Speed ​​control method, device, electronic device and computer-readable storage medium

Abstract

The present application discloses a speed control method, device, electronic device, and computer-readable storage medium. The method and the electronic device are applied to control the speed of the engine of an unmanned helicopter. Specifically, when the engine is in the off state, the throttle servo control mechanism is driven to drive the engine to start according to the start instruction, and the engine is controlled to run in an idle state based on a feedforward control method; then, the engine is driven to perform a slow start based on the constant speed operation instruction; after the slow start is completed, the throttle servo control mechanism is driven to control the engine to run in a constant speed state according to the speed difference. The present application can smoothly transition the engine of the unmanned helicopter from the off state to the constant speed state through multiple stages of transition, avoiding the problem of large speed fluctuations when implementing speed control through feedforward control, thereby avoiding damage to the engine and improving system stability and robustness.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and more specifically, to a rotation speed control method, device, electronic device, and storage medium. Background Art

[0002] Unmanned helicopters typically rely on engine power for aerial operations. During filming and agricultural operations, stable and reliable engine operation is crucial. Currently, unmanned helicopters typically use a single feedforward control system to adjust the throttle position during operation. This control method can lead to large fluctuations in rotor speed. When the speed varies significantly, the engine accelerates rapidly, causing intense operation and potentially damaging the engine. Furthermore, the system suffers from poor stability and robustness. Summary of the Invention

[0003] In view of this, the present application provides a speed control method, device, electronic device and storage medium for controlling the speed of the engine of an unmanned helicopter to avoid the problem of large speed fluctuations when the unmanned helicopter implements speed control through feedforward control.

[0004] In order to achieve the above objectives, the following solutions are proposed:

[0005] A speed control method is applied to an electronic device for controlling the speed of an engine of an unmanned helicopter, wherein the engine is provided with a throttle steering gear control mechanism. The speed control method comprises the following steps:

[0006] When the engine is in the off state, in response to a user's start command, the throttle steering gear control mechanism is driven to implement start control on the engine so as to start the engine, and the engine is controlled to run in an idle state based on a feedforward control method;

[0007] In response to a user's constant speed operation instruction, the throttle steering gear control mechanism is driven to perform a slow start control on the engine, so that the engine is operated to perform a slow start;

[0008] After the slow start is completed, the throttle steering gear control mechanism is driven to control the engine to run at a constant speed according to the speed difference.

[0009] Optionally, the feedforward control method is used to control the engine to operate in an idle state, comprising the steps of:

[0010] The throttle steering gear control mechanism is driven by a feedforward control method to implement startup control on the engine based on the idle throttle.

[0011] Optionally, the driving of the throttle steering gear control mechanism to control the engine to operate at a constant speed according to the speed difference comprises the steps of:

[0012] When the actual speed is lower than the target speed and differs from the target speed by a first difference, driving the throttle steering gear control mechanism to control the engine in a feedforward control manner;

[0013] When the actual speed is lower than the target speed and differs from the target speed by a second difference, driving the throttle steering gear control mechanism to control the engine in a first feedback control manner, and the second difference is smaller than the first difference;

[0014] When the actual speed is lower than the target speed and differs from the target speed by a third difference, driving the throttle steering gear control mechanism to control the engine in a second feedback control manner, and the third difference is smaller than the second difference;

[0015] When the actual speed is higher than the target speed, the throttle steering gear control mechanism is driven to control the engine based on the feedforward throttle and the feedforward throttle coefficient.

[0016] Optionally, the following steps are also included:

[0017] When the engine is in a constant speed state, according to a user's shutdown instruction, the engine is controlled to pass through the idle state and then perform a shutdown operation.

[0018] A speed control device is applied to an electronic device for controlling the speed of an engine of an unmanned helicopter, wherein the engine is provided with a throttle steering gear control mechanism. The speed control device comprises:

[0019] a start control module configured to, when the engine is in an off state, respond to a start command from a user, drive the throttle steering gear control mechanism to implement start control on the engine so as to start the engine, and control the engine to operate in an idle state based on a feedforward control method;

[0020] a slow-start control module configured to respond to a user's constant-speed operation instruction and drive the throttle steering gear control mechanism to perform slow-start control on the engine, so that the engine is slow-started;

[0021] The constant speed control module is configured to drive the throttle steering gear control mechanism to control the engine to run in a constant speed state according to the speed difference after completing the slow start.

[0022] Optionally, the start-up control module is further configured to drive the throttle servo control mechanism to implement start-up control on the engine based on the idle throttle through a feedforward control method.

[0023] Optionally, the constant speed control module includes:

[0024] a first control unit configured to drive the throttle steering gear control mechanism to control the engine in a feedforward control manner when the actual speed is lower than the target speed and differs from the target speed by a first difference;

[0025] a second control unit configured to drive the throttle steering gear control mechanism to control the engine in a first feedback control manner when the actual speed is lower than the target speed and differs from the target speed by a second difference, and the second difference is smaller than the first difference;

[0026] a third control unit configured to drive the throttle steering gear control mechanism to control the engine in a second feedback control manner when the actual speed is lower than the target speed and differs from the target speed by a third difference, and the third difference is smaller than the second difference;

[0027] The fourth control unit is configured to drive the throttle steering gear control mechanism to control the engine based on the feedforward throttle and the feedforward throttle coefficient when the actual speed is higher than the target speed.

[0028] Optionally, also include:

[0029] The engine shutdown control module is configured to control the engine to pass through the idle state and then execute the engine shutdown operation according to the user's engine shutdown instruction when the engine is in a constant speed state.

[0030] An electronic device, applied to an unmanned helicopter, comprising at least one processor and a memory connected to the processor, wherein:

[0031] The memory is used to store computer programs or instructions;

[0032] The processor is configured to execute the computer program or instruction so as to enable the electronic device to implement the rotation speed control method as described above.

[0033] A computer-readable storage medium is applied to an electronic device, wherein the computer-readable storage medium carries one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device can implement the speed control method described above.

[0034] As can be seen from the above technical solutions, the present application discloses a speed control method, device, electronic device and computer-readable storage medium. The method and the electronic device are used to control the speed of the engine of an unmanned helicopter. Specifically, when the engine is in the off state, the throttle servo control mechanism is driven to drive the engine to start according to the start instruction, and the engine is controlled to run in an idle state based on the feedforward control method; then the engine is driven to perform a slow start based on the constant speed operation instruction; after the slow start is completed, the throttle servo control mechanism is driven to control the engine to run in a constant speed state according to the speed difference. The present application can make the engine of the unmanned helicopter smoothly enter the constant speed state from the off state through multiple stages of transition, avoiding the problem of large speed fluctuation when implementing speed control through feedforward control, thereby avoiding damage to the engine and improving the stability and robustness of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 This is a flow chart of a speed control method according to an embodiment of the present application;

[0037] Figure 2a This is the control logic diagram of the idle stage in the embodiment of this application;

[0038] Figure 2b This is a control logic diagram of the slow start phase in the embodiment of the present application;

[0039] Figure 2c This is a control logic diagram of the constant speed state in the embodiment of the present application;

[0040] Figure 2d This is a control logic diagram of the M1 control mode in the embodiment of the present application;

[0041] Figure 2e This is a control logic diagram of the M2 control mode in the embodiment of the present application;

[0042] Figure 2f This is a control logic diagram of the M3 control mode in the embodiment of the present application;

[0043] Figure 2g This is the control logic diagram of the M4 control mode in the embodiment of the present application;

[0044] Figure 3 This is a flow chart of another speed control method according to an embodiment of the present application;

[0045] Figure 4 This is a block diagram of a speed control device according to an embodiment of the present application;

[0046] Figure 5 This is a block diagram of another speed control device according to an embodiment of the present application;

[0047] Figure 6 This is a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] The technical solution of this application is applied to an unmanned helicopter, or a cross-wing unmanned helicopter, for controlling the engine speed of the unmanned helicopter. The ECU of the unmanned helicopter's engine can output the actual engine speed. Furthermore, given that the actual speed output by the ECU may contain errors, two circular magnets are mounted on the pulley of the unmanned helicopter in this application. An NPN normally open Hall effect sensor or other type of Hall effect sensor is also mounted 2 to 4 mm from the pulley, so that the actual engine speed can be determined based on the signal output by the Hall effect sensor. This dual-redundant design allows for more accurate actual speed.

[0050] The unmanned helicopter in this solution uses a throttle servo control mechanism to control the engine speed. The throttle servo control mechanism consists of a throttle servo controller, a throttle servo frame, and a throttle connecting rod.

[0051] The engine of the unmanned helicopter in this embodiment will operate in the following states:

[0052] Shutdown state: the state when the engine is shut down and not running;

[0053] Idle state: After starting or before shutting down, the engine is in a slower speed stage to warm up the engine or cool it down after exiting the fixed speed state;

[0054] Slow start state: the transition stage between the engine's idle state and the constant speed state;

[0055] Constant speed state: The operating state adopted by the engine of an unmanned helicopter during normal flight, that is, running at a certain target speed.

[0056] Based on the above, the following specific embodiments are proposed to control the rotational speed of the engine.

[0057] Example 1

[0058] Figure 1 A flow chart of a speed control method according to an embodiment of the present application.

[0059] like Figure 1 As shown, the speed control method provided in this embodiment is applied to an electronic device for controlling the speed of an unmanned helicopter engine. The electronic device can be understood as a computer or embedded device with information processing and data computing capabilities. The specific implementation can be based on the ECU of the engine. Specifically, the speed control method includes the following steps:

[0060] S1. Control the engine to start and run at idle speed.

[0061] When the engine is in the off state, when receiving the user's start command, the throttle steering control mechanism is driven to start the engine, that is, to control the engine to start. After the start is completed, the engine is controlled to run in an idle state based on the feedforward control method.

[0062] refer to Figure 2a As shown, at this stage the engine needs to be debugged to a suitable idle throttle φ idle , ensuring that the throttle can start the engine normally and maintain the idle speed within the range of 2000-3000 rpm. It is important to note that since temperature can affect battery and engine performance, when the temperature is low, the idle throttle can be appropriately increased to ensure normal engine starting. Wait until the cylinder temperature reaches above 80°C before adjusting the idle throttle back to prevent the drone from idling too high at the end of flight.

[0063] In the idle stage, the engine speed control uses the idle throttle as input, which is passed to the throttle servo controller, and the value given to the throttle servo controller is defined as the desired throttle θ out The desired throttle is calculated as follows:

[0064] θ out =φ idle

[0065] S2. Drive the engine to perform slow start control according to the constant speed operation command.

[0066] That is, after the engine has been running in the idling state for a certain period of time, when a timed operation instruction is received from the user via remote control or from the engine control device according to a predetermined task, the throttle servo control mechanism is driven to control the engine to perform a slow start, that is, the engine is driven into the slow start state.

[0067] refer to Figure 2b As shown, considering that there is a large difference between the actual speed and the target speed when switching from idle state to constant speed state, directly controlling the engine at the target speed will cause the engine to accelerate too sharply, which will cause certain damage to the engine. For this reason, this application adds a slow start state stage for speed transition, which only lasts for t ramp Second.

[0068] Duration t ramp The design should make the engine speed-up process as fast as possible without being too drastic. The purpose of the soft starter can be achieved by using a timer, which can be regarded as a gain G that changes with time. t , G t The value is 0 when the algorithm is first started, and increases with each call until t ramp When the value in seconds increases to 1, the system automatically enters the constant speed state.

[0069] The expected throttle calculation formula is as follows, and the control structure is as follows Figure 2b shown.

[0070] θ out =(φ f -φ idle )G t +φ idle

[0071] Preferably, take t ramp =19.

[0072] S3: After completing the slow start, the engine is driven to run at a constant speed.

[0073] After the engine completes slow start based on the constant speed operation instruction and enters the constant speed state, the engine is controlled to maintain the constant speed state based on the difference between the actual speed and the target speed, that is, the engine is kept running at the target speed and within a certain range from the target speed.

[0074] refer to Figure 2c As shown in the figure, this is the control logic diagram of the constant speed stage. There are four control modules under the constant speed operation state, namely M1 control mode, M2 control mode, M3 control mode and M4 control mode. The control is based on the difference Δn between the target speed and the actual speed of the engine and the difference threshold n. r The size relationship between them is determined, and the control mode of the engine is controlled based on the relationship.

[0075] When the actual speed is lower than the target speed and differs from the target speed by a first difference, the throttle steering gear control mechanism is driven to control the engine in a feedforward control manner. The specific control scheme is as follows:

[0076] refer to Figure 2d As shown, when |Δn|>n r When the actual speed differs too much from the target speed, that is, the difference is the first difference, then the engine is controlled using the M1 control mode. Since the feedforward throttle is defined as the approximate throttle value corresponding to the target speed at the current collective pitch, this control mode directly uses the feedforward throttle as the input of the throttle servo controller, quickly increasing the speed to near the target speed. The expected throttle is calculated as follows:

[0077] θ out =φ f

[0078] It should be pointed out that, in addition to just entering the constant speed state, when the Hall sensor has an abnormal value or the speed disappears, it will also enter the M1 control mode, and use the feedforward throttle to control the engine speed. This can greatly avoid accidents caused by Hall sensor failure.

[0079] When the actual speed is lower than the target speed and differs from the target speed by a second difference, the throttle steering gear control mechanism is driven to control the engine according to the first feedback control mode, and the second difference is smaller than the first difference;

[0080] refer to Figure 2e As shown, when 0.4n r <Δn<n r When the actual speed is much lower than the target speed, that is, the difference between the two is the second difference, the throttle steering control mechanism is driven to control the engine to enter the M2 control mode. This control mode feeds forward the throttle φ f Multiply the feedforward throttle coefficient G f As feedforward, add proportional coefficient K P Feedback control is performed on the speed difference Δn to quickly reduce the difference. The expected throttle calculation formula is as follows:

[0081] θ out =φ f G f +Δnφ f K P

[0082] Among them G f is the feedforward throttle coefficient, K P is the proportional coefficient.

[0083] When the actual speed is lower than the target speed and differs from the target speed by a third difference, the throttle steering gear control mechanism is driven to control the engine according to the second feedback control mode, and the third difference is less than the second difference;

[0084] refer to Figure 2f As shown, when 0<Δn<0.4nr When the actual speed is lower than the target speed but the difference is not much, that is, the difference between the two is the third difference, then the throttle steering control mechanism is driven to control the engine to enter the M3 control mode. The control logic of this control mode is the same as the M2 mode, but the proportional gain K P Change to 2K P , perform relatively fast control and quickly adjust the throttle to the target speed. The expected throttle calculation formula is as follows:

[0085] θ out =φ f G f +2Δnφ f K P

[0086] When the actual speed is higher than the target speed, the throttle steering gear control mechanism is driven to control the engine based on the feedforward throttle and the feedforward throttle coefficient.

[0087] refer to Figure 2g As shown, when Δn<0, the actual speed is higher than the target speed, and the throttle steering control mechanism is driven to control the engine to enter the M4 control mode. This control mode only feeds the throttle φ f Multiply the feedforward throttle coefficient G f As the input of the throttle servo controller, it is equivalent to giving a slightly lower target speed, which quickly reduces the engine speed. The expected throttle calculation formula is as follows:

[0088] θ out =φ f G f

[0089] As can be seen from the above technical solution, this embodiment provides a speed control method, which is applied to electronic equipment and is used to control the speed of the engine of an unmanned helicopter. Specifically, when the engine is in the off state, the throttle servo control mechanism is driven to drive the engine to start according to the start instruction, and the engine is controlled to run in the idle state based on the feedforward control method; then the engine is driven to perform a slow start based on the constant speed operation instruction; after the slow start is completed, the throttle servo control mechanism is driven to control the engine to run in the constant speed state according to the speed difference. This application can make the engine of the unmanned helicopter smoothly enter the constant speed state from the off state through multiple stages of transition, avoiding the problem of large speed fluctuation when implementing speed control through feedforward control, thereby avoiding damage to the engine and improving the stability and robustness of the system.

[0090] In addition, this application also includes the following steps: Figure 3 shown.

[0091] S4. Control the engine to shut down according to the shutdown instruction.

[0092] That is, when the engine is in a constant speed state, when the user's shutdown command is received, the engine is controlled to pass through the idle state according to the shutdown command, and then the shutdown operation is performed. This allows the engine to go through a cooling process, avoiding sudden shutdown causing the cooling system to stop working, making it impossible for the engine to cool down.

[0093] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0094] Although the operations are depicted in a particular order, this should not be understood as requiring that the operations be performed in the particular order shown or in a sequential order.Multitasking and parallel processing may be advantageous under certain circumstances.

[0095] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0096] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as C or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.

[0097] Example 2

[0098] Figure 4 A block diagram of a speed control device according to an embodiment of the present application.

[0099] like Figure 4 As shown, the speed control device provided in this embodiment is applied to an electronic device for controlling the speed of an unmanned helicopter engine. The electronic device can be understood as a computer or embedded device with information processing and data computing capabilities. Specifically, the speed control device can be implemented based on the engine's ECU. Specifically, the speed control device includes a start-up control module 10, a soft start control module 20, and a constant speed control module 30.

[0100] The start control module is used to control the engine to start and run in idle state.

[0101] When the engine is in the off state, when receiving the user's start command, the throttle steering control mechanism is driven to start the engine, that is, to control the engine to start. After the start is completed, the engine is controlled to run in an idle state based on the feedforward control method.

[0102] refer to Figure 2a As shown, at this stage the engine needs to be debugged to a suitable idle throttle φ idle , ensuring that the throttle can start the engine normally and maintain the idle speed within the range of 2000-3000 rpm. It is important to note that since temperature can affect battery and engine performance, when the temperature is low, the idle throttle can be appropriately increased to ensure normal engine starting. Wait until the cylinder temperature reaches above 80°C before adjusting the idle throttle back to prevent the drone from idling too high at the end of flight.

[0103] In the idle stage, the engine speed control uses the idle throttle as input, which is passed to the throttle servo controller, and the value given to the throttle servo controller is defined as the desired throttle θ out The desired throttle is calculated as follows:

[0104] θ out =φ idle

[0105] The slow start control module is used to drive the engine to perform slow start control according to the constant speed operation instruction.

[0106] That is, after the engine has been running in the idling state for a certain period of time, when a timed operation instruction is received from the user via remote control or from the engine control device according to a predetermined task, the throttle servo control mechanism is driven to control the engine to perform a slow start, that is, the engine is driven into the slow start state.

[0107] refer to Figure 2bAs shown, considering that there is a large difference between the actual speed and the target speed when switching from idle state to constant speed state, directly controlling the engine at the target speed will cause the engine to accelerate too sharply, which will cause certain damage to the engine. For this reason, this application adds a slow start state stage for speed transition, which only lasts for t ramp Second.

[0108] Duration t ramp The design should make the engine speed-up process as fast as possible without being too drastic. The purpose of the soft starter can be achieved by using a timer, which can be regarded as a gain G that changes with time. t , G t The value is 0 when the algorithm is first started, and increases with each call until t ramp When the value in seconds increases to 1, the system automatically enters the constant speed state.

[0109] The expected throttle calculation formula is as follows, and the control structure is as follows Figure 2b shown.

[0110] θ out =(φ f -φ idle )G t +φ idle

[0111] Preferably, take t ramp =19.

[0112] The constant speed control module is used to control the engine to run at a constant speed after completing slow start.

[0113] After the engine completes slow start based on the constant speed operation instruction and enters the constant speed state, the engine is controlled to maintain the constant speed state based on the difference between the actual speed and the target speed, that is, the engine is kept running at the target speed and within a certain range from the target speed.

[0114] refer to Figure 2c As shown in the figure, this is the control logic diagram of the constant speed stage. There are four control modules under the constant speed operation state, namely M1 control mode, M2 control mode, M3 control mode and M4 control mode. The control is based on the difference Δn between the target speed and the actual speed of the engine and the difference threshold n. r Specifically, the module includes a first control unit, a second control unit, a third control unit, and a fourth control unit.

[0115] The first control unit is configured to drive the throttle steering gear control mechanism to control the engine in a feedforward control manner when the actual speed is lower than the target speed and differs from the target speed by a first difference. The specific control scheme is as follows:

[0116] refer to Figure 2d As shown, when |Δn|>n r When the actual speed differs too much from the target speed, that is, the difference is the first difference, then the engine is controlled using the M1 control mode. Since the feedforward throttle is defined as the approximate throttle value corresponding to the target speed at the current collective pitch, this control mode directly uses the feedforward throttle as the input of the throttle servo controller, quickly increasing the speed to near the target speed. The expected throttle is calculated as follows:

[0117] θ out =φ f

[0118] It should be pointed out that, in addition to just entering the constant speed state, when the Hall sensor has an abnormal value or the speed disappears, it will also enter the M1 control mode, and use the feedforward throttle to control the engine speed. This can greatly avoid accidents caused by Hall sensor failure.

[0119] The second control unit is configured to drive the throttle steering gear control mechanism to control the engine in a first feedback control manner when the actual speed is lower than the target speed and differs from the target speed by a second difference, and the second difference is smaller than the first difference;

[0120] refer to Figure 2e As shown, when 0.4n r <Δn<n r When the actual speed is much lower than the target speed, that is, the difference between the two is the second difference, the throttle steering control mechanism is driven to control the engine to enter the M2 control mode. This control mode feeds forward the throttle φ f Multiply the feedforward throttle coefficient G f As feedforward, add proportional coefficient K P Feedback control is performed on the speed difference Δn to quickly reduce the difference. The expected throttle calculation formula is as follows:

[0121] θ out =φ f G f +Δnφ f K P

[0122] Among them G f is the feedforward throttle coefficient, K P is the proportional coefficient.

[0123] The third control unit is configured to drive the throttle steering gear control mechanism to control the engine in a second feedback control manner when the actual speed is lower than the target speed and differs from the target speed by a third difference, and the third difference is smaller than the second difference;

[0124] refer to Figure 2f As shown, when 0<Δn<0.4n r When the actual speed is lower than the target speed but the difference is not much, that is, the difference between the two is the third difference, then the throttle steering control mechanism is driven to control the engine to enter the M3 control mode. The control logic of this control mode is the same as the M2 mode, but the proportional gain K P Change to 2K P , perform relatively fast control and quickly adjust the throttle to the target speed. The expected throttle calculation formula is as follows:

[0125] θ out =φ f G f +2Δnφ f K P

[0126] The fourth control unit is used to drive the throttle steering gear control mechanism to control the engine based on the feedforward throttle and the feedforward throttle coefficient when the actual speed is higher than the target speed.

[0127] refer to Figure 2g As shown, when Δn<0, the actual speed is higher than the target speed, and the throttle steering control mechanism is driven to control the engine to enter the M4 control mode. This control mode only feeds the throttle φ f Multiply the feedforward throttle coefficient G f As the input of the throttle servo controller, it is equivalent to giving a slightly lower target speed, which quickly reduces the engine speed. The expected throttle calculation formula is as follows:

[0128] θ out =φ f G f

[0129] As can be seen from the above technical solution, this embodiment provides a speed control device, which is applied to electronic equipment and is used to control the speed of the engine of an unmanned helicopter. Specifically, when the engine is in the off state, the throttle servo control mechanism is driven to drive the engine to start according to the start instruction, and the engine is controlled to run in the idle state based on the feedforward control method; then the engine is driven to perform a slow start based on the constant speed operation instruction; after the slow start is completed, the throttle servo control mechanism is driven to control the engine to run in the constant speed state according to the speed difference. This application can make the engine of the unmanned helicopter smoothly enter the constant speed state from the off state through multiple stages of transition, avoiding the problem of large speed fluctuation when implementing speed control through feedforward control, thereby avoiding damage to the engine and improving the stability and robustness of the system.

[0130] In addition, the present application also includes a car shutdown control module 40, such as Figure 5 shown.

[0131] The shutdown control module is used to control the engine shutdown according to the shutdown instruction.

[0132] That is, when the engine is in a constant speed state, when the user's shutdown command is received, the engine is controlled to pass through the idle state according to the shutdown command, and then the shutdown operation is performed. This allows the engine to go through a cooling process, avoiding sudden shutdown causing the cooling system to stop working, making it impossible for the engine to cool down.

[0133] The units involved in the embodiments described in this disclosure may be implemented in software or hardware. In some cases, the name of a unit does not limit the unit itself. For example, the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses."

[0134] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0135] Example 3

[0136] This embodiment provides an electronic device, referring to Figure 6 , which shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure. The terminal device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. This electronic device is merely an example and should not limit the functions and scope of use of the embodiments of the present disclosure.

[0137] The electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage device 606 into a random access memory (RAM) 603. Various programs and data required for the operation of the electronic device are also stored in the RAM 603. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0138] Typically, the following devices may be connected to the I / O interface 605: an input device 606 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 606 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 609. The communication device 609 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows an electronic device with various devices, it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0139] Example 4

[0140] This embodiment provides a computer-readable storage medium that carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device can, when the engine is in the off state, drive the throttle servo control mechanism to drive the engine to start according to the start instruction, and control the engine to run in the idle state based on the feedforward control method; then drive the engine to perform a slow start based on the constant speed operation instruction; after completing the slow start, drive the throttle servo control mechanism to control the engine to run in the constant speed state according to the speed difference. This application can make the engine of the unmanned helicopter smoothly enter the constant speed state from the off state through multiple stages of transition, avoiding the problem of large speed fluctuation when implementing speed control through feedforward control, thereby avoiding damage to the engine and improving the stability and robustness of the system.

[0141] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0142] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0143] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0144] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0145] The technical solution provided by the present invention is introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A speed control method, applied to electronic equipment, for controlling the speed of an engine of an unmanned helicopter, wherein the engine is provided with a throttle steering gear control mechanism, characterized in that: The speed control method comprises the steps of: When the engine is in the off state, in response to a user's start command, the throttle steering gear control mechanism is driven to implement start control on the engine so as to start the engine, and the engine is controlled to run in an idle state based on a feedforward control method; In response to the user's constant speed operation command, the throttle steering control mechanism is driven to perform slow start control on the engine, so that the engine operation is slow started; wherein, in the slow start stage, the time gain function G t Gradually increase the engine throttle to make the G t It increases linearly from the initial value 0 to 1, and the duration of the slow start phase is t ramp Second; After completing the soft start, driving the throttle steering gear control mechanism to control the engine to run at a constant speed according to the speed difference; The step of driving the throttle steering gear control mechanism to control the engine to operate at a constant speed according to the speed difference comprises the following steps: When the actual speed is lower than the target speed and differs from the target speed by a first difference, the throttle steering gear control mechanism is driven to control the engine in a feedforward control manner; the feedforward control manner directly uses a feedforward throttle as an input to the throttle steering gear control mechanism to quickly bring the speed to near the target speed, the feedforward throttle being an approximate throttle value corresponding to the target speed at the current collective pitch; When the actual speed is lower than the target speed and differs from the target speed by a second difference, the throttle steering gear control mechanism is driven to control the engine according to a first feedback control mode, and the second difference is smaller than the first difference; the first feedback control mode uses the feedforward throttle multiplied by the feedforward throttle coefficient as feedforward, and adds a proportional coefficient to perform feedback control on the second difference, so that the second difference is rapidly reduced; When the actual speed is lower than the target speed and differs from the target speed by a third difference, the throttle steering gear control mechanism is driven to control the engine according to a second feedback control mode, and the third difference is less than the second difference; the control logic of the second feedback control mode is the same as the control logic of the first feedback control mode, and the proportional coefficient of the second feedback control mode is twice the proportional coefficient of the first feedback control mode, so that the speed is quickly adjusted to the target speed; When the actual speed is higher than the target speed, the throttle steering gear control mechanism is driven to control the engine based on the feedforward throttle and the feedforward throttle coefficient.

2. The speed control method according to claim 1, wherein: The method of controlling the engine to operate in an idle state based on a feedforward control method comprises the following steps: The throttle steering gear control mechanism is driven by a feedforward control method to implement startup control on the engine based on the idle throttle.

3. The speed control method according to any one of claims 1 to 2, characterized in that: Also includes the steps: When the engine is in a constant speed state, according to a user's shutdown instruction, the engine is controlled to pass through the idle state and then perform a shutdown operation.

4. A speed control device, applied to electronic equipment, for controlling the speed of an engine of an unmanned helicopter, wherein the engine is provided with a throttle steering gear control mechanism, characterized in that: The speed control device comprises: a start control module configured to, when the engine is in an off state, respond to a start command from a user, drive the throttle steering gear control mechanism to implement start control on the engine so as to start the engine, and control the engine to operate in an idle state based on a feedforward control method; The slow start control module is configured to respond to the user's constant speed operation instruction and drive the throttle steering control mechanism to perform slow start control on the engine so that the engine operation is slow started; wherein, in the slow start stage, the time gain function G t Gradually increase the engine throttle to make the G t It increases linearly from the initial value 0 to 1, and the duration of the slow start phase is t ramp Second; a constant speed control module configured to drive the throttle steering gear control mechanism to control the engine to run at a constant speed according to the speed difference after completing the soft start; Wherein, the constant speed control module includes: a first control unit configured to, when an actual speed is lower than a target speed and differs from the target speed by a first difference, drive the throttle servo control mechanism to control the engine in a feedforward control manner; the feedforward control manner directly uses a feedforward throttle as an input to the throttle servo control mechanism to quickly bring the speed to near the target speed, the feedforward throttle being an approximate throttle value corresponding to the target speed at a current collective pitch; a second control unit configured to drive the throttle steering gear control mechanism to control the engine in a first feedback control mode when the actual speed is lower than the target speed and differs from the target speed by a second difference, and the second difference is smaller than the first difference; the first feedback control mode uses the feedforward throttle multiplied by the feedforward throttle coefficient as feedforward, and adds a proportional coefficient to perform feedback control on the second difference, so that the second difference is rapidly reduced; a third control unit configured to drive the throttle steering gear control mechanism to control the engine in a second feedback control mode when the actual speed is lower than the target speed and differs from the target speed by a third difference, the third difference being smaller than the second difference; the control logic of the second feedback control mode being the same as the control logic of the first feedback control mode, and the proportional coefficient of the second feedback control mode being twice the proportional coefficient of the first feedback control mode, so that the speed is quickly adjusted to the target speed; The fourth control unit is configured to drive the throttle steering gear control mechanism to control the engine based on the feedforward throttle and the feedforward throttle coefficient when the actual speed is higher than the target speed.

5. The rotation speed control device according to claim 4, wherein: The start-up control module is further configured to drive the throttle steering gear control mechanism to implement start-up control on the engine based on the idle throttle through a feedforward control method.

6. The rotation speed control device according to any one of claims 4 to 5, characterized in that: Also includes: The engine shutdown control module is configured to control the engine to pass through the idle state and then execute the engine shutdown operation according to the user's engine shutdown instruction when the engine is in a constant speed state.

7. An electronic device, applied to an unmanned helicopter, characterized in that: The electronic device comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs or instructions; The processor is configured to execute the computer program or instruction so that the electronic device implements the rotational speed control method according to any one of claims 1 to 3.

8. A computer-readable storage medium, applied to an electronic device, characterized in that: The computer-readable storage medium carries one or more computer programs. When the one or more computer programs are executed by the electronic device, the electronic device can implement the speed control method according to any one of claims 1 to 3.

Images