Control method and system of variable speed and variable torque coaxial counter-rotating ducted fan device based on FOC algorithm

Abstract

The application discloses a control method and system of a variable speed and variable torque coaxial counter-rotating duct device based on a FOC algorithm, the method comprising collecting air pressures of a primary air chamber and a secondary air chamber, and obtaining input power of a controller of the air cushion vehicle; calculating output power of a primary motor and a secondary motor; obtaining a heading angle of the air cushion vehicle; performing difference value operation on the heading angle of the air cushion vehicle and a preset heading angle to obtain an error value; calculating power of a heading angle adjustment part; and calculating total power of the primary motor and the secondary motor, so as to control the primary motor to be in a high speed mode and the secondary motor to be in a high torque and low speed mode. The application solves the problem that, due to the existence of the duct pipe, the flow rates of the gas flowing through the helical forward propeller and the helical counter-rotating propeller are different, the counter-torques generated by the helical forward propeller and the helical counter-rotating propeller are different, and the counter-torques of the whole coaxial counter-rotating duct device cannot be offset, thereby causing the air cushion vehicle body to rotate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coaxial contra-rotating ducted fan device, in particular to a variable speed and variable torque coaxial contra-rotating ducted fan device control method and system based on FOC algorithm. BACKGROUND

[0002] At present, small unmanned hovercraft adopts coaxial contra-rotating ducted fan device. In the traditional coaxial contra-rotating ducted fan device, the mutual rotation of the helical propeller and the helical contra-rotating propeller generates counter-torque. Even if the helical propeller and the helical contra-rotating propeller are at the same speed, due to the existence of the duct pipe, the gas flow rates through the helical propeller and the helical contra-rotating propeller are different, causing the helical propeller and the helical contra-rotating propeller to generate different counter-torque, and further causing the torque of the entire coaxial contra-rotating ducted fan device to be unable to be offset, resulting in the self-rotation of the hovercraft body. SUMMARY

[0003] In view of the above defects, the present application provides a variable speed and variable torque coaxial contra-rotating ducted fan device control method and system based on FOC algorithm, which aims to solve the problem that in the traditional coaxial contra-rotating ducted fan device, due to the existence of the duct pipe, the gas flow rates through the helical propeller and the helical contra-rotating propeller are different, causing the helical propeller and the helical contra-rotating propeller to generate different counter-torque, and further causing the torque of the entire coaxial contra-rotating ducted fan device to be unable to be offset, resulting in the self-rotation of the hovercraft body.

[0004] To achieve this purpose, the present application adopts the following technical solutions:

[0005] The variable speed and variable torque coaxial contra-rotating ducted fan device control method based on FOC algorithm comprises the following steps:

[0006] Step S1: collect the air pressure of the primary air chamber and the secondary air chamber, and obtain the input power of the controller of the hovercraft;

[0007] Step S2: calculate the output power of the primary motor and the secondary motor respectively according to the air pressure of the primary air chamber, the air pressure of the secondary air chamber and the input power of the controller of the hovercraft;

[0008] Step S3: obtain the drive current data value of the primary motor and the secondary motor;

[0009] Step S4: obtain the torque of the helical propeller and the helical contra-rotating propeller according to the drive current data value of the primary motor and the secondary motor;

[0010] Step S5: obtain the heading angle of the hovercraft according to the torque of the helical propeller and the helical contra-rotating propeller;

[0011] Step S6: perform difference value operation on the heading angle of the hovercraft and the preset heading angle to obtain an error value;

[0012] Step S7: calculate the power of the heading angle adjustment part according to the error value;

[0013] Step S8: According to the output power of the first motor, the output power of the second motor and the power of the heading angle adjustment part, the total power of the first motor and the second motor is calculated to control the first motor in high speed mode and the second motor in high torque and low speed mode.

[0014] Preferably, in step S2, the calculation formula of the output power of the first motor is as follows:

[0015]

[0016] Wherein, P1 is the output power of the first motor; Q 中 is the air pressure of the first air chamber; Q 前 is the standard atmospheric pressure; u is the input power of the controller of the air cushion vehicle.

[0017] The calculation formula of the output power of the second motor is as follows:

[0018]

[0019] Wherein, P2 is the output power of the second motor; Q 中 is the air pressure of the first air chamber; Q 后 is the air pressure of the second air chamber; u is the input power of the controller of the air cushion vehicle.

[0020] Preferably, in step S8, the calculation formula of the total power of the first motor is as follows:

[0021] P1' = α0 + P1

[0022] Wherein, P1' is the total power of the first motor; P1 is the output power of the first motor; α0 is the power of the heading angle adjustment part.

[0023] The calculation formula of the total power of the second motor is as follows:

[0024] P2' = -α0 + P2

[0025] Wherein, P2' is the total power of the second motor; P2 is the output power of the second motor; α0 is the power of the heading angle adjustment part.

[0026] Preferably, in step S8, when the second motor is in high torque and low speed mode, the instantaneous power of the second motor in high torque is calculated, and the specific calculation formula is as follows:

[0027] P 瞬 = (Q 后 - Q 中 ) + P 瞬0 × u

[0028] Wherein, P瞬 Q is the instantaneous power of the secondary motor in high torque time; P 后 Q is the air pressure of the secondary air chamber; P 中 P is the air pressure of the primary air chamber; Q 瞬0 Q is the instantaneous power reference value of the secondary motor in high torque time; u is the input power of the controller of the air cushion vehicle.

[0029] Another aspect of the present application provides a variable speed and variable torque coaxial contra-rotating duct device control system based on the FOC algorithm, which comprises:

[0030] The acquisition module is configured to acquire the air pressures of the primary air chamber and the secondary air chamber.

[0031] The first acquisition module is configured to acquire the input power of the controller of the air cushion vehicle.

[0032] The first calculation module is configured to calculate the output powers of the primary motor and the secondary motor respectively according to the air pressure of the primary air chamber, the air pressure of the secondary air chamber and the input power of the controller of the air cushion vehicle.

[0033] The second acquisition module is configured to acquire the driving current data values of the primary motor and the secondary motor.

[0034] The third acquisition module is configured to acquire the torques of the helical forward propeller and the helical contra-rotating propeller according to the driving current data values of the primary motor and the secondary motor.

[0035] The fourth acquisition module is configured to acquire the heading angle of the air cushion vehicle according to the torques of the helical forward propeller and the helical contra-rotating propeller.

[0036] The second calculation module is configured to perform difference value operation on the heading angle of the air cushion vehicle and a preset heading angle to obtain an error value.

[0037] The third calculation module is configured to calculate the power of the heading angle adjustment part according to the error value.

[0038] The fourth calculation module is configured to calculate the total power of the primary motor and the secondary motor according to the output power of the primary motor, the output power of the secondary motor and the power of the heading angle adjustment part, so as to control the primary motor to be in a high speed mode and the secondary motor to be in a high torque and low speed mode.

[0039] Preferably, in the first calculation module, the calculation formula of the output power of the primary motor is as follows:

[0040]

[0041] P1 is the output power of the primary motor; Q 中 P is the air pressure of the primary air chamber; Q 前 Q is the standard atmospheric pressure; u is the input power of the controller of the air cushion vehicle.

[0042] The formula for calculating the output power of a two-stage motor is as follows:

[0043]

[0044] Where P2 is the output power of the secondary motor; Q 中 Q is the air pressure in the first-stage air chamber. 后 denoted as ρ, where ρ is the air pressure in the secondary air chamber; u is the input power of the hovercraft's controller.

[0045] Preferably, in the fourth calculation module, the formula for calculating the total power of the primary motor is as follows:

[0046] P1'=αo+P1

[0047] Where P1' is the total power of the first-stage motor; P1 is the output power of the first-stage motor; αo is the power of the heading angle adjustment section;

[0048] The formula for calculating the total power of a two-stage motor is as follows:

[0049] P2'=-αo+P2

[0050] Where P2' is the total power of the secondary motor; P2 is the output power of the secondary motor; and αo is the power of the heading angle adjustment section.

[0051] Preferably, the fourth calculation module includes a calculation submodule, which is used to calculate the instantaneous power of the secondary motor at high torque when the secondary motor is in a high torque, low speed mode. The specific calculation formula is as follows:

[0052] P 瞬 =(Q 后 -Q 中 )+P 瞬0 ×u

[0053] Among them, P 瞬 Q represents the instantaneous power of a secondary motor at high torque. 后 Q is the air pressure in the secondary chamber; 中 The pressure of the first-stage air chamber; P 瞬0 is the instantaneous power reference value of the secondary motor at high torque; u is the input power of the hovercraft controller.

[0054] The technical solutions provided in this application embodiment may include the following beneficial effects:

[0055] In the scheme, the first motor is in high speed mode and the second motor is in high torque and low speed mode through the FOC motor driving algorithm, so that the counter-torque generated by the screw propeller and the screw counter-propeller is the same, and then the torque of the coaxial counter-propeller duct device is offset, so that the air cushion vehicle is prevented from rotating, and the heading angle of the air cushion vehicle can be more stably controlled. BRIEF DESCRIPTION OF DRAWINGS

[0056] Figure 1 is a structural schematic diagram of a coaxial counter-propeller duct device;

[0057] Figure 2 is a structural schematic diagram of one of the embodiments in the application;

[0058] Figure 3 is a step flow chart of the control method of the variable speed and variable torque coaxial counter-propeller duct device based on the FOC algorithm.

[0059] 1, a first motor; 2, a second motor; 3, a screw propeller; 4, a screw counter-propeller; 5, a connecting piece; 6, a fixed seat; 7, a duct pipe; DETAILED DESCRIPTION

[0060] The embodiments of the application will be described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the application and cannot be understood as a limitation of the application.

[0061] The control method of the variable speed and variable torque coaxial counter-propeller duct device based on the FOC algorithm comprises the following steps:

[0062] Step S1: collecting the air pressure of the first air chamber and the second air chamber, and obtaining the input power of the controller of the air cushion vehicle;

[0063] Step S2: calculating the output power of the first motor and the second motor respectively according to the air pressure of the first air chamber, the air pressure of the second air chamber and the input power of the controller of the air cushion vehicle;

[0064] Step S3: obtaining the driving current data value of the first motor and the second motor;

[0065] Step S4: obtaining the torque of the screw propeller and the screw counter-propeller according to the driving current data value of the first motor and the second motor;

[0066] Step S5: obtaining the heading angle of the air cushion vehicle according to the torque of the screw propeller and the screw counter-propeller;

[0067] Step S6: performing difference value operation on the heading angle of the air cushion vehicle and the preset heading angle to obtain an error value;

[0068] Step S7: Calculate the power of the heading angle adjustment section based on the error value;

[0069] Step S8: Calculate the total power of the first-stage motor and the second-stage motor based on the output power of the first-stage motor, the output power of the second-stage motor, and the power of the heading angle adjustment section, so as to control the first-stage motor to be in high-speed mode and the second-stage motor to be in high-torque low-speed mode.

[0070] The FOC algorithm-based control method for variable speed and torque coaxial reverse-rotor ducted systems in this scheme is applied to coaxial reverse-rotor ducted systems, such as... Figure 2 As shown, the coaxial counter-rotating duct device is installed inside the duct 7, which is installed inside the hovercraft. Figure 1 As shown, the coaxial counter-rotating propeller duct device includes a primary motor 1, a secondary motor 2, a propeller 3, a counter-rotating propeller 4, a connector 5, and two fixed bases 6. The two fixed bases 6 are respectively installed at the upper and lower ends of the connector 5. The primary motor 1 and the secondary motor 2 are respectively installed on their respective fixed bases 6. The counter-rotating propeller 4 is installed at the drive end of the primary motor 1, and the propeller 3 is installed at the drive end of the secondary motor 2. A pressure sensor (not shown in the figure) is installed inside the connector 5. The primary motor 1, the secondary motor 2, and the pressure sensor are all electrically connected to the controller of the hovercraft. The space formed between the primary motor 1 and the secondary motor 2 is the primary air chamber, and the pressure sensor can collect the air pressure of the primary air chamber. In this scheme, a hovercraft can be formed by inflating the air cushion. The air chamber inside the air cushion is the secondary air chamber, and a pressure sensor is installed inside the air cushion to collect the air pressure of the secondary air chamber. In this solution, Hall sensors (not shown in the figure) are installed at the bottom of both the primary motor 1 and the secondary motor 2. The two Hall sensors can collect the rotational speed of the primary motor 1 and the secondary motor 2.

[0071] The control method for the variable speed and torque coaxial reverse-rotor ducted system based on the FOC algorithm in this scheme is as follows: Figure 3As shown, the first step is to collect the air pressure of the primary air chamber and the secondary air chamber, and obtain the input power of the controller of the air cushion vehicle, specifically, the air pressure of the primary air chamber and the secondary air chamber is detected in real time by the respective air pressure sensors. The second step is to calculate the output power of the primary motor and the secondary motor according to the air pressure of the primary air chamber, the air pressure of the secondary air chamber and the input power of the controller of the air cushion vehicle, specifically, the output power of the primary motor and the secondary motor is calculated to facilitate the subsequent calculation of the total power of the primary motor and the secondary motor. The third step is to obtain the driving current data value of the primary motor and the secondary motor, in this embodiment, the driving current data value of the primary motor and the secondary motor is obtained by current sampling in the driving circuit of the primary motor and the secondary motor. The fourth step is to obtain the torque of the positive screw and the negative screw according to the driving current data value of the primary motor and the secondary motor, specifically, since the torque generated by the positive screw and the negative screw cannot be directly measured, the torque can be indirectly measured by obtaining the driving current data value of the primary motor and the secondary motor. The fifth step is to obtain the heading angle of the air cushion vehicle according to the torque of the positive screw and the negative screw, in this embodiment, the torque generated by the positive screw and the negative screw drives the air cushion vehicle body to rotate, thereby the heading angle of the air cushion vehicle can be adjusted, and the heading angle of the air cushion vehicle is obtained by the gyroscope installed on the air cushion vehicle. The sixth step is to perform difference value operation on the heading angle of the air cushion vehicle and the preset heading angle to obtain an error value, in this embodiment, a preset heading angle is first set, then the heading angle of the air cushion vehicle is obtained in real time according to the gyroscope of the air cushion vehicle, and then difference value operation is performed on the two to obtain the error value, which is the heading angle that the air cushion vehicle needs to adjust. Further, the error value is input into the PID controller, and the output value obtained after processing can achieve the purpose of heading angle control of the air cushion vehicle. In this embodiment, the clockwise direction is the positive direction, when the air cushion vehicle body needs to rotate clockwise, the error value is positive, and the output value is also positive; when the air cushion vehicle body needs to rotate counterclockwise, the error value is negative, and the output value is also negative. The seventh step is to calculate the power of the heading angle adjustment part according to the error value, in this embodiment, the power of the heading angle adjustment part is specifically obtained by multiplying the output value of the PID controller by an adjustable PID parameter, and appropriate response can be achieved by adjusting the PID parameter.The eighth step is to calculate the total power of the first motor and the second motor according to the output power of the first motor, the output power of the second motor and the power of the heading angle adjustment part, so as to control the first motor to be in the high speed mode and the second motor to be in the high torque low speed mode. Specifically, since the airflow in the hovercraft application usually only flows from top to bottom, at this time the airflow in the duct pipe is first accelerated by the spiral reverse propeller, so the initial speed of the airflow entering the spiral forward propeller is larger than that of the former. At this time, by making the first motor be in the high speed mode and the second motor be in the high torque low speed mode, it is further illustrated that, under the condition that the total power of the first motor and the second motor is the same, the speed of the high speed mode is faster than that of the high torque mode, and the speed of the high torque mode is lower than that of the high speed mode when high torque is realized. The equivalent power of one cycle of the two is the same. The reverse torque generated by the spiral forward propeller and the spiral reverse propeller is the same, and then the torque of the coaxial reverse propeller duct device is offset, so as to avoid the rotation of the hovercraft and make the heading angle of the hovercraft more stable.

[0072] Preferably, in step S2, the calculation formula of the output power of the first motor is as follows:

[0073]

[0074] Wherein, P1 is the output power of the first motor; Q 中 is the air pressure of the first air chamber; Q 前 is the standard atmospheric pressure; u is the input power of the controller of the hovercraft.

[0075] The calculation formula of the output power of the second motor is as follows:

[0076]

[0077] Wherein, P2 is the output power of the second motor; Q 中 is the air pressure of the first air chamber; Q 后 is the air pressure of the second air chamber; u is the input power of the controller of the hovercraft.

[0078] In this embodiment, it is assumed that the air pressure of the second air chamber in the hovercraft is Q 后 , the air pressure of the first air chamber between the first motor and the second motor is Q 中 , the air pressure before the first motor (generally the standard atmospheric pressure) is Q 前 , the wind pressure generated by the spiral reverse propeller is Q1, and the wind pressure generated by the spiral forward propeller is Q2; since there is a certain air pressure Q 后 in the hovercraft, at this time the first air chamber and the second air chamber are in a balanced state, and the relationship of Q 中 + Q2 = Q 后 is approximately satisfied, so the second motor adopts the high torque mode to press air into the hovercraft to increase the air intake, so that Q 后The first-stage motor is improved; and for the first-stage motor, the air pressure Q 中 is small due to the existence of the second-stage motor, so it is known that Q1 does not have to be too large, that is, the torque requirement of the first-stage motor is not large, and in order to enable the second-stage motor to obtain greater air intake, the first-stage motor adopts a low-torque high-speed mode.

[0079] When the first-stage motor is in the high-speed low-torque mode, the output voltage amplitude is small and is distributed more uniformly in a cycle, and more work is done under a lower torque, so as to realize low torque and high speed; when the second-stage motor is in the high-torque low-speed mode, the voltage amplitude is large (that is, the instantaneous torque is large) for a short period of time in a cycle, and the voltage amplitude is small for other time in the cycle, so that the work done in the same cycle is unchanged, but the torque is increased and the speed is reduced, so as to realize high torque and low speed.

[0080] Preferably, in step S8, the total power of the first-stage motor is calculated according to the following formula:

[0081] P1' = α0 + P1

[0082] wherein P1' is the total power of the first-stage motor; P1 is the output power of the first-stage motor; and α0 is the power of the heading angle adjustment part.

[0083] The total power of the second-stage motor is calculated according to the following formula:

[0084] P2' = -α0 + P2

[0085] wherein P2' is the total power of the second-stage motor; P2 is the output power of the second-stage motor; and α0 is the power of the heading angle adjustment part.

[0086] In the embodiment, the first-stage motor drives the counter-rotating propeller to rotate counterclockwise, and the second-stage motor drives the co-rotating propeller to rotate clockwise, so the counter-rotating propeller and the co-rotating propeller generate opposite torque directions. The total power of the first-stage motor and the second-stage motor is adjusted by adjusting the parameters of the PID controller, and then the speed of the counter-rotating propeller and the co-rotating propeller is adjusted. By making the speed of the counter-rotating propeller and the co-rotating propeller the same, the counter-rotating propeller and the co-rotating propeller generate the same torque, and then the torque of the coaxial counter-rotating ducted fan device is offset, so as to avoid the air cushion ship from rotating.

[0087] Preferably, in step S8, when the second-stage motor is in the high-torque low-speed mode, the instantaneous power of the second-stage motor in the high-torque mode is calculated, and the specific calculation formula is as follows:

[0088] P 瞬 = (Q 后 -Q 中 )+ P 瞬0 × u

[0089] wherein P 瞬P is the instantaneous power of the secondary motor in high torque mode; Q 后 P is the air pressure of the secondary air chamber; Q 中 P is the air pressure of the primary air chamber; P 瞬0 P is the instantaneous power reference value of the secondary motor in high torque mode; u is the input power of the controller of the air cushion vehicle.

[0090] Beneficial effects: In this embodiment, since the secondary motor is in high torque low speed mode, the voltage amplitude is larger for a short period of time in a cycle, resulting in larger instantaneous power, faster speed and larger torque. By controlling the instantaneous power of the secondary motor in high torque mode, the torque of the propeller can be controlled.

[0091] Another aspect of the present application provides a variable speed and variable torque coaxial contra-rotating duct device control system based on FOC algorithm, which comprises:

[0092] The acquisition module is configured to acquire the air pressures of the primary air chamber and the secondary air chamber.

[0093] The first acquisition module is configured to acquire the input power of the controller of the air cushion vehicle.

[0094] The first calculation module is configured to calculate the output powers of the primary motor and the secondary motor respectively according to the air pressures of the primary air chamber and the secondary air chamber and the input power of the controller of the air cushion vehicle.

[0095] The second acquisition module is configured to acquire the driving current data values of the primary motor and the secondary motor.

[0096] The third acquisition module is configured to acquire the torques of the propeller and the contra-rotating propeller according to the driving current data values of the primary motor and the secondary motor.

[0097] The fourth acquisition module is configured to acquire the heading angle of the air cushion vehicle according to the torques of the propeller and the contra-rotating propeller.

[0098] The second calculation module is configured to perform difference operation on the heading angle of the air cushion vehicle and the preset heading angle to obtain an error value.

[0099] The third calculation module is configured to calculate the power of the heading angle adjustment part according to the error value.

[0100] The fourth calculation module is configured to calculate the total power of the primary motor and the secondary motor according to the output powers of the primary motor and the secondary motor and the power of the heading angle adjustment part, so as to control the primary motor to be in high speed mode and the secondary motor to be in high torque low speed mode.

[0101] The control system of the variable speed and variable torque coaxial counter-rotating duct device based on the FOC algorithm of the scheme, through the mutual cooperation of the acquisition module, the first acquisition module, the first calculation module, the second acquisition module, the third acquisition module, the fourth acquisition module, the second calculation module, the third calculation module and the fourth calculation module, the first motor is in a high speed mode, the second motor is in a high torque and low speed mode, the counter-torque generated by the helical forward propeller and the helical counter-rotating propeller is the same, and then the torque of the coaxial counter-rotating duct device is offset, so that the air cushion vehicle is prevented from rotating, and the heading angle of the air cushion vehicle can be more stably controlled.

[0102] Preferably, in the first calculation module, the output power of the first motor is calculated according to the following formula:

[0103]

[0104] wherein P1 is the output power of the first motor; Q 中 is the air pressure of the first air chamber; Q 前 is the standard atmospheric pressure; and u is the input power of the controller of the air cushion vehicle.

[0105] The output power of the second motor is calculated according to the following formula:

[0106]

[0107] wherein P2 is the output power of the second motor; Q 中 is the air pressure of the first air chamber; Q 后 is the air pressure of the second air chamber; and u is the input power of the controller of the air cushion vehicle.

[0108] In the embodiment, when the first motor is in a high speed and low torque mode, the output voltage amplitude is small and is distributed relatively uniformly in a period, and the first motor works more at a lower torque, so that the high speed and low torque are realized; when the second motor is in a high torque and low speed mode, the voltage amplitude is large (i.e., the instantaneous torque is large) for a short time in a period, and the voltage amplitude is small for other time in the period, so that the work amount is unchanged in the same period, but the torque is increased and the speed is decreased, so that the high torque and low speed are realized.

[0109] Preferably, in the fourth calculation module, the total power of the first motor is calculated according to the following formula:

[0110] P1' = α0 + P1

[0111] wherein P1' is the total power of the first motor; P1 is the output power of the first motor; and α0 is the power of the heading angle adjustment part.

[0112] The total power of the second motor is calculated according to the following formula:

[0113] P2' = -α0 + P2

[0114] P2' = P2 + a0, wherein P2' is the total power of the secondary motor; P2 is the output power of the secondary motor; a0 is the power of the heading angle adjustment part.

[0115] In this embodiment, the primary motor drives the counter-rotating propeller to rotate counterclockwise, and the secondary motor drives the co-rotating propeller to rotate clockwise, so the counter-rotating propeller and the co-rotating propeller generate opposite torque. The total power of the primary motor and the secondary motor is adjusted by adjusting the parameters of the PID controller, and then the rotating speed of the counter-rotating propeller and the co-rotating propeller is adjusted. The rotating speed of the counter-rotating propeller and the co-rotating propeller is made the same, the torque generated by the counter-rotating propeller and the co-rotating propeller is made the same, and then the torque of the coaxial counter-rotating ducted fan device is offset, so that the air cushion vehicle is prevented from rotating.

[0116] Preferably, the fourth calculation module comprises a calculation submodule, which is configured to calculate the instantaneous power of the secondary motor at high torque when the secondary motor is in the high torque and low rotating speed mode, and the specific calculation formula is as follows:

[0117] P 瞬 = (Q 后 -Q 中 ) + P 瞬0 ×u

[0118] , wherein P 瞬 is the instantaneous power of the secondary motor at high torque; Q 后 is the air pressure of the secondary air chamber; Q 中 is the air pressure of the primary air chamber; P 瞬0 is the reference value of the instantaneous power of the secondary motor at high torque; and u is the input power of the controller of the air cushion vehicle.

[0119] In this embodiment, the secondary motor is in the high torque and low rotating speed mode, and in this process, the voltage amplitude is large for a small period of time in a cycle, so that the instantaneous power generated is also large, the rotating speed is also fast, and the torque is also large. The torque of the co-rotating propeller can be controlled by controlling the instantaneous power of the secondary motor at high torque.

[0120] In addition, each functional unit in each embodiment of the present application can be integrated in one processing module, or each unit can exist physically independently, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. If the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0121] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that changes, modifications, substitutions and variations can be made by those skilled in the art without departing from the scope of the present application.

Claims

1. A control method for a variable speed and variable torque coaxial counter-rotating ducted fan device based on FOC algorithm, characterized in that: The coaxial contra-rotating duct device includes a primary motor, a secondary motor, a helical forward propeller, a helical reverse propeller, a connecting piece and two fixing bases. The two fixing bases are respectively arranged at the upper end and the lower end of the connecting piece. The primary motor and the secondary motor are respectively arranged in the fixing bases. The helical reverse propeller is arranged at the driving end of the primary motor. The helical forward propeller is arranged at the driving end of the secondary motor. A space formed between the primary motor and the secondary motor is a primary air chamber. An air chamber in the air cushion is a secondary air chamber. The method comprises the following steps: Step S1: collecting the air pressures of the primary air chamber and the secondary air chamber, and obtaining the input power of the controller of the air cushion vehicle; Step S2: calculating the output powers of the primary motor and the secondary motor according to the air pressures of the primary air chamber and the secondary air chamber and the input power of the controller of the air cushion vehicle; Step S3: obtaining the driving current data values of the primary motor and the secondary motor; Step S4: obtaining the torques of the helical forward propeller and the helical reverse propeller according to the driving current data values of the primary motor and the secondary motor; Step S5: obtaining the heading angle of the air cushion vehicle according to the torques of the helical forward propeller and the helical reverse propeller; Step S6: performing difference value operation on the heading angle of the air cushion vehicle and a preset heading angle to obtain an error value; Step S7: calculating the power of the heading angle adjustment part according to the error value; Step S8: calculating the total powers of the primary motor and the secondary motor according to the output powers of the primary motor and the secondary motor and the power of the heading angle adjustment part, so that the primary motor is in a high speed mode and the secondary motor is in a high torque and low speed mode.

2. The control method of a variable speed and torque coaxial counter-rotating propeller ducted device based on FOC algorithm according to claim 1, characterized in that: In step S2, the calculation formula of the output power of the primary motor is as follows: where P1 is the output power of the primary motor; Q 中 is the gas pressure of the primary chamber; Q 前 is the standard atmospheric pressure; and u is the input power of the controller of the air cushion vehicle. The calculation formula of the output power of the secondary motor is as follows: where P2 is the output power of the secondary motor; Q 中 is the air pressure of the primary air chamber; Q 后 is the air pressure of the secondary air chamber; and u is the input power of the controller of the air cushion vehicle.

3. The control method of a variable speed and torque coaxial counter-rotating propeller ducted device based on FOC algorithm according to claim 1, characterized in that: In step S8, the calculation formula of the total power of the primary motor is as follows: P1' = αo + P1 Wherein, P1' is the total power of the primary motor; P1 is the output power of the primary motor; αo is the power of the heading angle adjustment part; The calculation formula of the total power of the secondary motor is as follows: P2' = -αo + P2 Wherein, P2' is the total power of the secondary motor; P2 is the output power of the secondary motor; αo is the power of the heading angle adjustment part.

4. The control method of a variable speed and torque coaxial counter-rotating propeller ducted device based on FOC algorithm according to claim 1, characterized in that: In step S8, when the secondary motor is in the high torque and low speed mode, the instantaneous power of the secondary motor in the high torque state is calculated, and the specific calculation formula is as follows: P 瞬 = (Q 后 - Q 中 ) + P 瞬0 x u wherein P 瞬 is the instantaneous power of the secondary electric motor at high torque; Q 后 is the air pressure in the secondary air chamber; Q 中 is the air pressure in the primary air chamber; P 瞬0 is the reference value of the instantaneous power of the secondary electric motor at high torque; and u is the input power of the controller of the air-cushion vehicle.

5. A variable speed and variable torque coaxial counter-rotating ducted fan apparatus control system based on FOC algorithm, characterized in that: The system comprises: The collecting module is used for collecting the air pressures of the primary air chamber and the secondary air chamber; The first obtaining module is used for obtaining the input power of the controller of the air cushion vehicle; The first calculation module is used for calculating the output powers of the primary motor and the secondary motor according to the air pressures of the primary air chamber and the secondary air chamber and the input power of the controller of the air cushion vehicle; The second obtaining module is used for obtaining the driving current data values of the primary motor and the secondary motor; The third obtaining module is used for obtaining the torques of the helical forward propeller and the helical reverse propeller according to the driving current data values of the primary motor and the secondary motor; The fourth obtaining module is used for obtaining the heading angle of the air cushion vehicle according to the torques of the helical forward propeller and the helical reverse propeller; The fourth obtaining module is configured to obtain a heading angle of the air cushion vehicle according to the torques of the forward and reverse screws; The second calculating module is configured to perform difference operation on the heading angle of the air cushion vehicle and a preset heading angle to obtain an error value; The third calculating module is configured to calculate a power of the heading angle adjustment part according to the error value; The fourth calculating module is configured to calculate total powers of the primary and secondary motors according to the output powers of the primary and secondary motors and the power of the heading angle adjustment part, so as to control the primary motor to be in the high-speed mode and the secondary motor to be in the high-torque low-speed mode.

6. The FOC algorithm based variable speed and variable torque co-axial counter-rotating propeller ducted system control system according to claim 5, characterized in that: In the first calculating module, the output power of the primary motor is calculated according to the following formula: where P1 is the output power of the primary motor; Q 中 is the gas pressure of the primary chamber; Q 前 is the standard atmospheric pressure; and u is the input power of the controller of the air cushion vehicle. The output power of the secondary motor is calculated according to the following formula: where P2 is the output power of the secondary motor; Q 中 is the air pressure of the primary air chamber; Q 后 is the air pressure of the secondary air chamber; and u is the input power of the controller of the air cushion vehicle.

7. The FOC algorithm based variable speed and variable torque co-axial counter-rotating propeller ducted system control system according to claim 5, characterized in that: In the fourth calculating module, the total power of the primary motor is calculated according to the following formula: P1' = α0 + P1 wherein P1' is the total power of the primary motor, P1 is the output power of the primary motor, and α0 is the power of the heading angle adjustment part; The total power of the secondary motor is calculated according to the following formula: P2' = -α0 + P2 wherein P2' is the total power of the secondary motor, P2 is the output power of the secondary motor, and α0 is the power of the heading angle adjustment part.

8. The FOC algorithm based variable speed and variable torque co-axial counter-rotating propeller ducted system control system according to claim 5, characterized in that: The fourth calculating module comprises a calculating sub-module, which is configured to calculate the instantaneous power of the secondary motor when the secondary motor is in the high-torque low-speed mode, and the specific calculation formula is as follows: P 瞬 = (Q 后 - Q 中 ) + P 瞬0 x u where P 瞬 is the instantaneous power of the secondary motor at high torque; Q 后 is the air pressure of the secondary air chamber; Q 中 is the air pressure of the primary air chamber; P 瞬0 is the reference value of the instantaneous power of the secondary motor at high torque; and u is the input power of the controller of the air cushion vehicle.

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