signal.

[0105] Specifically, in this embodiment, the four-switch buck-boost module includes the thirteenth to twenty-fourth switch tubes (Q19-Q30), the first inductor (L1), the input filter capacitors (C15-C20), the output filter capacitors (C21-C27), and the sampling resistors (R56-R57), forming four identical BUCK / BOOST circuits.

[0106] Among them, the positive input end (MIDBUS+) of the four-switch buck-boost module is electrically connected to the first end of the input filter capacitor (C15-C20) and the drain of the sixteenth switch tube to the eighteenth switch tube, the sixteenth switch tube to the eighteenth switch tube are connected in parallel, the source of the sixteenth switch tube to the eighteenth switch tube is connected to the drain of the nineteenth switch tube to the twenty-first switch tube and the first end of the first inductor (L1), the nineteenth switch tube to the twenty-first switch tube are connected in parallel, the source of the nineteenth switch tube to the twenty-first switch tube is connected to the first end of the sampling resistor (R56-R57), the second end of the sampling resistor (R56-R57) is grounded (GND), the second end of the input filter capacitor (C15-C20) is grounded, and serves as the negative input end (MIDBUS-) of the four-switch buck-boost module.

[0107] The positive output end (VOUT+) of the four-switch buck-boost module is electrically connected to the first end of the output filter capacitor (C21-C27) and the drain of the thirteenth to fifteenth switches, the thirteenth to fifteenth switches are connected in parallel, the source of the thirteenth to fifteenth switches is electrically connected to the drain of the twenty-second to twenty-fourth switches and the second end of the first inductor (L1), the twenty-second to twenty-fourth switches are connected in parallel, the source of the twenty-second to twenty-fourth switches is connected to the first end of the sampling resistor (R56-R57), the second end of the sampling resistor (R56-R57) is grounded, the second end of the output filter capacitor (C21-C27) is grounded, and serves as the negative output end (VOUT-) of the four-switch buck-boost module.

[0108] like Fig.11 As shown, it is a schematic diagram of a BUCK / BOOST control circuit, which is an analog control circuit. The analog control circuit is constructed with a control chip IC6, and the analog control circuit outputs four PWM signals (TG1, BG1, TG2, BG2) for driving four BUCK / BOOST circuits in a four-switch buck-boost module; the analog control circuit is integrated with a bootstrap circuit, which includes a seventh diode D7, a tenth diode D10, a seventy-sixth resistor R76, a ninetieth resistor R90, a forty-eighth capacitor C48, and a fifty-eighth capacitor C58, and an eleventh diode D11 and a twelfth diode D12 are used to indicate the state of the current control module.

[0109] As a preferred embodiment, the analog control circuit also includes an adjustable current limiting control circuit, which includes comparing a set current threshold with a feedback current signal and then outputting it to the control chip IC6 through an operational amplifier compensation network.

[0110] As a preferred embodiment, wherein Figure 4 As shown, it also includes a voltage signal acquisition module, and the voltage signal acquisition module includes:

[0111] A first voltage acquisition circuit, used for acquiring the battery power supply voltage and outputting it to a first voltage signal input terminal (V_BATTERY) of the control module;

[0112] A second voltage acquisition circuit, used for acquiring the positive voltage of the intermediate DC bus and outputting it to the second voltage signal input terminal (V_MIDBUS) of the control module;

[0113] The third voltage acquisition circuit is used to acquire the voltage at the positive output terminal of the four-switch buck-boost module and output it to the third voltage signal input terminal (V_OUT) of the control module.

[0114] Specifically, in this embodiment, the voltage signal acquisition module includes three identical voltage sampling circuits, the input end of the voltage signal acquisition module is respectively connected to the positive electrode of the battery (BATTERY+), the positive electrode of the intermediate DC bus port (MIDBUS+) and the positive output end (VOUT+) of the four-switch buck-boost module, and the output end of the voltage signal acquisition module is connected to the voltage signal input end (V_BATTERY, V_MIDBUS, V_OUT) of the control module.

[0115] Specifically, Figure 4 As shown, the first voltage acquisition circuit includes the seventy-ninth resistor to the eighty-first resistor (R79-R82), the fortieth capacitor to the forty-second capacitor (C40-C42), and the operational amplifier U9A. The battery supply voltage (BATTERY+) is divided by the resistors R79 and R82 and then impedance-transformed by the operational amplifier U9A to output a first voltage sampling signal proportional to the battery supply voltage (BATTERY+), and output it to the V_BATTERY voltage signal input terminal of the control module.

[0116] The second voltage acquisition circuit includes the eighty-third to eighty-sixth resistors (R83-R86), the forty-third to forty-fifth capacitors C43-C45, and the operational amplifier U9B. The positive voltage (MIDBUS+) of the intermediate DC bus is divided by resistors R84 and R86 and then subjected to impedance transformation processing by the operational amplifier U9B to output a second voltage sampling signal proportional to the positive voltage (MIDBUS+) of the intermediate DC bus, and output it to the V_MIDBUS voltage signal input terminal of the control module.

[0117] The third voltage acquisition circuit includes the eighty-seventh resistor to the ninetieth resistor (R87-R90), the forty-sixth capacitor to the forty-eighth capacitor (C46-C48), and the operational amplifier U9C. The positive output voltage (VOUT+) of the four-switch buck-boost module is divided by resistors R88 and R90 and then subjected to impedance transformation processing by the operational amplifier U9C to output a third voltage sampling signal proportional to the positive output voltage (VOUT+) of the four-switch buck-boost module, and output it to the V_OUT voltage signal input terminal of the control module.

[0118] As a preferred embodiment, wherein Figure 6 As shown, the motor drive module includes several drive circuits, the input of each drive circuit is connected to the PWM drive signal output end of the control module, and the output of each drive circuit is connected to the two drive conditioning circuits of each phase bridge arm to form a three-phase inverter drive circuit.

[0119] Specifically, in this embodiment, the motor drive circuit receives the pulse width modulation signal (PWM1H, PWM1L, PWM2H, PWM2L, PWM3H, PWM3L) output by the control module; the drive circuit of each bridge arm in the three-phase PWM module is the same; the A-phase drive circuit includes the sixth drive chip (U6), the twenty-fourth diode (D24), the twenty-eighth capacitor to the thirtieth capacitor (C28-C30), and the fifty-eighth resistor to the sixty-second resistor (R58-R62); the B-phase drive circuit includes the seventh drive chip (U7), the twenty-fifth diode (D25), the thirty-first capacitor to the thirty-third capacitor (C31-C33), and the sixty-third resistor to the sixty-seventh resistor (R63-R67); the C-phase drive circuit includes the eighth drive chip (U8), the twenty-sixth diode (D26), the thirty-third capacitor to the thirty-sixth capacitor (C34-C36), and the sixty-eighth resistor to the seventy-second resistor (R68-R72). The above-mentioned drive circuit mainly realizes the power amplification function of the drive signal.

[0120] As a preferred embodiment, wherein Figure 2 As shown, the three-phase PWM module further includes: a current sensor U1, a fifth terminal of the current sensor U1 is connected to the positive output terminal of the three-phase full-bridge circuit, and a fourth terminal of the current sensor U1 is connected to the positive pole of the intermediate DC bus;

[0121] like Figure 7 As shown, it also includes a current signal acquisition module, and the current signal acquisition module includes:

[0122] The current signal processing circuit is connected to the current sensor U1 and is used to process the collected Hall current sampling signal M_cur and then output it to the control module;

[0123] The overcurrent protection processing circuit is connected to the current sensor U1 and the control module respectively, and is used to compare the Hall current sampling signal M_cur with a reference signal, and then output a comparison signal M_cur AD to the overcurrent protection terminal of the control module.

[0124] Specifically, in this embodiment, the current signal acquisition circuit includes a current signal processing circuit and an overcurrent protection processing circuit; Figure 2 As shown, the three-phase PWM module also includes a Hall current sampling circuit, which includes a current sensor U1 and its peripheral capacitor circuit (C1-C3); the output of the Hall current sampling circuit is connected to a current signal processing circuit; the current signal processing circuit includes an operational amplifier U9D, a fifty-first capacitor C51 and a fifty-second capacitor C52, and a ninety-seventh resistor R97; the overcurrent protection processing circuit receives the output signal from the Hall current sampling circuit and compares it with the comparison circuit constructed by the comparator U10A, and then outputs an overcurrent signal to achieve overcurrent protection.

[0125] As a preferred embodiment, wherein Figure 8 As shown, the position detection module includes:

[0126] Three Hall sensors are respectively installed in three slots of the stator of the permanent magnet synchronous motor. Each Hall sensor is connected to three Hall interfaces (HALLA_CAP, HALLB_CAP, HALLC_CAP) of the control module through a Hall position processing circuit.

[0127] Specifically, in this embodiment, the position detection module uses a Hall sensor installed on the permanent magnet synchronous motor for detection. The position detection module includes three identical detection circuits. The twenty-seventh diode D27, the seventy-third resistor R73 and the seventy-sixth resistor R76, and the thirty-seventh capacitor C37 constitute a HALLA detection circuit; the twenty-ninth diode D29, the seventy-fifth resistor R75, the seventy-eighth resistor R78, and the thirty-ninth capacitor (R39) constitute a HALLB detection circuit; the twenty-eighth diode D28, the seventy-fourth resistor R74, the seventy-seventh resistor R77, and the thirty-eighth capacitor C38 constitute a HALLC detection circuit, and the output of the Hall sensor is transmitted to the control module after passing through the Hall position processing circuit.

[0128] like Fig. 9 As shown, the auxiliary power supply includes: a switching power supply circuit, including a fifth chip U5, capacitors C10-C14, and resistors R53-R55, for generating a 15V voltage;

[0129] The LDO circuit includes a fourteenth chip U14 and capacitors C68-C70, and is used to generate a 5V voltage for use by various modules.

[0130] like Fig.10 As shown, it is the communication circuit of the communication interface. The communication circuit is connected to the communication terminal CLOCK of the control module. The communication circuit consists of RS232 circuit and RS422 circuit to meet more requirements.

[0131] Among them, the RS232 circuit includes the eleventh chip U11, capacitors C56-C57, and capacitor C64; the RS422 circuit includes capacitors C53-C55, capacitors C60-C63, and resistors R102-R106.

[0132] Furthermore, the communication circuit also includes resistors R98-R101 for selecting a communication mode, which can be specifically mounted according to needs.

[0133] As a preferred embodiment, wherein Fig.12 As shown, the power generation control module includes:

[0134] The power generation control circuit is connected to the power generation control terminal of the control module and the BUCK / BOOST control circuit respectively;

[0135] The power generation enable control circuit is connected to the power generation control circuit and the four-switch buck-boost module respectively, and is used to output a power generation enable signal (RUN) or a power generation enable prohibition signal.

[0136] Specifically, in this embodiment, in order to perform enable control and disable control through the control module, the power generation enable control circuit includes a ninth switch tube Q9, a tenth switch tube Q10, an eightieth resistor R80, an eighty-seventh resistor R87, a ninety-third resistor R93, and diodes CR3 and CR4.

[0137] In the adjustable current limiting control circuit of the above analog control circuit, the thirteenth diode D13 is used to select the minimum value after compensation, and the cathode of the thirteenth diode D13 is connected to the ITH pin of IC6; one end of the one hundred and eighth resistor R108 is used to control the signal output by the module. When the engine speed is low, the eleventh switch tube Q11 is controlled to be turned on, and the reference voltage of the positive input terminal of the chip IC7 is reduced, thereby limiting the output current to a lower level; when the engine speed rises, the eleventh switch tube Q11 is controlled to be turned off, and the reference voltage of the positive input terminal of IC7 is restored to the maximum, thereby limiting the output current to the maximum level of the BUCK / BOOST circuit.

[0138] As a preferred embodiment, wherein Fig.13 As shown, the state switching module includes:

[0139] The main power loop circuit includes a first power supply path, the input of the first power supply path is connected to the positive electrode of the battery, and the output of the first power supply path is connected to the three-phase PWM module through the intermediate DC bus; a second power supply path, the input of the second power supply path is connected to the four-switch buck-boost module, and the output of the second power supply path is connected to the positive electrode of the battery;

[0140] The logic switching circuit includes a comparator circuit, a logic circuit and a logic drive circuit. The comparator circuit is used to compare the output voltage of the four-switch buck-boost module with a preset voltage. The logic circuit is used to process the signal output by the comparator circuit and the enable signal of the four-switch buck-boost module through a logic gate and output it to the logic drive circuit. The logic drive circuit is connected to the first power supply path of the main power loop circuit.

[0141] Specifically, in this embodiment, the state switching module serves as the control center of the entire energy flow, connecting the battery, the intermediate DC bus, the four-switch buck-boost module and the auxiliary power supply. The state switching circuit includes a main power loop circuit and a logic switching circuit. The main power loop circuit includes a power tube (Q13-Q17), a control chip (U2, U4), a resistor (R42, R43) and a diode (D22, D23); the source of the power tube (Q15-Q16) is connected to the positive electrode of the battery power supply (BATTERY+) and the drain of the power tube (Q1), the drain of the power tube (Q15-Q16) is connected to the source of the power tube (Q13-Q14), the drain of the power tube (Q13-Q14) is connected to the intermediate DC bus (MIDBUS+), and the control chip (U2 ) inputs are respectively connected to the drain and source of the power tube (Q13-Q14), and the output is connected to the gate of the power tube (Q13-Q14); the control chip (U4) inputs are respectively connected to the drain and source of the power tube (Q18), and the output is connected to the gate of the power tube (Q14); the inputs of the diodes (D22, D23) are respectively connected to the positive electrode of the battery power supply (BATTERY+) and the output (VOUT+) of the BUCK / BOOST module, and the outputs are connected to the input of the auxiliary power supply (AUXILIARY_POWER).

[0142] During the starting state control, the power flows to the intermediate DC bus through the fifteenth switch tube Q15, the sixteenth switch tube Q16, the thirteenth switch tube Q13, and the fourteenth switch tube Q14 to supply the three-phase PWM inverter output to control the rotation of the permanent magnet synchronous motor. At this time, the eighteenth switch tube Q18 is reversely cut off, and the output (VOUT+) of the four-switch buck-boost module has no voltage.

[0143] When controlling the power generation state, the control module sends a power generation enable signal based on the position information, that is, the speed signal of the permanent magnet synchronous motor. The fifteenth switch tube Q15 and the sixteenth switch tube Q16 are disconnected, and the voltage required for the output (VOUT+) of the four-switch buck-boost module is output to the battery interface (BATTERY+) through the eighteenth switch tube Q18; the second chip U2 and the third chip U3 monitor the voltage difference between the drain and source of the power tube to turn on or short the power tube to reduce power loss.

[0144] The logic switching circuit includes a comparator circuit constructed by U3, a logic circuit constructed by U11, and a logic drive circuit constructed by Q17. The comparator circuit determines whether the four-switch buck-boost module is working by comparing its output voltage (VOUT+) with a preset voltage. Its output signal and the four-switch buck-boost module enable signal are output through a logic gate circuit and are used to control the on and off of the PMOS through a drive circuit.

[0145] The present invention also provides a control method for a starting and starting integrated system for small and medium power unmanned equipment, which is applied to the starting and starting integrated system for small and medium power unmanned equipment as described above, and the control method includes a starting state control process and a power generation state control process;

[0146] The start-up state control process includes:

[0147] Step A1, the state switching module cuts off the connection with the four-switch buck-boost module, the battery is connected to the intermediate DC bus through the state switching circuit, and the battery supplies power to the intermediate DC bus;

[0148] Step A2, the control module receives the collected position information of the permanent magnet synchronous motor, and outputs a pulse width modulation signal, and outputs a first drive signal after power amplification processing to drive the engine to work;

[0149] The power generation state control process includes:

[0150] Step B1, the engine drives the permanent magnet synchronous motor to rotate, so that the permanent magnet synchronous motor is in a power generation state;

[0151] Step B2, the three-phase signal output by the permanent magnet synchronous motor is converted into a two-phase signal by the three-phase PWM module, and then the four-switch buck-boost module outputs a stable DC voltage according to the two-phase signal under the action of the second drive signal;

[0152] Step B3, the state switching module cuts off the connection with the intermediate DC bus voltage and connects to the four-switch buck-boost module. The stable DC voltage is connected to the battery through the state switching module to charge the battery.

[0153] Specifically, in this embodiment, the starting and starting integrated system includes a starting state control process and a power generation state control process. During the starting state control, the energy transmission is battery → state switching module → intermediate DC bus MIDBUS+ → three-phase PWM module. The output of the three-phase PWM module drives the permanent magnet synchronous motor and then drives the engine to rotate. The specific steps are as follows: the battery is connected to the intermediate DC bus through the state switching module. During the starting stage, the battery completely provides energy to the intermediate DC bus. At this time, the state switching module cuts off the connection with the four-switch buck-boost module; the control module receives the collected voltage signal, position signal, communication interface signal, and current signal, and uses the six-step commutation method to send a drive signal to the motor drive module to drive the starter engine to work.

[0154] When the power generation state is controlled, the energy transmission is engine → permanent magnet synchronous motor → three-phase PWM module → intermediate DC bus → four-switch buck-boost module → state switching module → battery; the specific steps include: the engine drives the permanent magnet synchronous motor to rotate, at this time the permanent magnet synchronous motor is in the power generation state, the output three-phase electricity is a variable voltage and variable frequency AC electricity that changes with the engine speed, the three-phase electricity is rectified by the body diode and parallel diodes in the three-phase inverter itself into an intermediate DC bus voltage V_MIDBUS that fluctuates with the speed, the intermediate DC bus voltage V_MIDBUS is used as the input of the subsequent BUCK / BOOST circuit, according to the control chip (IC6) after receiving the power generation control signal of the control module, the four-switch buck-boost module is driven to output a stable voltage VOUT, the output voltage VOUT is connected to the state switching module, at this time the state switching module cuts off the connection with the intermediate DC bus voltage V_MIDBUS and turns to connect the output of the four-switch buck-boost module, the output voltage VOUT is connected to the battery through the state switching module to charge the battery.

[0155] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A starting and launching integrated system for small and medium power unmanned equipment, characterized in that: include: An engine, connected to the permanent magnet synchronous motor via a shaft, and used to drive the permanent magnet synchronous motor to rotate so that the permanent magnet synchronous motor is in a power generation state; A three-phase PWM module, connected to the three-phase output of the permanent magnet synchronous motor, converting the three-phase signal into a two-phase signal under the action of a first driving signal; A four-switch buck-boost module, connected to the two-phase output of the three-phase PWM module via an intermediate DC bus, outputting a stable DC voltage under the action of a second drive signal; a state switching module, controllably connected to the three-phase PWM module and controllably connected to the four-switch buck-boost module via an output DC bus, the state switching module also connected to the positive and negative electrodes of the battery and to the input positive and negative electrodes of an auxiliary power supply, for controlling the battery to supply power to the three-phase PWM module via the intermediate DC bus when in a starting state; and for controlling the four-switch buck-boost module to charge the battery when in a power generation state; A position detection module, connected to the permanent magnet synchronous motor, for collecting position information of the permanent magnet synchronous motor; A control module, connected to the position detection module, the communication interface and the auxiliary power supply, respectively, for outputting a pulse width modulation signal and a power generation control signal according to the position information; a motor driving module, connected to the control module and the three-phase PWM module respectively, and configured to output the first driving signal after power amplifying the pulse width modulation signal; A power generation control module, connected to the control module and the four-switch buck-boost module, respectively, for processing the power generation control signal and outputting the second drive signal; The three-phase PWM module comprises: A three-phase full-bridge circuit, wherein the AC input side of the three-phase full-bridge circuit is connected to the three-phase signal, the three-phase full-bridge circuit comprises first to twelfth switch tubes and first to sixth diodes, and the upper bridge arm and the lower bridge arm of each phase bridge arm are respectively composed of two switch tubes and a diode connected in parallel; Sampling resistors are respectively connected between the negative output end of the three-phase full-bridge circuit and the negative pole of the intermediate DC bus; A plurality of filter capacitors, the plurality of filter capacitors are connected in parallel and connected between the positive electrode and the negative electrode of the intermediate DC bus; The three-phase PWM module also includes a drive conditioning circuit, and the drive conditioning circuit includes: A pull-down resistor is connected between the gate and source of each switch tube of the three-phase full-bridge circuit respectively; A discharge diode and a discharge resistor, each of the discharge diodes and each of the discharge resistors are connected in series and are respectively connected between the gate of each switch tube of the three-phase full-bridge circuit and the output end of the motor drive module; A driving resistor, connected respectively between the gate of each switch tube of the three-phase full-bridge circuit and the output end of the motor driving module; The four-switch buck-boost module comprises: A first filter circuit, comprising a plurality of input filter capacitors connected in parallel, connected between the positive electrode and the negative electrode of the intermediate DC bus; Four identical BUCK / BOOST circuits, including 13th to 24th switching tubes and a first inductor, wherein the drains of the 16th to 18th switching tubes are connected to the first filtering circuit, the first end of the first inductor is connected to the sources of the 16th to 18th switching tubes and the drains of the 19th to 21st switching tubes, and the second end of the first inductor is connected to the sources of the 13th to 15th switching tubes and the drains of the 22nd to 24th switching tubes; A sampling resistor connected between the source electrodes of the nineteenth to twenty-fourth switch tubes and the ground terminal; A second filtering circuit is connected to the drains of the thirteenth to fifteenth switching tubes, comprises a plurality of output filtering capacitors connected in parallel, and is connected between the positive electrode and the negative electrode of the output DC bus; A BUCK / BOOST control circuit, configured to output four control signals to a control terminal of each of the BUCK / BOOST circuits according to the second drive signal; It also includes a voltage signal acquisition module, which includes: A first voltage acquisition circuit, used for acquiring the battery power supply voltage and outputting it to the first voltage signal input terminal of the control module; A second voltage acquisition circuit, used for acquiring the positive voltage of the intermediate DC bus and outputting it to the second voltage signal input terminal of the control module; A third voltage acquisition circuit, used for acquiring the voltage at the positive output terminal of the four-switch buck-boost module and outputting it to the third voltage signal input terminal of the control module; The three-phase PWM module further comprises: a current sensor (U1), a fifth end of the current sensor being connected to the positive output end of the three-phase full-bridge circuit, and a fourth end of the current sensor being connected to the positive pole of the intermediate DC bus; It also includes a current signal acquisition module, which includes: A current signal processing circuit is connected to the current sensor and is used to process the collected Hall current sampling signal and then output it to the control module; An overcurrent protection processing circuit, connected to the current sensor and the control module respectively, for comparing the Hall current sampling signal with a reference signal and outputting a comparison signal to the overcurrent protection terminal of the control module; The power generation control module comprises: A power generation control circuit, connected to the power generation control terminal of the control module and the BUCK / BOOST control circuit respectively; The power generation enable control circuit is connected to the power generation control circuit and the four-switch buck-boost module respectively, and is used to output a power generation enable signal or a power generation enable prohibition signal.

2. The integrated starting and launching system for small and medium power unmanned equipment according to claim 1, characterized in that: The motor drive module includes several drive circuits, the input of each drive circuit is respectively connected to the PWM drive signal output end of the control module, and the output of each drive circuit is respectively connected to the two drive conditioning circuits of each phase bridge arm to form a three-phase inverter drive circuit.

3. The integrated starting and launching system for small and medium power unmanned equipment according to claim 1, characterized in that: The state switching module comprises: The main power loop circuit comprises a first power supply path, the input of the first power supply path is connected to the positive electrode of the battery, and the output of the first power supply path is connected to the three-phase PWM module through the intermediate DC bus; a second power supply path, the input of the second power supply path is connected to the four-switch buck-boost module, and the output of the second power supply path is connected to the positive electrode of the battery; The logic switching circuit includes a comparator circuit, a logic circuit and a logic drive circuit. The comparator circuit is used to compare the output voltage of the four-switch buck-boost module with a preset voltage. The logic circuit is used to process the signal output by the comparator circuit and the enable signal of the four-switch buck-boost module through a logic gate and output it to the logic drive circuit. The logic drive circuit is connected to the first power supply path of the main power loop circuit.

4. A control method for a starting and launching integrated system for small and medium power unmanned equipment, characterized in that: Applied to the integrated starting and starting system for small and medium power unmanned equipment as claimed in any one of claims 1 to 3, the control method includes a starting state control process and a power generation state control process; The starting state control process includes: Step A1, the state switching circuit cuts off the connection with the four-switch buck-boost module, the battery is connected to the intermediate DC bus via the state switching module, and the battery supplies power to the intermediate DC bus; Step A2, the control module receives the collected position information of the permanent magnet synchronous motor, and outputs a pulse width modulation signal, and outputs a first drive signal after power amplification processing to drive the engine to work; The power generation state control process includes: Step B1, the engine drives the permanent magnet synchronous motor to rotate, so that the permanent magnet synchronous motor is in a power generation state; Step B2, the three-phase signal output by the permanent magnet synchronous motor is converted into a two-phase signal by the three-phase PWM module, and then the four-switch buck-boost module outputs a stable DC voltage according to the two-phase signal under the action of the second drive signal; Step B3, the state switching module cuts off the connection with the intermediate DC bus voltage and switches to the four-switch buck-boost module, and the stable DC voltage is connected to the battery through the state switching module to charge the battery.

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