Power assembly system of electric multi-rotor unmanned aircraft

Abstract

The invention discloses a power assembly system of an electric multi-rotor unmanned aircraft. The power assembly system comprises a monitoring center, a main processor, a flight control system and a power system controlled in a feedback mode. A communication unit, a power health monitoring unit, a power positioning monitoring unit and a power control unit are integrated on the main processor; the power system comprises a plurality of power objects which are subjected to feedback control and a driver which is directly matched and connected with the power objects; the power objects are respectively in data interaction connection with the main processor through the three-bus module; the main processor is used for confirming a controlled power object in a software and hardware dual-backup mode; the power control unit is used for receiving a power control instruction sent by a flight control system, analyzing the power control instruction to obtain control parameters of speed and torque, issuing the control parameters to controlled power objects, and collecting operation state data of the power objects in a polling mode. The operation state data comprises parameters such as voltage, current, torque, rotating speed and temperature; according to the power assembly system, the reliability of the system is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a power assembly system for an electric multi-rotor unmanned aerial vehicle. Background Art

[0002] Research and development found that my country still has two development paths in the product path of low-altitude aircraft: on the one hand, large military-related UAVs basically continue the design and production and manufacturing system of traditional military or civilian aircraft; on the other hand, multi-rotor UAVs including eVTOL have developed rapidly from model aircraft.

[0003] Compared with the driving and control methods and design concepts of traditional aircraft, electric power has great advantages in power transmission, drive control, signals, etc., composite wings (fixed-wing vertical take-off and landing) or eVTOL drones and multi-rotor drones powered by batteries are gradually becoming mainstream. The study found that the industry practice is to calculate the required propeller lift according to the load requirements, select the appropriate specifications of the propeller blades on the market according to the propeller radius, and the motor that meets the speed requirement KV value, and select the appropriate specifications of the battery according to the KV value of the motor for DIY production and manufacturing.

[0004] Further research found that a potential problem in the electric drone industry caused by the model aircraft mentality, or the problem caused by the DIY path relying on the "supplier solution", is whether the matching of motors, electronic speed controllers, and batteries truly matches the aerodynamic characteristics. Few industry players have conducted in-depth academic research and truly used it to guide product design.

[0005] At the same time, in the existing UAV flight control system, the motor-EDC is controlled separately as a discrete control object, rather than interacting with the power system as a unified object. This control method occupies a large amount of bus resources of the flight control system, increases the computing power burden of the flight control system, and reduces the system expansion capability. Moreover, the overall "health" of the power system and the operating status of the UAV power cannot be monitored, which poses hidden dangers to the flight safety of the UAV. In addition to the technical means of safety supervision of the UAV flight control system, it is of great significance to add a technical means of safety supervision of the power system. Summary of the invention

[0006] In view of the above problems, the present invention proposes an electric multi-rotor unmanned aerial vehicle powertrain system. The unmanned aerial vehicle electric regulator and motor are integrated to reduce line contacts, which can greatly improve the system reliability. In addition, the waveform from the electric regulator is the shortest distance from the motor, which maximizes the avoidance of harmonic influence and its influence on the operation of the motor. The motor has better operating performance, which has great advantages in terms of airworthiness.

[0007] The present invention provides a power assembly system for an electric multi-rotor unmanned aerial vehicle, comprising a monitoring center, a main processor, a flight control system, and a power system under feedback control; the main processor is integrated with a communication unit, a power health monitoring unit, a power positioning monitoring unit, and a power control unit;

[0008] The power system includes a plurality of power objects under feedback control and a driver directly connected to the power objects; the power objects and the drivers are arranged in a one-to-one correspondence;

[0009] The power objects respectively establish data interaction connection with the main processor through three bus modules;

[0010] The main processor is a double-word processor; the main processor is used to confirm the controlled power object through a software and hardware dual backup method;

[0011] The power control unit is used to receive the power control command sent by the flight control system, parse the power control command to obtain the control parameters of speed and torque and send them to the controlled power object, and collect the operation status data of each power object in a polling manner; the operation status data includes parameters such as voltage, current, torque, speed, temperature, etc.; the power control unit is also used to report the operation status data of the power system to the flight control system in real time;

[0012] The power health monitoring unit sends the operating status data of the power system to the monitoring center in real time via the eSIM or satellite link;

[0013] The dynamic positioning monitoring unit sends the position data of the power system to the monitoring center in real time via the eSIM or satellite link.

[0014] Preferably, as an implementable method, the main processor is also used to, when confirming the controlled power object through the dual backup of software and hardware, first perform initial verification and confirmation through the physical setting of the DP switch dial on the power control unit, and then read the hardware information of the DP switch dial; then perform software information confirmation and verification by receiving the addressed response signal sent by the controlled power object, and perform secondary verification and backup; compare and verify the consistency of the hardware information and the software information, and confirm the number and position of valid power objects, and establish an address to physical position mapping table through the number and position of valid power objects.

[0015] Preferably, as an implementable method; the driver establishes a signal connection with the motor, the driver is used to obtain motor feedback data of the motor in real time, and when the motor feedback data is abnormal, the exception handling program is called in an interrupt manner; the main controller is also used to execute the exception handling program item and the monitoring center sends an alarm message.

[0016] Preferably, as an implementable embodiment, the alarm information includes the ID number of the current motor and the number of the corresponding driver.

[0017] Preferably, as an implementable method, the location data includes GPS location monitoring data or Beidou location monitoring data.

[0018] Preferably, as an implementable embodiment; a 32-bit double word of the main processor is divided into a low word of 16 bits and a high word of 16 bits; wherein, the low byte 8 bits of the low word are used for power object addressing; the high byte 8 bits of the low word include the low 4 bits and the high 4 bits: the low 4 bits are used for control instructions; the high 4 bits are used for interrupt signals; wherein the high word 16 bits are used for data transmission.

[0019] Preferably, as an implementable embodiment; the communication unit includes an eSIM or a satellite link.

[0020] Preferably, as an implementable embodiment, the three-bus module includes an address bus, a command bus, and a data bus.

[0021] The present invention provides a storage medium, in which a computer program is stored. When the computer program is executed by a processor, the power assembly system of the electric multi-rotor unmanned aerial vehicle is called to execute control operation steps for a controlled power object.

[0022] Compared with the prior art, the embodiments of the present invention have at least the following technical advantages:

[0023] It can be seen from the analysis of the above-mentioned electric multi-rotor unmanned aerial vehicle power assembly system provided by the present invention that the system includes a monitoring center, a main processor and a flight control system and a power system controlled by feedback; the main processor is integrated with a communication unit, a power health monitoring unit, a power positioning monitoring unit and a power control unit;

[0024] The power system includes a plurality of power objects under feedback control and a driver directly connected to the power objects; the power objects and the drivers are arranged in a one-to-one correspondence;

[0025] The power objects respectively establish data interaction connection with the main processor through three bus modules;

[0026] The main processor is a double-word processor; the main processor is used to confirm the controlled power object through a software and hardware dual backup method;

[0027] The power control unit is used to receive the power control command sent by the flight control system, parse the power control command to obtain the control parameters of speed and torque and send them to the controlled power object, and collect the operation status data of each power object in a polling manner; the operation status data includes parameters such as voltage, current, torque, speed, temperature, etc.; the power control unit is also used to report the operation status data of the power system to the flight control system in real time;

[0028] The power health monitoring unit sends the operating status data of the power system to the monitoring center in real time via the eSIM or satellite link;

[0029] The dynamic positioning monitoring unit sends the position data of the power system to the monitoring center in real time via the eSIM or satellite link.

[0030] From the analysis of the above technical solutions, it can be seen that the powertrain system of this embodiment achieves multiple technical effects through innovative system architecture design. In terms of reliability, the integrated electric speed controller and motor design significantly reduces the number of line contacts, and with the software and hardware dual backup confirmation mechanism and three-bus redundancy design, a complete reliability guarantee system is built; in terms of performance, the compact layout of the electric speed controller and the motor minimizes the transmission distance and effectively suppresses harmonic interference. At the same time, based on real-time parameter collection and precise power regulation, the stable and efficient operation of the power system is ensured;

[0031] In terms of safety, the system adopts technical means such as full-time health monitoring, real-time location tracking, and multi-parameter status monitoring, supplemented by a remote monitoring and early warning mechanism, to establish a comprehensive safety protection network; in terms of airworthiness, the system architecture of the technical solution adopted in the embodiment of the present invention is well designed, with both data collection and reliable feedback control mechanism and redundant backup design, making the system particularly suitable for use in the field of commercial-grade UAVs with high requirements for reliability, safety and performance, reflecting significant engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the main structure of a powertrain system of an electric multi-rotor unmanned aerial vehicle;

[0033] Figure 2 The present invention is a schematic structural diagram of a storage medium for applying the above-mentioned electric multi-rotor unmanned aerial vehicle power assembly system.

[0034] Labels: monitoring center 10; main processor 20; communication unit 21; power health monitoring unit 22; dynamic positioning monitoring unit 23; power control unit 24; flight control system 30; power system 40; power object 41; drive 42; memory 1110; communication interface 1120; processor 1130; computer storage medium 1140. DETAILED DESCRIPTION

[0035] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0037] Embodiment 1

[0038] The first embodiment of the present invention provides an electric multi-rotor unmanned aerial vehicle power assembly system, comprising a monitoring center 10, a main processor 20, a flight control system 30, and a feedback-controlled power system 40; the main processor 20 is integrated with a communication unit 21, a power health monitoring unit 22, a power positioning monitoring unit 23, and a power control unit 24;

[0039] The power system 40 includes a plurality of power objects 41 under feedback control and a driver 42 directly connected to the power objects; the power objects 41 and the drivers 42 are arranged in a one-to-one correspondence;

[0040] The communication unit 21 includes an eSIM or a satellite link;

[0041] The power object 41 establishes data interaction connection with the main processor 20 through three bus modules respectively; the three bus modules include an address bus, a command bus, and a data bus;

[0042] The main processor 20 is a double-word processor; the main processor is used to confirm the controlled power object through a software and hardware dual backup method;

[0043] The power control unit 24 is used to receive the power control command sent by the flight control system 30, parse the power control command to obtain control parameters such as speed and torque, and send them to the controlled power object 41, and collect the operating status data of each power object 41 in a polling manner; the operating status data includes parameters such as voltage, current, torque, speed, temperature, etc.; the power control unit 24 is also used to report the operating status data of the power system 40 to the flight control system 30 in real time;

[0044] The power health monitoring unit 22 sends the operating status data of the power system to the monitoring center 10 (i.e., the flight monitoring center) in real time via the eSIM or satellite link;

[0045] The dynamic positioning monitoring unit 23 sends the position data of the power system to the monitoring center 10 (ie, the flight monitoring center) in real time via the eSIM or satellite link.

[0046] The present invention consists of two parts, an integrated variable frequency speed regulating UAV motor and a powertrain system. Researchers believe that from the perspective of product and airworthiness, an integrated motor with integrated electronically controlled drive circuit should be vigorously developed. This motor will not only become a very competitive product, but more importantly, this innovation will greatly improve the reliability and industrialization level of UAVs.

[0047] Researchers have found that the theoretical limit of multi-rotor drones (including composite wings and eVTOL) usually does not exceed 16 motors. A two-byte (16-bit) data can contain an address bus, a command bus, and a data bus, which transmits control command data such as speed, acceleration, deceleration, and operating status feedback parameters such as current, voltage, power, speed, torque, and temperature (i.e., power operation status data). The powertrain system uses a 32-bit single chip and three-bus design, and in the form of interrupt control, it can form a simple and efficient real-time control system.

[0048] In terms of software, this system encapsulates all power motors, even control motors and their properties, into one object to interact with the flight control system. This not only saves the interface and control response time of the flight control system, but also the self-contained simple closed-loop system can improve the efficiency of the power system. For details, see the attached Figure 1 .

[0049] Preferably, as an implementable method, the main processor is also used to, when confirming the controlled power object through the dual backup of software and hardware, first perform initial verification and confirmation through the physical setting of the DP switch dial on the power control unit 24, and then read the hardware information of the DP switch dial; then perform software information confirmation and verification by receiving the addressed response signal sent by the controlled power object, and perform secondary verification and backup; compare and verify the consistency of the hardware information and the software information, and confirm the number and position of valid power objects, and establish an address to physical position mapping table through the number and position of valid power objects.

[0050] It should be noted that the above mapping establishment process is: the system first reads the DP switch configuration to obtain hardware information, obtains software response information through addressing test, compares and verifies the consistency of the two information, and confirms the number and location of valid power objects; then establishes a mapping table from address to physical location.

[0051] The physical object confirmation mechanism mainly involves two aspects: software confirmation and hardware confirmation;

[0052] Software confirmation: verified by the response signal after addressing;

[0053] Hardware confirmation: physical setting through DP dip switch;

[0054] Double verification: The system compares the software and hardware information to see if they are consistent.

[0055] An electric multi-rotor unmanned aerial vehicle powertrain system proposed in an example of the present invention has its main technical effects summarized as follows: First, the system integration advantage: it adopts an integrated variable frequency speed regulation design to simplify the system structure and achieves efficient data interaction through three bus modules (address, instruction, data); the power system interacts with the flight control system as an independent object to reduce the complexity of the interface.

[0056] The second aspect is to provide better system reliability assurance: a dual verification mechanism of software and hardware is used to confirm the power object, and a mapping table from address to physical position is established through dual confirmation of the DP switch physical setting and addressing response signal to ensure control accuracy.

[0057] The third aspect is real-time monitoring capability: the operating status is transmitted to the monitoring center in real time through eSIM or satellite link, and the operating parameters of the power object (voltage, current, torque, etc.) are collected by polling for real-time position monitoring and health status monitoring. The technical effects of the above three aspects jointly promote the improvement of the reliability, safety and industrialization level of the UAV system.

[0058] Preferably, as an implementable embodiment; the driver 42 establishes a signal connection with the motor, and the driver 42 is used to obtain the motor feedback data of the motor in real time. When the motor feedback data is abnormal, the exception handling program is called in an interrupt manner; the main controller is also used to execute the exception handling program item to send an alarm message to the monitoring center.

[0059] Preferably, as an implementable embodiment, the alarm information includes the ID number of the current motor and the number of the corresponding driver.

[0060] Preferably, as an implementable method, the location data includes GPS location monitoring data or Beidou location monitoring data.

[0061] Preferably, as an implementable method; a double word (32 bits) of the main processor is divided into a low word (16 bits) and a high word (16 bits); wherein, the low byte (8 bits) of the low word: used for power object addressing; the high byte (8 bits) of the low word: low 4 bits: control instructions; high 4 bits: interrupt signal; wherein the high word (16 bits): used for data transmission.

[0062] That is, the low word low byte is used to address the power object, including the rotor motor, propulsion motor, tilt motor, etc., the low word high byte low 4 bits are used for control instructions, the high 4 bits are used for interrupts, and the high word double byte is used to transmit data;

[0063] In summary, the electric multi-rotor unmanned aerial vehicle powertrain system proposed in the example of the present invention has achieved multiple technical effects through its innovative system architecture design. In terms of reliability, the integrated electric speed controller and motor design significantly reduces the number of line contacts, and a complete reliability assurance system is constructed with the software and hardware dual backup confirmation mechanism and three-bus redundancy design; in terms of performance, the compact layout of the electric speed controller and the motor minimizes the transmission distance and effectively suppresses harmonic interference. At the same time, based on real-time parameter collection and precise power regulation, the stable and efficient operation of the power system is ensured;

[0064] In terms of safety, the system adopts technical means such as full-time health monitoring, real-time location tracking, and multi-parameter status monitoring, supplemented by a remote monitoring and early warning mechanism, to establish a comprehensive safety protection network; in terms of airworthiness, the system architecture of the technical solution adopted in the embodiment of the present invention is well designed, with both data collection and reliable feedback control mechanism and redundant backup design, making the system particularly suitable for use in the field of commercial-grade UAVs with high requirements for reliability, safety and performance, reflecting significant engineering application value.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. A person skilled in the art may modify the technical solutions described in the above embodiments, or replace part or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric multi-rotor unmanned aerial vehicle powertrain system, characterized in that: It includes a monitoring center, a main processor, a flight control system and a power system controlled by feedback; the main processor is integrated with a communication unit, a power health monitoring unit, a power positioning monitoring unit and a power control unit; The power system includes a plurality of power objects under feedback control and a driver directly connected to the power objects; the power objects and the drivers are arranged in a one-to-one correspondence; The power objects respectively establish data interaction connection with the main processor through three bus modules; The main processor is a double word processor; The main processor is used to confirm the controlled power object through a software and hardware dual backup method; The power control unit is used to receive the power control command sent by the flight control system, parse the power control command to obtain the control parameters of speed and torque and send them to the controlled power object, and collect the operation status data of each power object in a polling manner; the operation status data includes parameters such as voltage, current, torque, speed, temperature, etc.; the power control unit is also used to report the operation status data of the power system to the flight control system in real time; The power health monitoring unit sends the operating status data of the power system to the monitoring center in real time via the eSIM or satellite link; The dynamic positioning monitoring unit sends the position data of the power system to the monitoring center in real time via the eSIM or satellite link.

2. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 1, characterized in that: The main processor is also used to confirm the controlled power object through the dual backup of software and hardware, specifically first perform initial verification and confirmation through the physical setting of the DP switch dial on the power control unit, and then read the hardware information of the DP switch dial; then perform software information confirmation and verification by receiving the addressed response signal sent by the controlled power object, and perform secondary verification and backup; compare and verify the consistency of the hardware information and the software information, and confirm the number and position of valid power objects, and establish an address to physical position mapping table according to the number and position of valid power objects.

3. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 2, characterized in that: The driver establishes a signal connection with the motor, and is used to obtain motor feedback data of the motor in real time. When the motor feedback data is abnormal, the exception handling program is called in an interrupt manner; the main controller is also used to execute the exception handling program to send an alarm message to the monitoring center.

4. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 3, characterized in that: The alarm information includes the ID number of the current motor and the number of the corresponding driver.

5. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 1, characterized in that: The location data includes GPS location monitoring data or Beidou location monitoring data.

6. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 1, characterized in that: A 32-bit double word of the main processor is divided into a low word of 16 bits and a high word of 16 bits; among them, the low byte 8 bits of the low word are used for power object addressing; the high byte 8 bits of the low word include the low 4 bits and the high 4 bits: the low 4 bits are used for control instructions; the high 4 bits are used for interrupt signals; the high word 16 bits are used for data transmission.

7. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 4, characterized in that: The communication unit includes an eSIM or a satellite link.

8. The electric multi-rotor unmanned aerial vehicle power assembly system according to claim 4, characterized in that: The three-bus module includes an address bus, a command bus, and a data bus.

9. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, it calls the electric multi-rotor unmanned aerial vehicle power assembly system described in any one of claims 1 to 8 to execute control operation steps on the controlled power object.

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