Control method and device for electromagnetic ejection system of unmanned aerial vehicle and electronic equipment

Abstract

The invention discloses a control method and device for an electromagnetic ejection system of an unmanned aerial vehicle and electronic equipment. The device is provided with a sliding-mode observer, a pre-stage filter, a synchronous rotation filter and a phase-locked loop, and the method comprises the following steps: the sliding-mode observer accesses a sampling voltage, a sampling current and a rotating speed of a catapult motor, and outputs a back electromotive force to the pre-stage filter according to the sampling voltage, the sampling current and the rotating speed to obtain a filtered observation back electromotive force; the synchronous rotation filter is connected to the mover position of the ejection motor and outputs the back electromotive force under a static coordinate system according to the observed back electromotive force and the mover position; and the phase-locked loop calculates the rotor position and the rotating speed of the ejection motor according to the back electromotive force under the static coordinate system. On the basis that the problems of low efficiency and large loss are solved, the ejection speed of the unmanned aerial vehicle is increased, and equipment damage and safety risks possibly caused by ejection failures are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of power distribution networks, and in particular to a control method, device and electronic equipment for an electromagnetic ejection system of an unmanned aerial vehicle. Background Art

[0002] In the process of network repair, in order to achieve the purpose of quickly delivering rescue materials to the scene through drones, a method of rapid take-off and rapid round-trip between the hangar and the repair site is needed. Among them, electromagnetic catapult, as a launch method with controllable speed throughout the process, has the advantages of high reliability, strong concealment, easy maintenance, and a wide range of applications. It has become a research hotspot for drone take-off methods at home and abroad. When repair personnel find that specific tools or parts are urgently needed during the intense repair work, the electromagnetic catapult hangar can respond quickly. With its advanced electromagnetic catapult technology, drones can be launched into the air in a very short time, carrying necessary items such as special specification wrenches and fuses.

[0003] This rapid ejection mechanism avoids the problems of long preparation time and site restrictions that may exist in traditional take-off methods, ensuring that the drone can take off immediately. Compared with manual transportation, drones taking off from electromagnetic ejection hangars are not affected by factors such as terrain and traffic conditions. Whether in complex urban blocks or remote mountainous areas, they can accurately and quickly deliver supplies. This greatly reduces the downtime of repairs caused by shortages of materials and maintains the continuity of repair work, thereby significantly shortening the overall repair time and greatly improving repair efficiency, becoming an important force to ensure the smooth progress of repair work. UAV electromagnetic ejection system such as Figure 1 As shown, Figure 1 This is the block diagram of the electromagnetic catapult system of a UAV. The electromagnetic catapult system of a UAV is mainly composed of a catapult motor, a braking device, a drive system, a catapult controller, and an energy and management system.

[0004] Among them, the control strategy affects the efficiency of the UAV electromagnetic catapult system. The fluctuation of current, thrust and frequent switching of power devices in the system will increase system losses and reduce the efficiency of the UAV electromagnetic catapult system. Summary of the invention

[0005] The present invention provides a control method, device and electronic equipment for an electromagnetic ejection system of a drone, so as to solve the technical problems of low efficiency and high loss in the prior art.

[0006] According to one aspect of the present invention, a control method for an electromagnetic ejection system of an unmanned aerial vehicle is provided, which is executed by a control device of the electromagnetic ejection system of the unmanned aerial vehicle, wherein the control device of the electromagnetic ejection system of the unmanned aerial vehicle comprises a sliding mode observer, a pre-stage filter, a synchronous rotating filter and a phase-locked loop; the control method comprises:

[0007] The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor, and the sliding mode observer outputs the back electromotive force to the pre-stage filter according to the sampled voltage, the sampled current and the speed to obtain the filtered observed back electromotive force;

[0008] The synchronous rotating filter is connected to the position of the mover of the ejection motor, and the synchronous rotating filter outputs the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the position of the mover;

[0009] The phase-locked loop calculates the position and rotation speed of the ejection motor according to the back electromotive force in the stationary coordinate system.

[0010] Optionally, the synchronous rotating filter outputs the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the position of the mover, including:

[0011] The observed back electromotive force is subjected to Park transformation to output a DC value of the observed back electromotive force;

[0012] The DC quantity is filtered out of high-order harmonics by a post-stage filter, and the fundamental component of the DC quantity is output;

[0013] The fundamental wave component is transformed through an inverse Parker transformation to output a back electromotive force in a stationary coordinate system.

[0014] Optionally, the back electromotive force output by the sliding mode observer satisfies the following relationship:

[0015]

[0016] Among them, V α 、V β is the back electromotive force output by the sliding mode observer, A0 is the fundamental amplitude, A h is the amplitude of the hth harmonic, ω0 is the fundamental frequency, and t is the time.

[0017] Optionally, the fundamental wave component satisfies the following relationship:

[0018]

[0019] in, is the fundamental component, A0 is the fundamental amplitude, ω0 is the fundamental frequency, and t is the time.

[0020] Optionally, the back electromotive force in the stationary coordinate system satisfies the following relationship:

[0021]

[0022] in, is the back electromotive force in the stationary coordinate system.

[0023] Optionally, the transfer function of the phase-locked loop satisfies the following relationship:

[0024]

[0025] Where G(s) is the transfer function of the phase-locked loop, ξ is the damping coefficient, s is the Laplace operator, θ is the actual value of the actuator position, is the estimated value of the mover position.

[0026] According to another aspect of the present invention, a control device for an electromagnetic ejection system of a drone is provided, which is used to execute the control method for the electromagnetic ejection system of a drone according to any embodiment of the present invention, wherein the control device comprises a sliding mode observer, a pre-stage filter, a synchronous rotating filter and a phase-locked loop connected in sequence;

[0027] The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor, and the sliding mode observer is used to output the back electromotive force to the pre-stage filter according to the sampled voltage, the sampled current and the speed to obtain the filtered observed back electromotive force;

[0028] The synchronous rotating filter is connected to the position of the ejection motor, and the synchronous rotating filter is used to output the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the position of the mover;

[0029] The phase-locked loop is used to calculate the position and rotation speed of the ejection motor according to the back electromotive force in the stationary coordinate system.

[0030] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0031] at least one processor; and

[0032] a memory communicatively connected to the at least one processor; wherein,

[0033] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the electromagnetic catapult system of the unmanned aerial vehicle described in any embodiment of the present invention.

[0034] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the electromagnetic catapult system of the unmanned aerial vehicle described in any embodiment of the present invention when executed.

[0035] According to another aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program, and the computer program, when executed by a processor, implements the control method of the electromagnetic catapult system of the unmanned aerial vehicle described in any embodiment of the present invention.

[0036] The technical solution provided by the embodiment of the present invention is provided with a sliding mode observer, a front filter, a synchronous rotating filter and a phase-locked loop. The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor. The sliding mode observer outputs the back electromotive force to the front filter according to the sampled voltage, sampled current and speed to obtain the filtered observed back electromotive force; the synchronous rotating filter is connected to the mover position of the ejection motor, and the synchronous rotating filter outputs the back electromotive force in the stationary coordinate system according to the observed back electromotive force and mover position; the phase-locked loop calculates the mover position and speed of the ejection motor according to the back electromotive force in the stationary coordinate system. The present invention effectively solves the problem of high harmonic content by applying the synchronous rotating filter to the sliding mode observer. On this basis, the back electromotive force normalization phase-locked loop is used to calculate the mover position and motor speed, and its observation accuracy is greatly improved. The improvement of observation accuracy is directly converted into more accurate control of the electromagnetic ejection process. Accurate information on the mover position and motor speed is the key basis for electromagnetic ejection control. The present invention enables the system to finely adjust various parameters of the electromagnetic catapult, such as the ejection force, initial ejection velocity, and ejection duration, based on these accurate data, to ensure that the drone takes off smoothly and accurately. This not only significantly improves the rate of drone ejection, reduces equipment damage and safety risks that may be caused by ejection failure, but also has important significance for extending the service life of drones and ejection equipment.

[0037] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is the block diagram of the electromagnetic catapult system for UAVs;

[0040] Figure 2 A flow chart of a control method for an electromagnetic ejection system of a drone provided by an embodiment of the present invention;

[0041] Figure 3A schematic diagram of the structure of a control device for an electromagnetic ejection system of a drone provided by an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of the internal structure of a synchronous rotating filter provided by an embodiment of the present invention;

[0043] Figure 5 A schematic diagram of the structure of an electronic device for a control method of an electromagnetic catapult system of a drone provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] Figure 2 This is a flow chart of a control method for an electromagnetic ejection system of a drone provided by an embodiment of the present invention. This embodiment is applicable to the case where the efficiency of the electromagnetic ejection system of a drone is improved. The method can be executed by a control device for the electromagnetic ejection system of a drone. The control device can be implemented in the form of hardware and / or software. The control device can be configured in any electronic device with communication function. Figure 2 As shown, the method includes:

[0047] S210, the sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor. The sliding mode observer outputs the back electromotive force to the front filter according to the sampled voltage, sampled current and speed to obtain the observed back electromotive force after filtering.

[0048] The traditional sliding mode observer first observes the back EMF, and then calculates the rotor position and speed through the back EMF. Due to the influence of inverter nonlinearity and flux space harmonics, (6k±1) harmonics appear in the back EMF estimation, and then harmonic errors appear in the estimated rotor position and speed. In traditional sliding mode observers, a first-order low-pass filter is usually used to filter out high-order harmonics, but if the cutoff frequency of the first-order low-pass filter is set too high, the back EMF disturbance signal after filtering is still large. If the cutoff frequency of the first-order low-pass filter is set too low, there will be a phase delay. Therefore, it is necessary to design a suitable filter to filter out the harmonics. Figure 3 A schematic diagram of a control device for an electromagnetic ejection system of a drone provided by an embodiment of the present invention is shown in FIG. Figure 3 The control device includes a sliding mode observer (Sliding Mode Observer, SMO, SMO), a pre-stage filter (Low-Pass Filter, LPF), a synchronous rotating filter (Synchronous Rotating Filter, SRF, SRFF) and a phase-locked loop (Phase-Locked Loop, PLL). The pre-stage filter is a low-pass filter.

[0049] Specifically, see Figure 3 , the sliding mode observer SMO is connected to the sampled voltage u of the ejection motor α and u β , sampling current i α and i β And speed The sliding mode observer is based on the sampled voltage u α and u β , sampling current i α and i β And speed Output back electromotive force V α and V β To the front-stage filter LPF, based on the principle of Park transformation and saturation function, the filtered observed back electromotive force is obtained The observed back electromotive force is the back electromotive force containing high-order harmonics.

[0050] The back electromotive force output by the sliding mode observer satisfies the following relationship:

[0051]

[0052] Among them, V α 、V β is the back electromotive force output by the sliding mode observer, A0 is the fundamental amplitude, A h is the amplitude of the hth harmonic, ω0 is the fundamental frequency, and t is the time.

[0053] S220, the synchronous rotating filter is connected to the mover position of the ejection motor, and the synchronous rotating filter outputs the back electromotive force in the stationary coordinate system according to the observed back electromotive force and the mover position.

[0054] The back electromotive force in the output stationary coordinate system is the back electromotive force after filtering out high-order harmonics.

[0055] Specifically, see Figure 3 , the synchronous rotating filter SRFF is connected to the mover position of the ejection motor The synchronous rotating filter SRFF outputs the back electromotive force in the stationary coordinate system through Park transformation, low-barrel filter and anti-Park transformation based on the observed back electromotive force and the position of the actuator. and

[0056] S230, the phase-locked loop calculates the position and speed of the ejection motor according to the back electromotive force in the output stationary coordinate system.

[0057] Specifically, see Figure 3 The phase-locked loop PLL outputs the back electromotive force in the stationary coordinate system and Calculate the ejection motor position and speed The transfer function of the phase-locked loop satisfies the following relationship:

[0058]

[0059] Where G(s) is the transfer function of the phase-locked loop, ξ is the damping coefficient, s is the Laplace operator, θ is the actual value of the actuator position, is the estimated value of the mover position.

[0060] The technical solution provided by the embodiment of the present invention is provided with a sliding mode observer, a front filter, a synchronous rotating filter and a phase-locked loop. The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor. The sliding mode observer outputs the back electromotive force to the front filter according to the sampled voltage, sampled current and speed to obtain the filtered observed back electromotive force; the synchronous rotating filter is connected to the mover position of the ejection motor, and the synchronous rotating filter outputs the back electromotive force in the stationary coordinate system according to the observed back electromotive force and mover position; the phase-locked loop calculates the mover position and speed of the ejection motor according to the output back electromotive force in the stationary coordinate system. The present invention effectively solves the problem of high harmonic content by applying the synchronous rotating filter to the sliding mode observer. On this basis, the back electromotive force normalization phase-locked loop is used to calculate the mover position and motor speed, and its observation accuracy is greatly improved. The improvement of observation accuracy is directly converted into more accurate control of the electromagnetic ejection process. Accurate information on the mover position and motor speed is the key basis for electromagnetic ejection control. The present invention enables the system to finely adjust various parameters of the electromagnetic catapult, such as the ejection force, initial ejection velocity, and ejection duration, based on these accurate data, to ensure that the drone takes off smoothly and accurately. This not only significantly improves the rate of drone ejection, reduces equipment damage and safety risks that may be caused by ejection failure, but also has important significance for extending the service life of drones and ejection equipment.

[0061] Optionally, the synchronous rotating filter outputs the back electromotive force in the stationary coordinate system according to the observed back electromotive force and the position of the mover, including:

[0062] The observed back electromotive force is transformed by Park to output the DC value of the observed back electromotive force; the DC value is filtered out by a post-stage filter to remove high-order harmonics and output the fundamental component of the DC quantity; the fundamental component is transformed by inverse Park to output the back electromotive force in a stationary coordinate system.

[0063] Specifically, Figure 4 The internal structure diagram of the synchronous rotating filter provided by the embodiment of the present invention is shown in FIG. Figure 4 , observe the back EMF The DC value of the back electromotive force is observed by the Parker transformation output and DC and The high-order harmonics are filtered out by the post-stage filter LPF, and the DC output is and fundamental component of and fundamental component and Output the back electromotive force in the stationary coordinate system through the anti-Parker transformation and

[0064] Among them, the fundamental wave component satisfies the following relationship:

[0065]

[0066] in, is the fundamental component, A0 is the fundamental amplitude, ω0 is the fundamental frequency, and t is time. The back electromotive force in the output stationary coordinate system satisfies the following relationship:

[0067]

[0068] in, is the back electromotive force in the stationary coordinate system.

[0069] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0070] 1. The present invention proposes a method for electromagnetic ejection control of a drone hangar based on a synchronous rotating filter, which is characterized in that: in order to address the harmonic problem existing in the back-electromotive force observation value, the present invention adopts a combination of a synchronous rotating filter and a sliding mode observer to effectively eliminate the harmonic components in the observation value. This innovative approach overcomes the shortcomings of traditional methods in dealing with harmonics and avoids the interference of harmonics on the observation results. The elimination of harmonics fundamentally reduces system instability factors. In traditional systems, harmonics may cause problems such as motor vibration, abnormal noise, and heating of electrical components, while the present invention effectively avoids the occurrence of these situations.

[0071] 2. The electromagnetic ejection control method for a UAV hangar based on a synchronous rotating filter proposed in the present invention is characterized in that: by eliminating harmonics, the back-EMF fundamental information can be accurately extracted, and then the position of the actuator and the speed of the motor are calculated based on the back-EMF normalized phase-locked loop, which greatly improves the observation accuracy. The accurate observation results provide reliable data support for subsequent electromagnetic ejection control, so that the system has a more accurate understanding of the motor operating status. Accurate information on the position of the actuator and the speed of the motor optimizes the electromagnetic ejection control process. The system can fine-tune ejection-related parameters (such as ejection force, speed, and time, etc.) based on these accurate data to ensure that the UAV obtains the best initial conditions at the moment of ejection and ensures the stability and rapidity of the UAV take-off.

[0072] Continue to see Figure 3 , the present invention provides a control device for an electromagnetic ejection system of a UAV, the control device comprising a sliding mode observer, a pre-stage filter, a synchronous rotating filter and a phase-locked loop connected in sequence;

[0073] The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor. The sliding mode observer is used to output the back electromotive force to the front filter according to the sampled voltage, sampled current and speed to obtain the filtered observed back electromotive force.

[0074] The synchronous rotating filter is connected to the mover position of the ejection motor, and the synchronous rotating filter is used to output the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the mover position.

[0075] The phase-locked loop is used to calculate the position and speed of the ejection motor according to the back electromotive force in the output stationary coordinate system.

[0076] A control device for an electromagnetic ejection system for an unmanned aerial vehicle provided in an embodiment of the present invention can execute a control method for an electromagnetic ejection system for an unmanned aerial vehicle provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0077] Figure 5 A schematic diagram of the structure of an electronic device for a control method of an electromagnetic ejection system of a drone provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0078] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0079] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0080] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for an electromagnetic catapult system of a drone.

[0081] In some embodiments, a method for controlling an electromagnetic ejection system of a drone may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for controlling an electromagnetic ejection system of a drone described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute a method for controlling an electromagnetic ejection system of a drone in any other appropriate manner (e.g., by means of firmware).

[0082] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0083] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0084] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0085] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0086] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0087] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0088] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0089] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A control method for an electromagnetic ejection system of an unmanned aerial vehicle, characterized in that: The control method is executed by a control device of an electromagnetic ejection system of a UAV, wherein the control device of the electromagnetic ejection system of the UAV includes a sliding mode observer, a pre-stage filter, a synchronous rotating filter and a phase-locked loop; the control method includes: The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor, and the sliding mode observer outputs the back electromotive force to the pre-stage filter according to the sampled voltage, the sampled current and the speed to obtain the filtered observed back electromotive force; The synchronous rotating filter is connected to the position of the mover of the ejection motor, and the synchronous rotating filter outputs the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the position of the mover; The phase-locked loop calculates the position and rotation speed of the ejection motor according to the back electromotive force in the output stationary coordinate system.

2. The control method according to claim 1, characterized in that: The synchronous rotating filter outputs the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the position of the mover, comprising: The observed back electromotive force is subjected to Park transformation to output a DC value of the observed back electromotive force; The DC quantity is filtered out of high-order harmonics by a post-stage filter, and the fundamental component of the DC quantity is output; The fundamental wave component is transformed through an inverse Parker transformation to output a back electromotive force in a stationary coordinate system.

3. The control method according to claim 1, characterized in that: The back electromotive force output by the sliding mode observer satisfies the following relationship: Among them, V α 、V β is the back electromotive force output by the sliding mode observer, A0 is the fundamental amplitude, A h is the amplitude of the hth harmonic, ω0 is the fundamental frequency, and t is the time.

4. The control method according to claim 2, characterized in that: The fundamental wave component satisfies the following relationship: in, is the fundamental component, A0 is the fundamental amplitude, ω0 is the fundamental frequency, and t is the time.

5. The control method according to claim 2, characterized in that: The back electromotive force in the stationary coordinate system satisfies the following relationship: in, is the back electromotive force in the stationary coordinate system.

6. The control method according to claim 1, characterized in that: The transfer function of the phase-locked loop satisfies the following relationship: Where G(s) is the transfer function of the phase-locked loop, ξ is the damping coefficient, s is the Laplace operator, θ is the actual value of the actuator position, is the estimated value of the mover position.

7. A control device for an electromagnetic ejection system of a drone, characterized in that: A control method for executing an electromagnetic ejection system of a drone according to any one of claims 1 to 6, wherein the control device comprises a sliding mode observer, a pre-stage filter, a synchronous rotating filter and a phase-locked loop connected in sequence; The sliding mode observer is connected to the sampled voltage, sampled current and speed of the ejection motor, and the sliding mode observer is used to output the back electromotive force to the pre-stage filter according to the sampled voltage, the sampled current and the speed to obtain the filtered observed back electromotive force; The synchronous rotating filter is connected to the position of the ejection motor, and the synchronous rotating filter is used to output the back electromotive force in a stationary coordinate system according to the observed back electromotive force and the position of the mover; The phase-locked loop is used to calculate the position and rotation speed of the ejection motor according to the back electromotive force in the stationary coordinate system.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the electromagnetic catapult system of the unmanned aerial vehicle according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the electromagnetic catapult system of a drone according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements a control method for an electromagnetic catapult system of a drone according to any one of claims 1 to 6.

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