A drone propeller control system

Abstract

The application belongs to the field of aviation technology, and particularly relates to a kind of unmanned aerial vehicle propeller control system. It comprises a comprehensive controller, a power auxiliary control box and a speed regulator, wherein the comprehensive controller is used to receive input information in the corresponding propeller control mode sent by a ground station or a ground detection device, and generate control instructions according to the input information; the power auxiliary control box is used to receive the control instructions and control the speed regulator according to the control instructions. The unmanned aerial vehicle propeller control system of the application adopts fly-by-wire control, has three control modes, two control strategies in automatic control mode, can realize engine maximum power speed control and most economic speed control, and can be selected according to task requirements; and has a manual adjustment mode, which can manually override the speed regulator when system control is abnormal, to improve the safety of the system.

Description

Technical Field

[0001] This application belongs to the field of aviation technology, and specifically relates to a propeller control system for unmanned aerial vehicles (UAVs). Background Technology

[0002] Drones are a high-tech field that has developed rapidly in recent years. Piston propeller engines and turboprop engines have become the mainstream power units for large drones due to their advantages such as low fuel consumption, high propulsion efficiency, and low price. As a result, the propeller industry has developed rapidly.

[0003] The propeller system, as a crucial component of aircraft engine power output, is undeniably essential. The propeller control system is the heart of the propeller system, controlling the propeller to operate at the appropriate speed according to flight requirements. It is a key system for flight-engine-propeller matching, not only affecting the full utilization of engine performance but also being vital to aircraft safety. Current propeller control systems suffer from problems such as high cost and low safety.

[0004] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art. Summary of the Invention

[0005] The purpose of this application is to provide a drone propeller control system to solve at least one problem existing in the prior art.

[0006] The technical solution of this application is:

[0007] A drone propeller control system includes: an integrated controller, a power auxiliary control box, and a speed regulator, wherein...

[0008] The integrated controller is used to receive input information in the corresponding propeller control mode sent by the ground station or ground inspection equipment, and generate control commands based on the input information;

[0009] The power assist control box is used to receive the control command and control the speed governor according to the control command.

[0010] In at least one embodiment of this application, the propeller control mode includes an automatic control mode, a semi-automatic control mode, and a manual mode, wherein,

[0011] The first input information in the automatic control mode includes: maximum power strategy and most economical cruise strategy;

[0012] The second input information in the semi-automatic control mode includes: set speed, maximum speed, and minimum speed;

[0013] The third input information in the manual mode includes: acceleration command and deceleration command.

[0014] In at least one embodiment of this application, in automatic control mode:

[0015] The integrated controller is used to receive first input information in automatic control mode sent by ground station or ground inspection equipment, and generate first control command based on the first input information;

[0016] The power assist control box is used to receive the first control command and control the speed governor according to the first control command;

[0017] The power auxiliary control box is also used to receive the first position information fed back by the speed governor and send the first position information to the integrated controller;

[0018] The integrated controller is also used to generate a first control command based on the first input information and the first position information.

[0019] In at least one embodiment of this application, the first position information includes the governor resistance status and the engine speed.

[0020] In at least one embodiment of this application, in automatic control mode:

[0021] The integrated controller is also used to receive the engine speed sent by FADEC, and when the engine speed sent by FADEC deviates from the engine speed in the first position information by more than 20 rpm, it generates a first control command based on the first input information, the first position information and the engine speed sent by FADEC.

[0022] In at least one embodiment of this application, in semi-automatic control mode:

[0023] The integrated controller is used to receive second input information in semi-automatic control mode sent by ground station or ground inspection equipment, and generate second control commands based on the second input information;

[0024] The power auxiliary control box is used to receive the second control command and control the speed governor according to the second control command;

[0025] The power auxiliary control box is also used to receive the second position information fed back by the speed governor and send the second position information to the integrated controller;

[0026] The integrated controller is also used to generate a second control command based on the second input information and the second position information.

[0027] In at least one embodiment of this application, the second position information includes the governor resistance status and the engine speed.

[0028] In at least one embodiment of this application, in semi-automatic control mode:

[0029] The integrated controller is also used to receive the engine speed sent by FADEC, and when the engine speed sent by FADEC deviates from the engine speed in the second position information by more than 20 rpm, it generates a second control command based on the second input information, the second position information and the engine speed sent by FADEC.

[0030] In at least one embodiment of this application, in manual mode:

[0031] The integrated controller is used to receive third input information in manual mode sent by ground station or ground inspection equipment, and generate third control commands based on the third input information;

[0032] The power assist control box is used to receive the third control command and control the speed governor according to the third control command.

[0033] In at least one embodiment of this application,

[0034] The power auxiliary control box is also used to receive the third position information fed back by the speed governor and send the third position information to the integrated controller. The third position information includes the resistance status of the speed governor and the speed governor current.

[0035] When the speed controller resistance value in the third position information reaches the maximum speed stop position or the minimum speed stop position of the speed controller, the integrated controller stops sending control commands to the power auxiliary control box.

[0036] When the speed controller resistance value in the third position information reaches the maximum speed stop position or the minimum speed stop position, or when the speed controller current reaches the stall current, the power auxiliary control box cuts off the power supply to the speed controller.

[0037] The invention has at least the following beneficial technical effects:

[0038] The UAV propeller control system disclosed in this application adopts fly-by-wire control and has three control modes. The automatic control mode has two control strategies, which can achieve both maximum power speed control and the most economical speed control, and can be selected according to mission requirements. The semi-automatic control mode allows users to arbitrarily set the propeller control speed. It also has a manual adjustment mode, which allows manual over-control of the speed regulator when the system control is abnormal, thereby improving the system's safety. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of a drone propeller control system according to one embodiment of this application;

[0040] Figure 2 This is a schematic diagram of a propeller control mode according to one embodiment of this application;

[0041] Figure 3 This is a schematic diagram of a semi-automatic control mode according to one embodiment of this application;

[0042] Figure 4 This is a schematic diagram of manual mode control according to one embodiment of this application.

[0043] in:

[0044] 1-Integrated controller; 2-Power auxiliary control box; 3-Speed ​​governor. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0046] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this application.

[0047] The following is in conjunction with the appendix Figures 1 to 4 This application will be described in further detail.

[0048] This application provides a drone propeller control system, including: an integrated controller 1, a power auxiliary control box 2, and a speed regulator 3.

[0049] Specifically, the integrated controller 1 is used to receive input information in the corresponding propeller control mode sent by the ground station or ground inspection equipment, and generate control commands based on the input information; the power auxiliary control box 2 is used to receive control commands and control the speed governor 3 according to the control commands.

[0050] The UAV propeller control system of this application is a constant speed electro-hydraulic variable pitch propeller system, which has three control modes: automatic control mode, semi-automatic control mode and manual mode.

[0051] In a preferred embodiment of this application, the first input information in the automatic control mode includes: a maximum power strategy and a most economical cruise strategy. The automatic control mode can achieve both maximum power speed control and most economical speed control. In this embodiment, in the automatic control mode: the integrated controller 1 is used to receive the first input information in the automatic control mode sent by the ground station or ground inspection equipment, and generate a first control command based on the first input information; the power assist control box 2 is used to receive the first control command and control the governor 3 according to the first control command; the power assist control box 2 is also used to receive the first position information fed back by the governor 3 and send the first position information to the integrated controller 1; the integrated controller 1 is also used to generate the first control command based on the first input information and the first position information.

[0052] The UAV propeller control system of this application allows users to select either a maximum power strategy or a most economical cruise strategy in automatic control mode. The selected strategy is input via a ground station or ground testing equipment, with the maximum power strategy being the system default. The integrated controller 1 automatically outputs control commands to the power-assisted control box 2 based on the selected strategy. The power-assisted control box 2 then drives the speed regulator motor of the speed governor 3 to rotate forward or reverse according to the received control commands. Furthermore, it performs closed-loop control of the propeller speed based on the speed governor resistance status fed back from the speed governor 2 and the engine speed, controlling the propeller speed to the required speed.

[0053] In a preferred embodiment of this application, the second input information in the semi-automatic control mode includes: set speed, maximum speed, and minimum speed. The semi-automatic control mode allows the propeller control speed to be set arbitrarily according to user needs. In this embodiment, in the semi-automatic control mode: the integrated controller 1 receives the second input information from the ground station or ground inspection equipment and generates a second control command based on the second input information; the power auxiliary control box 2 receives the second control command and controls the speed governor 3 according to the second control command; the power auxiliary control box 2 also receives the second position information fed back by the speed governor 3 and sends the second position information to the integrated controller 1; the integrated controller 1 also generates a second control command based on the second input information and the second position information.

[0054] The UAV propeller control system of this application requires setting the propeller speed in semi-automatic control mode. The required speed value is input via a ground station or ground testing equipment, or the maximum or minimum speed can be directly selected. The integrated controller 1 automatically outputs control commands to the power auxiliary control box 2 based on the received propeller speed. The power auxiliary control box 2 drives the speed regulator motor of the speed regulator 3 to rotate forward or backward according to the received control commands, and performs closed-loop control of the propeller speed based on the speed regulator resistance status fed back from the speed regulator 2 and the engine speed, controlling the propeller speed to the required speed.

[0055] Advantageously, in this embodiment, in automatic control mode: the integrated controller 1 is also used to receive the engine speed sent by the FADEC, and when the deviation between the engine speed sent by the FADEC and the engine speed in the first position information is greater than 20 rpm, it generates a first control command based on the first input information, the first position information, and the engine speed sent by the FADEC. Similarly, in semi-automatic control mode: the integrated controller 1 is also used to receive the engine speed sent by the FADEC, and when the deviation between the engine speed sent by the FADEC and the engine speed in the second position information is greater than 20 rpm, it generates a second control command based on the second input information, the second position information, and the engine speed sent by the FADEC. In both automatic and semi-automatic control modes, if the deviation between the engine speed sent by the FADEC and the target speed is detected to be greater than 20 rpm during flight, the system software outputs an acceleration or deceleration command to the power assist control box 2 through the integrated controller 1, driving the speed regulator motor of the speed governor 3 to rotate forward or reverse, so that the engine speed returns to the target speed.

[0056] In a preferred embodiment of this application, the third input information in manual mode includes: acceleration command and deceleration command. Manual mode can improve system safety by manually controlling the speed governor when system control malfunctions. In manual mode: the integrated controller 1 receives the third input information in manual mode sent by the ground station or ground inspection equipment, and generates a third control command based on the third input information; the power auxiliary control box 2 receives the third control command and controls the speed governor 3 according to the third control command.

[0057] The UAV propeller control system of this application, in manual mode, primarily functions when the propeller malfunctions or during ground maintenance. It controls acceleration and deceleration commands via a ground station or inspection equipment. The integrated controller 1 outputs a fixed duration for the governor's movement, which in turn changes the governor's current position via the power-assisted control box 2, bringing the governor 3 to a normal operating state. During engine operation, if the governor remains in an ineffective position for an extended period, preventing the propeller speed from being controlled to the required speed, the propeller control mode can be switched to manual mode. Acceleration or deceleration commands are manually input to move the governor a certain distance, restoring it to an effective position. Then, the propeller control mode can be selected as needed.

[0058] In a preferred embodiment of this application, the system has a propeller governor position indication function, an automatic cut-off function upon reaching the designated position, and a stall protection function. In this embodiment, the power auxiliary control box 2 is also used to receive third position information fed back by the governor 3 and send the third position information to the integrated controller 1. The third position information includes the governor resistance status and the governor current. When the governor resistance status in the third position information reaches the governor's maximum speed stop position or the governor's minimum speed stop position, the integrated controller 1 stops sending control commands to the power auxiliary control box 2. When the governor resistance status in the third position information reaches the governor's maximum speed stop position or the governor's minimum speed stop position, or when the governor current reaches the stall current, the power auxiliary control box 2 cuts off the power supply to the governor 3. During the speed regulation process, once the speed governor 3 reaches the maximum or minimum speed stop position, the integrated controller 1 immediately stops outputting control commands. At the same time, once the power auxiliary control box 2 detects that the speed governor has reached the maximum or minimum speed stop position, it cuts off the power supply to the speed governor 3 through hardware circuitry; or once the power auxiliary control box 2 detects that the current of the speed governor 3 reaches the stall current, it immediately cuts off the power supply to the speed governor 3.

[0059] In one specific embodiment of this application, when the engine needs to be started, if the selected propeller control mode is automatic control mode, the system will automatically control the propeller speed to reach the maximum speed corresponding to the current throttle, and perform closed-loop control of the propeller speed based on the governor's position information. Once it detects that the governor's position is not at the maximum speed stop position, it immediately outputs an acceleration command to the power assist control box 2, which will control the governor 3 to rotate forward until the governor 3 returns to the maximum speed stop position. In this mode, before flight, it is necessary to select whether to use maximum power flight or the most economical cruise flight. If maximum power flight is selected, the propeller control software will automatically control the propeller speed to reach the maximum speed corresponding to the current throttle. If the most economical cruise is selected, during the cruise phase, if the engine throttle is within the cruise throttle range, the system will automatically control the propeller speed to reach the engine's most economical cruise speed.

[0060] The UAV propeller control system disclosed in this application has an automatic control mode, a semi-automatic control mode, and a manual mode. In automatic control mode, the system can automatically control the propeller speed to the maximum speed corresponding to each engine throttle position, ensuring that the engine can output maximum power at each throttle position, or the system can automatically control the propeller speed to the engine's most economical cruising speed, achieving the most economical speed control. In semi-automatic control mode, the unit can set the optimal propeller speed according to needs. In manual mode, the governor can be moved a certain distance as needed; this mode is mainly used when the system malfunctions.

[0061] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A drone propeller control system, characterized by, The utility model relates to a kind of integrated controller, power auxiliary control box and governor, wherein, The integrated controller (1) is used to receive the input information in the corresponding propeller control mode sent by ground station or ground detection equipment, and generate control instruction according to the input information; The power auxiliary control box (2) is used to receive the control instruction, and control the governor (3) according to the control instruction; The power auxiliary control box (2) is also used to receive the third position information fed back by the governor (3), and send the third position information to the integrated controller (1), the third position information includes governor resistance value state and governor current; When the governor resistance value state in the third position information reaches the maximum speed stop position of governor or the minimum speed stop position of governor, the integrated controller (1) stops sending control instruction to the power auxiliary control box (2); When the governor resistance value state in the third position information reaches the maximum speed stop position of governor or the minimum speed stop position of governor, or the governor current reaches the locked-rotor current, the power auxiliary control box (2) cuts off the power supply to the governor (3). The propeller control mode includes automatic control mode, semi-automatic control mode and manual mode, wherein, 2. The drone propeller control system of claim 1, wherein, The first input information in the automatic control mode includes maximum power strategy and most economic cruise strategy; The second input information in the semi-automatic control mode includes set speed, maximum speed and minimum speed; The third input information in the manual mode includes acceleration instruction and deceleration instruction. In the automatic control mode, 3. The drone propeller control system of claim 2, wherein, The integrated controller (1) is used to receive the first input information in the automatic control mode sent by ground station or ground detection equipment, and generate first control instruction according to the first input information; The power auxiliary control box (2) is used to receive the first control instruction, and control the governor (3) according to the first control instruction; The power auxiliary control box (2) is also used to receive the first position information fed back by the governor (3), and send the first position information to the integrated controller (1); The integrated controller (1) is also used to generate first control instruction according to the first input information and the first position information. The first position information includes governor resistance value state and engine speed.

4. The drone propeller control system of claim 3, wherein, In the automatic control mode, 5. The drone propeller control system of claim 4, wherein, The integrated controller (1) is also used to receive the engine speed sent by FADEC, and generate first control instruction according to the first input information, the first position information and the engine speed sent by FADEC when the deviation between the engine speed sent by FADEC and the engine speed in the first position information is greater than 20 rpm. In the semi-automatic control mode, 6. The drone propeller control system of claim 2, wherein, The integrated controller (1) is used to receive the second input information in the semi-automatic control mode sent by ground station or ground detection equipment, and generate second control instruction according to the second input information; The power auxiliary control box (2) is used to receive the second control instruction, and control the governor (3) according to the second control instruction; ​ The power assistance control box (2) is also configured to receive second position information fed back by the speed regulator (3) and send the second position information to the integrated controller (1); The integrated controller (1) is also configured to generate a second control instruction according to the second input information and the second position information.

7. The drone propeller control system of claim 6, wherein, The second position information includes a speed regulator resistance value state and an engine speed.

8. The drone propeller control system of claim 7, wherein, In the semi-automatic control mode: The integrated controller (1) is also configured to receive an engine speed sent by the FADEC, and when a deviation between the engine speed sent by the FADEC and the engine speed in the second position information is greater than 20 rpm, generate a second control instruction according to the second input information, the second position information and the engine speed sent by the FADEC.

9. The drone propeller control system of claim 2, wherein, In the manual mode: The integrated controller (1) is configured to receive third input information in the manual mode sent by a ground station or a ground detection device and generate a third control instruction according to the third input information; The power assistance control box (2) is configured to receive the third control instruction and control the speed regulator (3) according to the third control instruction.

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