Method, device and equipment for controlling the rotation speed of a folding rotor, and storage medium

Abstract

The application discloses a rotating speed control method, device and equipment of a folding rotor and a storage medium, and relates to the technical field of flight control. The method comprises the following steps: when a motor starts to drive the folding rotor, motor operation data and blade operation data of the folding rotor are acquired; based on the blade operation data and the motor operation data, the motor torque is determined; the motor torque is used as a low-speed feedforward torque, and based on the low-speed feedforward torque and a controller torque, the rotating speed of the motor is controlled, so that the folding rotor is controlled to rotate in a low rotating speed range; when the target rotating speed meets a high rotating speed range, based on a load observer, the load torque is determined; based on the load torque, the high-speed feedforward torque is determined; based on the high-speed feedforward torque and the controller torque, the rotating speed of the motor is controlled, so that the folding rotor is controlled to rotate in the high rotating speed range. In the foregoing manner, the low rotating speed and the high rotating speed can adopt more suitable feedforward torques, and good response performance can be achieved at different rotating speeds.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight control technology, in particular to a rotating speed control method and device of a folding rotor, equipment and a storage medium. BACKGROUND

[0002] If the folding rotor is directly driven by a permanent magnet synchronous motor, the rotating speed of the blade is equal to the rotating speed of the motor. The rotating speed of the motor is usually controlled by a rotating speed outer ring and a current inner ring. The rotating speed ring is obtained by subtracting the actual feedback rotating speed from the request rotating speed to obtain the rotating speed difference. The torque request is obtained through a PI controller (proportional integral controller). The current request is obtained through a maximum torque current ratio (MTPA) algorithm. The voltage is applied to the motor through the current ring and the voltage modulation module, so that the motor reaches the target rotating speed, and the blade of the folding rotor reaches the target rotating speed.

[0003] Since the load of the rotor increases with the increase of the rotating speed, if only a PI controller is used, the response time is slow, and overshoot may occur. If a feedforward plus PI controller is used, the feedforward generally obtains the torque through a rotating speed lookup table. The torque value obtained by the lookup table is difficult to track the change of the rotor load in real time due to the influence of air density and wind speed, thereby leading to unstable response performance, and even the rotating speed may diverge.

[0004] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The main purpose of the present application is to provide a rotating speed control method, device, equipment and storage medium of a folding rotor, which aims to solve the technical problem that the traditional method in the prior art is difficult to consider the response performance of different rotating speeds in the process of improving the rotating speed.

[0006] To achieve the above purpose, the present application provides a rotating speed control method of a folding rotor, which comprises:

[0007] When the motor starts to drive the folding rotor, the motor operating data and the blade operating data of the folding rotor are obtained in real time. Based on the blade operating data and the motor operating data, the motor torque is determined;

[0008] The motor torque is used as a low-speed feedforward torque. Based on the low-speed feedforward torque and the controller torque, the rotating speed of the motor is controlled to control the folding rotor to rotate in a low rotating speed range;

[0009] When the target rotating speed meets a high rotating speed range, the load torque is determined based on a load observer;

[0010] determining a high-speed feedforward torque based on the load torque;

[0011] controlling a rotation speed of the motor based on the high-speed feedforward torque and a controller torque to control the folding rotor to rotate in the high rotation speed range.

[0012] In an embodiment, the motor operation data at least includes a motor angular velocity, a rotation damping torque and a moment of inertia, and the step of determining the motor torque based on the blade operation data and the motor operation data comprises:

[0013] obtaining a first correspondence between the blade operation data and the motor angular velocity, the blade operation data at least including a blade thrust and a blade counter torque;

[0014] obtaining a second correspondence between the motor torque, the rotation damping torque, the moment of inertia and the blade counter torque;

[0015] determining a third correspondence between the rotation damping torque, the moment of inertia, the blade thrust and the motor torque according to the first correspondence and the second correspondence;

[0016] determining the motor torque according to the rotation damping torque, the moment of inertia, the blade thrust and the third correspondence.

[0017] In an embodiment, the step of determining the load torque based on the load observer comprises:

[0018] obtaining a fourth correspondence between the moment of inertia, the motor angular velocity, the electromagnetic torque and the load torque;

[0019] taking a matrix corresponding to the motor angular velocity and the load torque as a state quantity, taking the electromagnetic torque as an input quantity, taking the motor angular velocity as an output quantity, converting the fourth correspondence based on the input quantity, the output quantity and the state quantity to obtain a fourth correspondence in a state space form and determining a corresponding coefficient matrix;

[0020] determining a fifth correspondence between the input quantity, the output quantity, the state quantity, the coefficient matrix and a calibration parameter based on the load observer;

[0021] converting the fourth correspondence in the state space form into a sixth correspondence between the moment of inertia, the motor angular velocity, the electromagnetic torque, the load torque and the calibration parameter based on the fifth correspondence and the coefficient matrix;

[0022] determining the load torque according to the moment of inertia, the motor angular velocity, the electromagnetic torque, the calibration parameter corresponding to the target rotation speed and the sixth correspondence.

[0023] In an embodiment, the step of determining the motor torque according to the rotational damping torque, the rotational inertia, the blade thrust, and the third correspondence relationship comprises:

[0024] determining an initial motor torque according to the rotational damping torque, the rotational inertia, the blade thrust, and the third correspondence relationship;

[0025] obtaining a calibration coefficient corresponding to the target rotating speed, and determining the motor torque according to the initial motor torque and the calibration coefficient corresponding to the target rotating speed.

[0026] In an embodiment, the step of determining the high-speed feedforward torque based on the load torque comprises:

[0027] determining a torque difference value according to the motor torque and the load torque;

[0028] when the torque difference value is less than or equal to a preset difference value, taking the load torque as the high-speed feedforward torque.

[0029] In an embodiment, the method further comprises:

[0030] when the torque difference value is greater than the preset difference value, stopping driving the folding rotor or taking the motor torque as the high-speed feedforward torque.

[0031] In an embodiment, the method further comprises:

[0032] obtaining a controller parameter corresponding to the target rotating speed, and determining the controller torque based on the controller parameter.

[0033] In addition, to achieve the above object, the application further provides a rotating speed control device of a folding rotor, which comprises:

[0034] a feedforward module, configured to obtain motor operation data and blade operation data of the folding rotor in real time when the motor starts to drive the folding rotor, and determine a motor torque based on the blade operation data and the motor operation data;

[0035] a control module, configured to take the motor torque as a low-speed feedforward torque, control a rotating speed of the motor based on the low-speed feedforward torque and a controller torque, and control the folding rotor to rotate in a low rotating speed range;

[0036] the feedforward module is further configured to determine a load torque based on a load observer when a target rotating speed is greater than a preset rotating speed threshold;

[0037] the feedforward module is further configured to determine a high-speed feedforward torque based on the load torque;

[0038] The control module is further configured to control the folding rotor to rotate in the high-speed range based on the high-speed feedforward torque and a controller torque.

[0039] In addition, to achieve the above object, the application further provides a folding rotor speed control device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the folding rotor speed control method.

[0040] In addition, to achieve the above object, the application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the folding rotor speed control method.

[0041] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the folding rotor speed control method.

[0042] The application provides a folding rotor speed control method, when a motor starts to drive a folding rotor, motor operation data and blade operation data of the folding rotor are acquired, a motor torque is determined based on the blade operation data and the motor operation data, the motor torque is taken as a low-speed feedforward torque, the speed of the motor is controlled based on the low-speed feedforward torque and a controller torque, so as to control the folding rotor to rotate in a low-speed range, when a target speed meets a high-speed range, a load torque is determined based on a load observer, a high-speed feedforward torque is determined based on the load torque, and the speed of the motor is controlled based on the high-speed feedforward torque and the controller torque, so as to control the folding rotor to rotate in the high-speed range. In the process of improving the speed of the rotor, the application adopts a more suitable way to set the feedforward torque, dynamically calculates the feedforward torque at low speed by using the corresponding relationship between the motor operation data and the blade operation data, improves the accuracy of the feedforward torque, ensures the stability at low speed, uses the load observer to track the load change caused by the change of the environment in real time, so as to calculate the feedforward torque at high speed, reduces the influence of the change of the external environment on the response performance, can take into account the stability at low speed and the responsiveness at high speed at the same time, makes the different speeds all have good response performance, solves the technical problem that the traditional way is difficult to take into account the response performance of different speeds in the process of improving the speed, and improves the response performance. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the application and, together with the description, further serve to explain the principles of the application.

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0045] Figure 1 A flowchart of the method for controlling the rotating speed of the folding rotor according to Embodiment 1 of the present application;

[0046] Figure 2 A schematic diagram of the folding rotor according to the method for controlling the rotating speed of the folding rotor according to Embodiment 1 of the present application;

[0047] Figure 3 A brief control schematic diagram of the method for controlling the rotating speed of the folding rotor according to Embodiment 1 of the present application;

[0048] Figure 4 A rotating speed control schematic diagram of the method for controlling the rotating speed of the folding rotor according to Embodiment 1 of the present application;

[0049] Figure 5 A flowchart of the method for controlling the rotating speed of the folding rotor according to Embodiment 2 of the present application;

[0050] Figure 6 A module structure schematic diagram of the rotating speed control device of the folding rotor according to the embodiment of the present application;

[0051] Figure 7 A device structure schematic diagram of the hardware running environment involved in the method for controlling the rotating speed of the folding rotor according to the embodiment of the present application.

[0052] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and not to limit the present application.

[0054] In order to better understand the technical solutions of the present application, the embodiments will be described in detail with reference to the accompanying drawings and specific embodiments.

[0055] The main solution of the embodiment of the present application is: when the motor starts to drive the folding rotor, motor operation data and blade operation data of the folding rotor are obtained, the motor torque is determined based on the blade operation data and the motor operation data, the motor speed is controlled based on the low-speed feedforward torque and the controller torque, so as to control the folding rotor to rotate in the low-speed range; when the target speed meets the high-speed range, the load torque is determined based on the load observer; the high-speed feedforward torque is determined based on the load torque; the motor speed is controlled based on the high-speed feedforward torque and the controller torque, so as to control the folding rotor to rotate in the high-speed range.

[0056] At present, since the load of the rotor increases with the increase of the speed, if only a PI controller is used, the response time is slow, and overshoot may occur, and if a feedforward plus PI controller is used, the feedforward generally obtains the torque by looking up the table according to the speed, which is affected by the air density and the wind speed, and the torque value obtained by looking up the table is difficult to track the change of the rotor load in real time, thereby leading to unstable response performance, and even speed divergence may occur.

[0057] The present application provides a solution, which sets the feedforward torque in a more suitable way during the process of increasing the speed of the rotor, dynamically calculates the feedforward torque at low speed by using the corresponding relationship between the motor operation data and the blade operation data, improves the accuracy of the feedforward torque, ensures the stability at low speed, uses the load observer to track the load change caused by the change of the environment in real time, thereby calculating the feedforward torque at high speed, reducing the influence of external environmental changes on the response performance, and being able to take into account the stability at low speed and the responsiveness at high speed at the same time, so that good response performance can be achieved at different speeds, solving the technical problem that the traditional method is difficult to take into account the response performance at different speeds during the process of increasing the speed, and improving the response performance.

[0058] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a speed control device of a folding rotor, etc., and the embodiment does not make specific limitation thereon. The speed control device of the folding rotor is taken as an example to illustrate the embodiment and each of the following embodiments.

[0059] The embodiment of the present application provides a speed control method of a folding rotor, which refers to Figure 1 , Figure 1 The flowchart of the first embodiment of the speed control method of the folding rotor of the present application is shown.

[0060] In the embodiment, the speed control method of the folding rotor comprises steps S10-S50:

[0061] Step S10, acquiring motor operation data and blade operation data of the folding rotor in real time when the motor starts to drive the folding rotor, determining motor torque based on the blade operation data and the motor operation data;

[0062] It should be noted that the folding rotor in the embodiment is directly driven by the motor, and the rotating speed of the motor can be considered as the rotating speed of the folding rotor. The folding rotor usually has two blades, and the specific structure can be referred to Figure 2 (a and b are two blades), which is not limited in the embodiment. The motor can be a permanent magnet synchronous motor, which is referred to Figure 3 The rotating speed of the permanent magnet synchronous motor is controlled by a rotating speed outer ring and a current inner ring. The rotating speed difference is obtained by subtracting the actual feedback rotating speed from the requested rotating speed, and the torque request is obtained through the PI controller. The current request is obtained through the MTPA algorithm, and the voltage is applied to the motor through the current ring and the voltage modulation module, so that the motor reaches the target rotating speed. Since the load of the rotor increases with the increase of the rotating speed, if only the PI controller is used to determine the torque, the response time is slow, therefore, the feedforward torque is usually increased by using the feedforward plus PI controller. It is referred to Figure 4 In the embodiment, different ways are used to determine the feedforward torque at high rotating speed and low rotating speed, so that the feedforward torque is more accurate, to ensure the response performance at high rotating speed and low rotating speed.

[0063] In addition, it should be noted that the motor operation data is the key data of the motor in the operation process, at least including the motor angular velocity, the rotating damping torque and the moment of inertia. The blade operation data is the key data of the blade of the folding rotor in the operation process, at least including the blade thrust and the blade counter torque.

[0064] In a possible implementation, the step of determining the motor torque based on the blade operation data and the motor operation data can include:

[0065] Step S101, acquiring a first corresponding relationship between the blade operation data and the motor angular velocity;

[0066] It should be noted that the first corresponding relationship between the blade operation data and the motor angular velocity includes the corresponding relationship between the blade thrust and the motor angular velocity and the corresponding relationship between the blade counter torque and the motor angular velocity. The blade thrust is usually proportional to the square of the rotating speed, and the corresponding relationship between the blade thrust and the motor angular velocity can be calculated by the following calculation relationship:

[0067] F=C F ·ω 2

[0068] In the formula, F represents the blade thrust, C Frepresents a coefficient related to the propeller thrust, which is usually a constant determined according to the propeller characteristics, and ω represents the motor angular velocity. The propeller counter-thrust is usually proportional to the square of the rotation speed, and the corresponding relationship between the propeller counter-thrust and the motor angular velocity can be calculated by using the following calculation formula:

[0069] Q F =C Q ·ω 2

[0070] In the formula, Q F represents the propeller counter-thrust, C Q represents a coefficient related to the propeller counter-thrust, which is usually a constant determined according to the propeller characteristics, and ω represents the motor angular velocity.

[0071] In step S102, a second corresponding relationship between the motor torque, the rotation damping torque, the rotation inertia and the propeller counter-thrust is obtained.

[0072] It should be noted that the second corresponding relationship between the motor torque, the rotation damping torque, the rotation inertia and the propeller counter-thrust is as follows:

[0073]

[0074] In the formula, Q represents the motor torque, B represents the rotation damping torque, J represents the rotation inertia, and Q F represents the propeller counter-thrust.

[0075] In step S103, a third corresponding relationship between the rotation damping torque, the rotation inertia, the propeller thrust and the motor torque is determined according to the first corresponding relationship and the second corresponding relationship.

[0076] It can be understood that, according to the first corresponding relationship and the second corresponding relationship, the following calculation formula can be obtained:

[0077]

[0078] In the formula, F represents the propeller thrust, C F represents a coefficient related to the propeller thrust, ω represents the motor angular velocity, C Q represents a coefficient related to the propeller counter-thrust, Q represents the motor torque, B represents the rotation damping torque, and J represents the rotation inertia. Then, according to the corresponding relationship between the propeller thrust and the motor angular velocity, the propeller thrust is used to represent the motor angular velocity, so that the third corresponding relationship between the rotation damping torque, the rotation inertia, the propeller thrust and the motor torque can be derived, which is as follows:

[0079]

[0080] That is:

[0081]

[0082] In the formula, Q represents the motor torque, F represents the blade thrust, C F represents the blade thrust-related coefficient, C Q represents the blade counter-torque-related coefficient, B represents the rotational damping torque, and J represents the rotational inertia.

[0083] In step S104, the motor torque is determined according to the rotational damping torque, the rotational inertia, the blade thrust, and the third correspondence relationship.

[0084] It can be understood that the current rotational damping torque, the rotational inertia, and the blade thrust are substituted into the third correspondence relationship to calculate the real-time motor torque.

[0085] In step S20, the motor torque is used as a low-speed feedforward torque, and the speed of the motor is controlled based on the low-speed feedforward torque and a controller torque to control the folding rotor to rotate in a low-speed range.

[0086] It should be noted that the low-speed feedforward torque is a feedforward torque used at a low speed, and the controller torque refers to the torque output by the PI controller in real time. The low-speed range refers to a numerical range of the folding rotor at a low speed, and whether it is in the low-speed range can be determined by setting a low-speed threshold. When the target speed is less than or equal to the low-speed threshold, it is considered to be at a low speed. The specific value of the low-speed threshold is usually determined according to the blade characteristics, and this embodiment does not make a specific limitation. When the motor starts to drive the folding rotor, the rotor is considered to be at a low speed by default. At this time, the motor torque is calculated in real time by using the correspondence relationship between the motor operating data and the blade operating data, and is used as the feedforward torque at a low speed. Therefore, according to the feedforward torque at a low speed and the torque output by the PI controller in real time, the torque request is determined, the speed of the motor is controlled, and the speed of the folding rotor is further controlled, so that the folding rotor can rotate at a low speed.

[0087] It can be understood that due to environmental factors such as wind speed and air pressure, the load of the rotor increases with the increase of the speed. When the rotor is at a high speed, the calculation method of the feedforward torque used at a low speed cannot track the load change caused by the change of the environment in real time. Therefore, different calculation methods of the feedforward torque are used at a low speed and at a high speed in this embodiment.

[0088] In step S30, when the target speed meets the high-speed range, the load torque is determined based on a load observer.

[0089] It should be noted that the high speed range refers to the numerical range of the folding rotor at high speed, and whether it is in the high speed range can be determined by setting a high speed threshold. The target speed is considered high speed when it is greater than the high speed threshold. The specific value of the high speed threshold is usually determined according to the characteristics of the blade, which is not limited in the embodiment. Generally, the high speed threshold is usually equal to the low speed threshold, that is, the speed threshold for distinguishing high speed and low speed can be uniformly set. The target speed greater than the speed threshold is in the high speed range, and the target speed less than or equal to the speed threshold is in the low speed range.

[0090] In addition, it should be noted that the load observer used in the embodiment is a Luenberger observer.

[0091] In a possible implementation, step S30 can include steps S301-S305:

[0092] Step S301, obtaining a fourth correspondence relationship between the moment of inertia, the motor angular velocity, the electromagnetic torque and the load torque;

[0093] It should be noted that the fourth correspondence relationship between the moment of inertia, the motor angular velocity, the electromagnetic torque and the load torque refers to the mechanical motion equation of the permanent magnet synchronous motor, as shown below:

[0094]

[0095] In the formula, J represents the moment of inertia, ω represents the motor angular velocity, T e represents the electromagnetic torque, T l represents the load torque, and T B is a constant.

[0096] Step S302, taking the matrix corresponding to the motor angular velocity and the load torque as the state quantity, taking the electromagnetic torque as the input quantity, taking the motor angular velocity as the output quantity, converting the fourth correspondence relationship based on the input quantity, the output quantity and the state quantity, obtaining the fourth correspondence relationship in the form of state space, and determining the corresponding coefficient matrix;

[0097] It should be noted that the state quantity x, the input quantity u and the output quantity y are selected as follows:

[0098]

[0099] In the formula, x is the state quantity, u is the input quantity, y is the output quantity, ω is the motor angular velocity, T e is the electromagnetic torque, and T l is the load torque.

[0100] In addition, it should be noted that the general form of the state space is as follows:

[0101]

[0102] y = C * x + D * u

[0103] In the formula, x is a state quantity, u is an input quantity, y is an output quantity, and A, B, C and D are coefficient matrices. The matrix corresponding to the motor angular velocity and the load torque is taken as the state quantity, the electromagnetic torque is taken as the input quantity, and the motor angular velocity is taken as the output quantity. The fourth correspondence is converted into a state space form as follows:

[0104]

[0105]

[0106] In the formula, J represents the moment of inertia, ω represents the motor angular velocity, T e represents the electromagnetic torque, T l represents the load torque, T B is a constant, x is a state quantity, and y is an output quantity. At this time, the coefficient matrices can be determined as follows:

[0107]

[0108] In the formula, J represents the moment of inertia, T B is a constant, and A, B, C and D are coefficient matrices.

[0109] In step S303, a fifth correspondence between the input quantity, the output quantity, the state quantity, the coefficient matrices and the calibration parameters is determined based on the load observer.

[0110] It should be noted that if the load observer is a Luenberger observer, the fifth correspondence is as follows:

[0111]

[0112]

[0113] The derivation is as follows:

[0114]

[0115] In the formula, x is a state quantity, u is an input quantity, y is an output quantity, A, B, C and D are coefficient matrices, and L is a matrix composed of calibration parameters, L1 and L2 are calibration parameters of the Luenberger observer.

[0116] Step S304, based on the fifth corresponding relationship and the coefficient matrix, converting the fourth corresponding relationship in the state space form into a sixth corresponding relationship between the moment of inertia, the motor angular velocity, the electromagnetic torque, the load torque and the calibration parameters;

[0117] It can be understood that the coefficient matrix is substituted into the above-mentioned fifth corresponding relationship, so as to convert the fourth corresponding relationship in the state space form into the sixth corresponding relationship between the moment of inertia, the motor angular velocity, the electromagnetic torque, the load torque and the calibration parameters, as follows:

[0118]

[0119]

[0120] In the formula, J represents the moment of inertia, ω represents the motor angular velocity, T e represents the electromagnetic torque, T l represents the load torque, T B is a constant, L1 and L2 are calibration parameters of the Luenberger observer.

[0121] It should be understood that when the target speed is less than or equal to the preset speed threshold, the motor torque is kept as the low-speed feedforward torque.

[0122] Step S305, determining the load torque according to the moment of inertia, the motor angular velocity, the electromagnetic torque, the calibration parameter corresponding to the target speed and the sixth corresponding relationship.

[0123] It should be noted that the speed of the observed load torque approaching the real torque can be met by adjusting the values of L1 and L2, at this time the torque calculated by the Luenberger observer converges fast, and the torque fluctuation is small when the speed is stable. Generally, L1 and L2 corresponding to different target speeds are different, which can be recorded from the preset speed threshold, with an interval of 100 rpm, until the maximum speed, and L1 and L2 corresponding to the steady-state torque at each speed. The electromagnetic torque T e is the actual torque of the motor, which can be calculated by the actual current value, or can be calculated by the target torque, and the target torque is used to calculate the electromagnetic torque T e in the embodiment.

[0124] It can be understood that the current moment of inertia, motor angular velocity, electromagnetic torque and calibration parameter corresponding to the target speed are substituted into the above-mentioned sixth corresponding relationship, and the real-time load torque is calculated.

[0125] Step S40, determining a high-speed feedforward torque based on the load torque;

[0126] It should be noted that the high-speed feedforward torque, i.e., the feedforward torque used at high rotation speed, can generally be the load torque calculated by the load observer.

[0127] In step S50, the rotation speed of the motor is controlled based on the high-speed feedforward torque and the controller torque, so as to control the folding rotor to rotate in the high rotation speed range.

[0128] It can be understood that, in the embodiment, the load observer is used to track the load change caused by the environment change in real time, the load torque is calculated, the feedforward torque at high rotation speed is determined, the torque request is determined according to the feedforward torque at high rotation speed and the torque output by the PI controller in real time, the rotation speed of the motor is controlled, and then the rotation speed of the folding rotor is controlled, so that the folding rotor can rotate at high speed.

[0129] It should be understood that, when the folding rotor is just started, the two blades will be gradually flung apart, and until the rotation speed is greater than a certain value, the two blades are completely straightened. At the start, the angle of the two blades is changing, at first the blades are driven to rotate by the electric drive, i.e., the blades give the electric drive a resistance, and during the flinging of the blades, the phase of the load leads the electric drive, which is equivalent to that the blades give the electric drive a thrust. After the above starting process, at low rotation speed, if the Luenberger observer is used, the observed torque will be shaking all the time, and in severe cases, the rotation speed will diverge and the blades will be damaged. Therefore, in the embodiment, the feedforward torque is calculated by using the theoretical formula at low rotation speed, and the feedforward torque is calculated by using the load observer at high rotation speed, so as to ensure that good response performance can be achieved at low rotation speed and high rotation speed.

[0130] The embodiment provides a rotation speed control method of a folding rotor. When a motor starts to drive the folding rotor, motor operation data and blade operation data of the folding rotor are acquired, and a motor torque is determined based on the blade operation data and the motor operation data. The motor torque is used as a low-speed feedforward torque, and the rotation speed of the motor is controlled based on the low-speed feedforward torque and a controller torque, so as to control the folding rotor to rotate in a low rotation speed range. When a target rotation speed meets a high rotation speed range, a load observer is used to determine a load torque, and a high-speed feedforward torque is determined based on the load torque. The rotation speed of the motor is controlled based on the high-speed feedforward torque and the controller torque, so as to control the folding rotor to rotate in the high rotation speed range. In the process of increasing the rotation speed of the rotor, a more suitable way is used to set the feedforward torque, the feedforward torque at low rotation speed is dynamically calculated by using the corresponding relationship between the motor operation data and the blade operation data, the accuracy of the feedforward torque is improved, the stability at low rotation speed is ensured, the load change caused by the environment change is tracked in real time by using the load observer, so as to calculate the feedforward torque at high rotation speed, the influence of the external environment change on the response performance is reduced, the stability at low rotation speed and the responsiveness at high rotation speed can be considered at the same time, good response performance can be achieved at different rotation speeds, and the response performance is improved.

[0131] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as the above-mentioned embodiment one can refer to the above introduction, and the subsequent will not be described in detail. On this basis, please refer to Figure 5 , the step S40 can include steps S401-S402:

[0132] Step S401, according to the motor torque and the load torque, determine the torque difference;

[0133] It should be noted that the torque difference is the difference between the motor torque and the load torque.

[0134] It can be understood that since low speed and high speed need to switch different feedforward torque calculation methods, the switching process needs to ensure that the load fluctuation is small, so the torque difference calculated by the two methods cannot be too large.

[0135] Step S402, when the torque difference is less than or equal to the preset difference, the load torque is taken as the high-speed feedforward torque.

[0136] It should be noted that the preset difference is a threshold value of the preset torque difference, which is usually small in value. If the torque difference is less than or equal to the preset difference, it can be considered that the two torques are very close, and the feedforward torque calculation method of low speed and high speed can be seamlessly switched.

[0137] In one possible implementation, when the torque difference is greater than the preset difference, stop driving the folding rotor or take the motor torque as the high-speed feedforward torque.

[0138] It can be understood that if the torque difference is greater than the preset difference, it means that the difference between the two torques is large, and at this time the feedforward torque calculation method of low speed cannot be directly switched to the feedforward torque calculation method of high speed. If the blade needs to be able to operate in all working conditions, the motor torque can be taken as the high-speed feedforward torque (the response performance is not stable enough), and if the blade does not need to be able to operate in all working conditions, the machine can be stopped and the folding rotor can be stopped.

[0139] It should be understood that the difference between the motor torque and the load torque can be reduced by calibration. For high speed, from the preset speed threshold, with an interval of 100 rpm, until the maximum speed, record the calibration parameters of the load observer corresponding to the steady-state torque at each speed. As long as the calibration parameters are properly set, the torque error of the load observer and the actual torque error does not exceed ±5%; for low speed, the formula calculation and the actual load have a deviation, so a calibration coefficient should be multiplied at different speeds, so that the torque output by the PI controller is close to 10Nm at each stable speed, that is, most of the torque is contributed by the feedforward torque, and the dynamic response process and the steady-state error are adjusted by the PI controller.

[0140] In an implementation, step S104 can comprise: determining an initial motor torque according to the rotation damping torque, the rotation inertia, the blade thrust and the third correspondence; obtaining a calibration coefficient corresponding to the target rotation speed, and determining the motor torque according to the initial motor torque and the calibration coefficient corresponding to the target rotation speed.

[0141] It should be noted that the initial motor torque is a directly calculated motor torque, and each target rotation speed has a corresponding calibration coefficient. Multiplying the calibration coefficient by the initial motor torque can obtain the final motor torque. The load torque has used the corresponding calibration coefficient in the calculation process, and thus will not be described herein.

[0142] In addition, the parameters of the PI controller also need to be set accordingly. In an implementation, the controller parameters corresponding to the target rotation speed are obtained, and the controller torque is determined based on the controller parameters.

[0143] It should be noted that the controller parameters are key parameters of the PI controller, and different target rotation speeds need to use different controller parameters. Due to the characteristics of the blade, the controller parameters of the low rotation speed need to be segmented calibrated, and the controller parameters of the high rotation speed only need to find a suitable value.

[0144] It can be understood that by adjusting the controller parameters, the process of dynamic response meets the requirements, and the rotation speed loop of the motor control can be equivalent to a second-order system. The specific evaluation items include the rise time, the overshoot, the steady-state error, etc. The specific indexes are determined according to the requirements of each item, and are generally from the requirements of the upper flight controller.

[0145] The embodiment provides a rotation speed control method of a folding rotor. The torque difference is determined according to the motor torque and the load torque. When the torque difference is less than or equal to a preset difference, the load torque is used as a high-speed feedforward torque. Different ways are used to set the feedforward torque when the rotor is at a low rotation speed and a high rotation speed. The switching process of the two ways is monitored to ensure that the difference between the torques is small and the stability of the response performance is ensured, so that good response performance is achieved.

[0146] It should be noted that the above examples are only used for understanding the present application and do not constitute a limitation on the rotation speed control method of the folding rotor. Based on the technical concept, more forms of simple transformation are within the protection scope of the present application.

[0147] The present application also provides a rotation speed control device of a folding rotor. Please refer to Figure 6 The rotation speed control device of the folding rotor comprises:

[0148] The feedforward module 10 is configured to acquire motor operation data and blade operation data in real time when the motor starts to drive the folding rotor, and determine a motor torque based on the blade operation data and the motor operation data.

[0149] The control module 20 is configured to control the rotating speed of the motor based on the low-speed feedforward torque and a controller torque, so as to control the folding rotor to rotate in a low rotating speed range.

[0150] The feedforward module 10 is further configured to determine a load torque based on a load observer when the target rotating speed meets a high rotating speed range.

[0151] The feedforward module 10 is further configured to determine a high-speed feedforward torque based on the load torque.

[0152] The control module 20 is further configured to control the rotating speed of the motor based on the high-speed feedforward torque and the controller torque, so as to control the folding rotor to rotate in the high rotating speed range.

[0153] In an available implementation, the feedforward module 10 is further configured to acquire a first corresponding relationship between the blade operation data and the motor angular velocity, the blade operation data at least including blade thrust and blade counter torque;

[0154] acquire a second corresponding relationship between the motor torque, the rotating damping torque, the moment of inertia and the blade counter torque;

[0155] determine a third corresponding relationship between the rotating damping torque, the moment of inertia, the blade thrust and the motor torque according to the first corresponding relationship and the second corresponding relationship;

[0156] determine the motor torque according to the rotating damping torque, the moment of inertia, the blade thrust and the third corresponding relationship.

[0157] In an available implementation, the feedforward module 10 is further configured to acquire a fourth corresponding relationship between the moment of inertia, the motor angular velocity, the electromagnetic torque and the load torque;

[0158] convert the fourth corresponding relationship based on the input, the output and the state quantity to obtain a fourth corresponding relationship in a state space form and determine a corresponding coefficient matrix, wherein the matrix corresponding to the motor angular velocity and the load torque is taken as the state quantity, and the electromagnetic torque is taken as the input quantity, and the motor angular velocity is taken as the output quantity;

[0159] determine a fifth corresponding relationship between the input quantity, the output quantity, the state quantity, the coefficient matrix and the calibration parameter based on the load observer;

[0160] convert the fourth correspondence in the state space form into a sixth correspondence between the moment of inertia, the motor angular velocity, the electromagnetic torque, the load torque and the calibration parameters based on the fifth correspondence and the coefficient matrix;

[0161] determine the load torque according to the moment of inertia, the motor angular velocity, the electromagnetic torque, the calibration parameters corresponding to the target rotating speed and the sixth correspondence.

[0162] In an implementable embodiment, the feedforward module 10 is further configured to determine an initial motor torque according to the rotational damping torque, the moment of inertia, the blade thrust and the third correspondence.

[0163] obtain calibration coefficients corresponding to the target rotating speed, and determine the motor torque according to the initial motor torque and the calibration coefficients corresponding to the target rotating speed.

[0164] In an implementable embodiment, the feedforward module 10 is further configured to determine a torque difference value according to the motor torque and the load torque.

[0165] when the torque difference value is less than or equal to a preset difference value, the load torque is taken as the high-speed feedforward torque.

[0166] In an implementable embodiment, the feedforward module 10 is further configured to stop driving the folding rotor or take the motor torque as the high-speed feedforward torque when the torque difference value is greater than the preset difference value.

[0167] In an implementable embodiment, the control module 20 is further configured to obtain controller parameters corresponding to the target rotating speed, and determine the controller torque based on the controller parameters.

[0168] The rotating speed control device of the folding rotor provided in the present application adopts the rotating speed control method of the folding rotor in the above embodiments, and can solve the technical problem that the conventional method is difficult to consider the response performance of different rotating speeds in the process of improving the rotating speed. Compared with the prior art, the rotating speed control device of the folding rotor provided in the present application has the same beneficial effects as the rotating speed control method of the folding rotor provided in the above embodiments, and other technical features in the rotating speed control device of the folding rotor are the same as the features disclosed in the above embodiments, which will not be described herein.

[0169] The present application provides a rotating speed control device of a folding rotor, which comprises at least one processor and a memory in communication connection with the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the rotating speed control method of the folding rotor in the above embodiment one.

[0170] The following is for reference. Figure 7 The diagram illustrates a structural schematic of a rotational speed control device suitable for implementing the embodiments of this application. The rotational speed control device for the folding rotor in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The speed control device for the folding rotor shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0171] like Figure 7 As shown, the rotational speed control device for the folding rotor may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 1002 or a program loaded from storage device 1003 into random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the rotational speed control device for the folding rotor. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the rotational speed control device of the folding rotor to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows rotational speed control devices for folding rotors with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems can be implemented or possessed alternatively.

[0172] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program codes for executing the method shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiments disclosed in the present application are executed.

[0173] The folding rotor speed control device provided by the present application adopts the folding rotor speed control method in the above-mentioned embodiments, and can solve the technical problem that the conventional method is difficult to balance the response performance of different speeds during the process of increasing the speed. Compared with the prior art, the folding rotor speed control device provided by the present application has the same beneficial effects as the folding rotor speed control method provided by the above-mentioned embodiments, and other technical features in the folding rotor speed control device are the same as the features disclosed in the previous embodiment method, which will not be repeated here.

[0174] It should be understood that various parts of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above-mentioned embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0175] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0176] The present application provides a computer readable storage medium having stored thereon computer readable program instructions (i.e. computer program) for executing the folding rotor speed control method in the above-mentioned embodiments.

[0177] The computer readable storage medium provided in the application may be, for example, a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination thereof. More specific examples of the computer readable storage medium may include, but are not limited to, an electric connection with one or more conductive 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 thereof. In the embodiment, the computer readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), and the like, or any suitable combination thereof.

[0178] The computer readable storage medium described above may be included in the rotating speed control device of the folding rotor, or may exist separately without being assembled into the rotating speed control device of the folding rotor.

[0179] The computer readable storage medium described above carries one or more programs, which, when executed by the rotating speed control device of the folding rotor, cause the rotating speed control device of the folding rotor to: obtain motor operation data and blade operation data when the motor starts to drive the folding rotor, determine the motor torque based on the blade operation data and the motor operation data; take the motor torque as a low-speed feedforward torque, control the rotating speed of the motor based on the low-speed feedforward torque and the controller torque, to control the folding rotor to rotate in a low-speed range; when the target rotating speed meets a high-speed range, determine the load torque based on a load observer; determine a high-speed feedforward torque based on the load torque; control the rotating speed of the motor based on the high-speed feedforward torque and the controller torque, to control the folding rotor to rotate in the high-speed range.

[0180] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0181] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0182] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. In some cases, the name of the module does not constitute a limitation on the module itself.

[0183] The readable storage medium provided by the present application is a computer readable storage medium, which stores computer readable program instructions (i.e., computer programs) for executing the above-mentioned folding rotor speed control method, and can solve the technical problem that the conventional method is difficult to balance the response performance of different speeds in the process of improving the speed. Compared with the prior art, the computer readable storage medium provided by the present application has the same beneficial effects as the folding rotor speed control method provided by the above-mentioned embodiments, and will not be described here.

[0184] The application also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for controlling the rotating speed of a folding rotor as described above.

[0185] The computer program product provided by the application can solve the technical problem that the conventional method is difficult to balance the response performance of different rotating speeds in the process of improving the rotating speed. Compared with the prior art, the beneficial effects of the computer program product provided by the application are the same as those of the method for controlling the rotating speed of a folding rotor provided by the above-mentioned embodiments, and are not described here.

[0186] The above only describes some embodiments of the application, and does not limit the patent scope of the application. Any equivalent structural transformation made by using the content of the specification and drawings, or direct / indirect application in other related technical fields under the technical concept of the application is included in the patent protection scope of the application.

Claims

1. A method for controlling the rotational speed of a folding rotor, characterized in that, The folding rotor is directly driven by a motor, and the method includes: When the motor starts driving the folding rotor, the motor operation data and the blade operation data of the folding rotor are acquired in real time, and the motor torque is determined based on the blade operation data and the motor operation data. The motor torque is used as the low-speed feedforward torque. Based on the low-speed feedforward torque and the controller torque, the speed of the motor is controlled so as to control the rotation of the folding rotor within the low speed range. When the target speed falls within the high speed range, the load torque is determined based on the load observer; Based on the load torque, determine the high-speed feedforward torque; Based on the high-speed feedforward torque and the controller torque, the speed of the motor is controlled to control the rotation of the folding rotor within the high speed range.

2. The method as described in claim 1, characterized in that, The motor operating data includes at least the motor angular velocity, rotational damping torque, and moment of inertia. The step of determining the motor torque based on the blade operating data and the motor operating data includes: Obtain the first correspondence between blade operating data and motor angular velocity, wherein the blade operating data includes at least blade thrust and blade anti-torque; Obtain the second correspondence between motor torque, rotational damping torque, rotational inertia and blade reverse torque; Based on the first and second correspondences, a third correspondence is determined between rotational damping torque, moment of inertia, blade thrust, and motor torque. The motor torque is determined based on the rotational damping torque, rotational inertia, blade thrust, and the aforementioned third correspondence.

3. The method as described in claim 1, characterized in that, The step of determining the load torque based on the load observer includes: Obtain the fourth correspondence between rotational inertia, motor angular velocity, electromagnetic torque, and load torque; The matrix corresponding to the motor angular velocity and the load torque is used as the state quantity, the electromagnetic torque is used as the input quantity, and the motor angular velocity is used as the output quantity. Based on the input quantity, the output quantity, and the state quantity, the fourth correspondence is transformed to obtain the fourth correspondence in state space form, and the corresponding coefficient matrix is ​​determined. Based on the load observer, a fifth correspondence is determined between the input quantity, output quantity, state quantity, coefficient matrix and calibration parameters; Based on the fifth correspondence and the coefficient matrix, the fourth correspondence in the state space form is converted into a sixth correspondence between the moment of inertia, motor angular velocity, electromagnetic torque, load torque and calibration parameters; The load torque is determined based on the moment of inertia, motor angular velocity, electromagnetic torque, calibration parameters corresponding to the target speed, and the sixth correspondence.

4. The method as described in claim 2, characterized in that, The step of determining the motor torque based on the rotational damping torque, moment of inertia, blade thrust, and the third correspondence includes: The initial motor torque is determined based on the rotational damping torque, rotational inertia, blade thrust, and the aforementioned third correspondence. Obtain the calibration coefficient corresponding to the target speed, and determine the motor torque based on the initial motor torque and the calibration coefficient corresponding to the target speed.

5. The method as described in claim 1, characterized in that, The step of determining the high-speed feedforward torque based on the load torque includes: The torque difference is determined based on the motor torque and the load torque; When the torque difference is less than or equal to a preset difference, the load torque is used as the high-speed feedforward torque.

6. The method as described in claim 5, characterized in that, The method further includes: When the torque difference is greater than the preset difference, stop driving the folding rotor or use the motor torque as the high-speed feedforward torque.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Obtain the controller parameters corresponding to the target speed, and determine the controller torque based on the controller parameters.

8. A speed control device for a folding rotor, characterized in that, The rotational speed control device for the folding rotor includes: The feedforward module is used to acquire motor operating data and blade operating data of the folding rotor in real time when the motor starts to drive the folding rotor, and determine the motor torque based on the blade operating data and the motor operating data. The control module is used to use the motor torque as a low-speed feedforward torque, and based on the low-speed feedforward torque and the controller torque, control the speed of the motor so as to control the rotation of the folding rotor within the low speed range. The feedforward module is also used to determine the load torque based on the load observer when the target speed is greater than a preset speed threshold. The feedforward module is also used to determine the high-speed feedforward torque based on the load torque; The control module is also used to control the rotation of the folding rotor within a high speed range based on the high-speed feedforward torque and the controller torque.

9. A speed control device for a folding rotor, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the rotational speed control method for a folding rotor as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the rotational speed control method for the folding rotor as described in any one of claims 1 to 7.

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