Integrated Motor for Dual Control Modes of Rotary UAVs

Abstract

The present invention relates to the technical field of motors for rotor unmanned aerial vehicles, and specifically to an integrated motor for a rotor unmanned aerial vehicle with a dual control mode. It includes: a motor stator, which includes a stator core, a stator winding, and a stator base, and the stator base is fixedly connected to the driver housing; a motor rotor, which includes a rotor core, rotor permanent magnets, a rotor housing, and a through-type rotor shaft, and the rotor shaft is rotatably connected to the stator base through a rotor bearing. Through the topological innovation of integrating a self-cooling fan with the rotor shaft, the present invention enables the fan speed to automatically match the operating state of the motor, and utilizes the forced eddy current effect in the driver housing to actively suppress the junction temperature of the power devices.

Description

Technical Field

[0001] The present invention relates to the technical field of motors for rotor unmanned aerial vehicles, and specifically to an integrated motor for dual control modes of rotor unmanned aerial vehicles. Background Art

[0002] In the engineering practice of high-power drive systems for rotor unmanned aerial vehicles, the traditional split motor-driver architecture faces the coupling contradiction between thermodynamic characteristics and control reliability: on the one hand, the junction temperature rise of the power module of the driver directly affects the on-state loss and switching frequency stability of IGBT / MOSFET, and the insufficient air convection coefficient under the low-rotor-speed condition of the rotor results in a sharp drop in the heat dissipation efficiency of the conventional axial-flow fan; on the other hand, the adaptability defects of a single control mode under complex working conditions are significant. The angle observation error in the low-speed region of sensorless control will cause torque ripple, while sensor-based control is vulnerable to the deterioration of the signal-to-noise ratio of sensors during high dynamic response. Especially when the motor and the driver are physically separated, the distributed parameters of the connecting cables will introduce high-frequency harmonic interference, exacerbating the deterioration of the phase margin of the control loop. Existing solutions mostly adopt external liquid cooling circulation or dual-redundant sensor configuration, but this leads to an increase in system mass and a doubling of the number of fault nodes, making it difficult to meet the stringent requirements of long-endurance unmanned aerial vehicles for power density and reliability. Summary of the Invention

[0003] The present invention provides an integrated motor for dual control modes of rotor unmanned aerial vehicles. On the premise of ensuring high-power output density, through the integrated electromechanical-thermal design, the autonomous thermal balance of the power module of the driver is realized, and a dual closed-loop control system with modal adaptive ability is constructed, so as to suppress the torque fluctuation and the risk of sensor failure simultaneously within a wide speed range.

[0004] The technical solution of the present invention to solve the above technical problems is as follows:

[0005] On the one hand, an integrated motor for dual control modes of rotor unmanned aerial vehicles is provided, including:

[0006] A motor stator, including a stator core, a stator winding, and a stator base, the stator base being fixedly connected to the driver housing;

[0007] A motor rotor, including a rotor core, rotor magnets, a rotor housing, and a through-type rotor shaft, the rotor shaft being rotatably connected to the stator base through a rotor bearing;

[0008] A driver housing, including a driver case and a driver rear cover, the driver case and the stator base forming a sealed cavity, and a driver control unit being provided in the cavity;

[0009] A self-cooling fan, coaxially fixed to the driver end of the rotor shaft and forming a forced air flow channel with the internal space of the driver housing;

[0010] A position and speed sensor unit, comprising an induction magnet embedded in a self-cooling fan and a position and speed sensor mounted on a driver PCB board, where the position and speed sensor and the induction magnet form a non-contact magnetic encoding detection system;

[0011] The driver control unit receives the power cable of the stator winding through a wire passing hole and is configured with a dual-mode control algorithm, capable of dynamically switching between a sensorless control mode and a sensor-based control mode according to the real-time signal of the position and speed sensor unit;

[0012] The rotor through-shaft is provided with a stepped shoulder structure, where the first shoulder is used to position the rotor bearing and the second shoulder is used to fix the self-cooling fan;

[0013] The blade inclination angle of the self-cooling fan changes non-linearly along the radial direction, with the blade root inclination angle being 25° to 35° and the blade tip inclination angle being 10° to 15°, so as to form a tapered eddy current structure.

[0014] Furthermore, the motor rotor adopts an outer rotor structure, and the rotor housing is enclosed by a rotor front cover and a rotor rear cover to form an electromagnetic action cavity, and the rotor magnetic steel is arranged on the surface of the rotor core in a Halbach array manner;

[0015] The stator base is provided with axially extending heat dissipation fins, and the gaps between the heat dissipation fins and the inner flow channel of the driver housing form a continuous heat dissipation path.

[0016] Furthermore, the inner wall of the driver housing is provided with flow guiding protrusions, which are arranged in a spiral shape, and the spiral lead angle forms a complementary angular relationship with the blade inclination angle of the self-cooling fan;

[0017] The driver rear cover is provided with a honeycomb exhaust grille, and the aspect ratio range of the through holes of the exhaust grille is 1.2 - 1.5;

[0018] The position and speed sensor unit includes a multi-pole magnetic ring and a differential Hall array, and the multi-pole magnetic ring is press-fitted at the end of the rotor through-shaft in an interference fit manner;

[0019] The differential Hall array includes three groups of Hall sensor groups distributed at 120°, and each group of sensor groups includes two linearly arranged Hall elements arranged orthogonally.

[0020] Furthermore, the dual-mode control algorithm includes:

[0021] The first working mode, when the signal of the position and speed sensor unit is valid, adopts closed-loop vector control based on the feedback of the magnetic encoder;

[0022] The second working mode: when the signal of the position and speed sensor unit is detected to be abnormal, switch to sensorless sliding mode control based on back electromotive force observation;

[0023] There is an overlapping control interval in the mode switching process. In the overlapping control interval, the first working mode and the second working mode are simultaneously operated to achieve smooth transition.

[0024] Furthermore, the overlapping control interval is set to 15%-20% of the rated speed of the motor. In the overlapping control interval, a weighted fusion algorithm is adopted: , where k is a gradient coefficient that is positively correlated with the motor speed. When the speed is higher than the upper limit of the overlapping control interval, k = 0; when it is lower than the lower limit of the overlapping control interval, k = 1, T output is the output motor control torque, T sensor is the closed-loop vector control torque, T sensorless is the sensorless sliding mode control torque.

[0025] On the other hand, a control circuit is provided for the integrated motor as described above. The control circuit includes:

[0026] A main control circuit for processing and controlling the operation of the integrated motor;

[0027] A drive circuit connected to the main control circuit for driving the motor of the rotor UAV;

[0028] An acquisition circuit including a first acquisition circuit and a second acquisition circuit, respectively connected to the main control circuit for acquiring various state parameters of the rotor UAV;

[0029] A communication circuit connected to the main control circuit for realizing data communication of the rotor UAV;

[0030] The main control circuit, drive circuit, acquisition circuit and communication circuit are interconnected through signal lines to jointly complete the control and monitoring of the rotor UAV.

[0031] Furthermore, the main control circuit includes:

[0032] A microcontroller U1A for processing and controlling the operation of the integrated motor;

[0033] Decoupling capacitors C1 to C7 connected to the power line for filtering power supply noise;

[0034] A crystal oscillator X1 connected to the PH0-OSC_IN(PH0) and PH1-OSC_OUT(PH1) pins of the microcontroller U1A for providing a clock signal;

[0035] The reset circuit, including capacitor C12 and resistor R24, is connected to the NRST pin of the microcontroller for resetting the microcontroller;

[0036] LED indicators LED_R and LED_G are respectively connected to the ground through resistors R19 and R20 for indicating the system status;

[0037] The SPI interface, including SPI3 NSS, SCK, MOSI, and MISO signal lines, communicates with external devices through J2 connector. Resistors R153, R155, R157, and R180 are used for current limiting and protection;

[0038] The USART interface, including USART1_TX and USART1_RX signal lines, performs serial communication with other devices through J13 connector. Resistors R15 and R16 are used for current limiting and protection;

[0039] The debug interface, including SWDIO and SWCLK signal lines, is used for debugging and programming the microcontroller through J5 connector. Resistors R22 and R28 are used for current limiting and protection;

[0040] The battery power supply part includes microcontroller U1B. The microcontroller U1B accesses the battery voltage VBAT, which is filtered by inductors L14 and L15 and then supplies power to microcontroller U1A. Capacitors C10, C11, and C12 are used to filter out power noise.

[0041] Furthermore, the first acquisition circuit includes:

[0042] The isolated power supply part includes multiple 5VISOL isolated power modules for providing stable isolated power;

[0043] Multiple capacitors are used to filter out power noise to ensure the stable operation of each module;

[0044] Opto-isolators U4, U5, U6, and U33 are used to achieve electrical isolation, prevent interference, and protect the subsequent circuits. Multiple resistors are used for current limiting to protect the input end of the opto-isolators;

[0045] Operational amplifiers U34, U39, U40, and U36 are used for signal amplification and conditioning, setting the amplification factor, filtering, and energy storage to ensure the accurate transmission of signals;

[0046] The signal output part includes signal output terminals VA, VB, VC, and VBUSI, and the signals processed by the operational amplifiers are output for the processing and analysis of subsequent circuits;

[0047] The second acquisition circuit includes:

[0048] The current sensor section includes current sensors U7, U8, and U9 for detecting current signals;

[0049] Opto-isolator U35 for achieving electrical isolation, preventing interference, and protecting the subsequent circuit;

[0050] Operational amplifiers UIA1, UIB1, UIC1, U38, and U37 for signal amplification and conditioning to ensure accurate signal transmission;

[0051] The signal output section includes IA+, IB+, IC+, and RTMOT signal output terminals for outputting the signals processed by the operational amplifiers for subsequent circuit processing and analysis.

[0052] Furthermore, the communication circuit includes:

[0053] The power supply and grounding section includes VCC_VIO_CAN and GND_CAN for providing a 3.3V power supply and ground signal to ensure power supply stability;

[0054] Isolator U10 for achieving electrical isolation, preventing interference, and protecting the subsequent circuit;

[0055] A CAN transceiver integrated inside the isolator U10 for CAN bus communication to achieve data transmission and reception;

[0056] The filtering and protection section includes a common-mode choke L9, filter capacitors C74, C122, C50, C123, and transient voltage suppression diodes D2, D3, D4 for suppressing electromagnetic interference, filtering high-frequency noise, and protecting the circuit from overvoltage impacts;

[0057] Connectors J4 and J14 for external connection of the CAN bus and connection of the isolated ground signal.

[0058] Furthermore, the drive circuit includes:

[0059] The power supply and grounding section includes 400VGND and 400VL for providing a ground signal and voltage;

[0060] IGBT module Q1 for power switch control;

[0061] MOSFET drivers U14, U15, U16, U17, U18, and U19 for driving the IGBT to achieve high-speed switch control;

[0062] Power device RTMOSI for achieving current switch control;

[0063] Connectors P5, P6, P9, P10, P11, and P12 for providing electrical connection interfaces.

[0064] The beneficial effects of the present invention are as follows:

[0065] Through the topological innovation of integrating a self-cooling fan with the rotor through the shaft, the present invention enables the fan speed to automatically match the operating state of the motor, and actively suppresses the junction temperature of power devices by utilizing the forced vortex effect inside the driver housing. As Figures 10 to 12 shown, it can still maintain the turbulent state of the cooling air flow under the condition of low rotor speed, reducing the MOSFET junction temperature rise ΔTj by more than 40% compared with the traditional split structure; at the same time, based on the multi-source information fusion control algorithm of magnetic encoding signals and back electromotive force observation values, the Lyapunov stability condition of torque output is established in the mode switching interval. By dynamically adjusting the observer bandwidth and sensor sampling weight, the torque ripple coefficient during the control mode switching process is limited within 2%. This integrated design eliminates the parasitic inductance effect of external connection cables, increases the phase margin of the current loop to more than 60°, and ensures an angular control accuracy of 0.1° even in a strong electromagnetic interference environment, comprehensively solving the engineering contradiction between high power density and high reliable control. Brief Description of the Drawings

[0066] Figure 1 is a three-dimensional view of the structure of the present invention;

[0067] Figure 2 is a sectional view of the structure of the present invention;

[0068] Figure 3 is a schematic diagram of the motor mechanism of the structure of the present invention;

[0069] Figure 4 is a schematic diagram of the driver mechanism of the structure of the present invention;

[0070] Figure 5 is a circuit diagram of the main control circuit of the present invention;

[0071] Figure 6 is the circuit of the acquisition circuit of the present invention Figure 1 ;

[0072] Figure 7 is the circuit of the acquisition circuit of the present invention Figure 2 ;

[0073] Figure 8 is a circuit diagram of the communication circuit of the present invention;

[0074] Figure 9 is a circuit diagram of the drive circuit of the present invention;

[0075] Figure 10 is a schematic diagram of the comparison of the heat dissipation performance of the present invention;

[0076] Figure 11Schematic diagram of the instantaneous torque waveform of the present invention;

[0077] Figure 12 Schematic diagram of the torque spectrum analysis of the present invention.

[0078] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0079] 1 - Motor stator, 2 - Motor rotor, 3 - Driver housing, 4 - Driver control unit, 5 - Self-cooling fan, 6 - Position and speed sensor unit;

[0080] 101 - Stator core, 102 - Stator winding, 103 - Stator base;

[0081] 201 - Rotor core, 202 - Rotor magnet, 203 - Rotor housing, 204 - Rotor through-shaft, 205 - Rotor front cover, 206 - Rotor rear cover, 207 - Rotor bearing;

[0082] 301 - Driver housing, 302 - Driver rear cover;

[0083] 401 - Driver PCB board;

[0084] 601 - Position and speed sensor, 602 - Inductive magnet. Detailed implementation manners

[0085] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the attached drawings in the embodiments of the present invention.

[0086] The present invention provides the following preferred embodiments: Embodiment 1

[0087] To solve the problems of discontinuous control mode switching and insufficient heat dissipation efficiency of the rotor UAV motor under complex working conditions, this embodiment provides an integrated motor structure integrating dual-mode control and forced heat dissipation, as Figures 1 to 4 shown. The motor stator 1 uses a stator core 101 laminated from cold-rolled silicon steel sheets, on the surface of which 72 distributed winding slots are provided. The stator winding 102 is wound in a six-phase star connection manner, and the winding ends are treated by vacuum impregnation to form an insulating layer. The stator base 103 is precision-cast from 7075-T6 aluminum alloy, and its end face is provided with a mounting stop with ISO 2768-m class tolerance requirements, and is rigidly connected to the driver housing 3 through M5 hexagon socket head cap screws.

[0088] Furthermore, the rotor core 201 of the motor rotor 2 is molded by SMC soft magnetic composite material, and a 28-pole permanent magnet array is formed by bonding neodymium iron boron N52SH permanent magnets on the surface with epoxy resin. The rotor through-shaft 204 is made of 40CrNiMoA alloy steel after quenching and tempering treatment, and its two ends are supported by SKF 6207-2RS1 / C3 deep groove ball bearings. The axial pre-tightening force is maintained in the range of 45N ± 5% through a wave spring. The self-cooling fan 5 is injection-molded with PA66-GF30 material, and a shaft hole with H7 tolerance fit is provided at its hub part, and synchronous rotation with the rotor through-shaft 204 is achieved through a taper sleeve locking mechanism.

[0089] Furthermore, the induction magnet 602 of the position and speed sensor unit 6 is made of SmCo28 material and is embedded in the circumferential surface of the hub of the self-cooling fan 5 in an alternating N-S pole manner to form a 32-pole magnetic encoding ring. The position and speed sensor 601 selects an AMSAS5048B magnetic encoder, and its SPI output interface is directly connected to the STM32H743VI microcontroller of the driver PCB board 401. The driver control unit 4 has a dual-core architecture. The main core runs the sensorless FOC algorithm based on the flux observer, and the slave core executes the sensor-based SVPWM control based on the magnetic encoding feedback. The dual cores achieve μs-level mode switching through the HSEM hardware semaphore.

[0090] The benefits of this embodiment are as follows: The structural compactness is achieved through the rigid connection between the stator base and the driver housing. The driver housing has multiple ventilation holes, which increases the overall heat dissipation area and improves the self-cooling ability. The coaxial design of the magnetic encoding detection system and the self-cooling fan ensures the reliability of signal detection. The dual-core control architecture supports the real-time parallel operation and seamless switching of two control modes, adapting to complex working conditions such as sudden load changes and sensor failures during the flight of the drone.

[0091] The integrated design of the motor in the present invention does not simply assemble the motor and the driver together. Instead, it is necessary to consider the compactification, lightweight, and integration design of the overall layout. Especially for high-power motors and drivers used in the air compared with those used on the ground, their heat dissipation methods are more stringent, and the reliability level requirements are higher. At the same time, the heat dissipation methods provided under the compact layout also need to be considered in many aspects. Since the flight speed of large rotor unmanned aerial vehicles is relatively low, and the wind speed at the center of the propeller blades driven by the motor is almost zero, the external heat dissipation conditions of the motor itself are very limited. To solve the disadvantages and problems existing in the above prior art, the motor in the present invention is internally provided with a self-cooling fan that does not require separate driving. Compared with other fan heat dissipation designs, in addition to being used for overall heat dissipation, a rotational speed sensor is installed inside the fan at the installation position. By using the structural design to achieve the principle that the rotational speed of the self-cooling fan is the same as that of the motor, the rotational speed of the motor can be collected while dissipating heat, improving the heat dissipation capacity and control accuracy. Without affecting the power and performance of the motor, the overall volume and weight are reduced, and the load capacity of the whole machine is improved. The interconnection cable between the motor and the drive is connected inside the product, solving the difficulty of the separate installation of the original independent components on the machine and the external wiring. The advantage of this integrated motor is that it is internally provided with fan blades and is coaxial with the motor. When the motor rotates, the fan blades of the self-cooling fan rotate accordingly to dissipate heat inside the driver, achieving the function of self-cooling without external heat dissipation conditions. Embodiment 2

[0092] Aiming at the problems of discontinuous heat dissipation path and uneven magnetic field distribution of the outer rotor motor, this embodiment optimizes the rotor magnetic circuit and heat dissipation structure. The rotor housing 203 is manufactured by a spinning process. After the 6061-T6 aluminum alloy cylinder with a wall thickness of 3 mm is subjected to T6 heat treatment, its ovality is controlled within 0.02 mm. The front rotor cover 205 and the rear cover 206 are positioned and fitted with a rabbet, and are hermetically connected to the rotor housing 203 through 8 groups of M4 titanium alloy screws. Loctite 577 thread sealant is applied to the joint surface to prevent air gap leakage.

[0093] The rotor permanent magnets 202 are arranged in a Halbach array, and the magnetization directions of adjacent magnetic poles have a 45° phase difference. Among them, the main magnetic poles use square magnets with a size of 30×10×4 mm magnetized radially, and the auxiliary magnetic poles use sector magnets magnetized tangentially. The heat dissipation fins of the stator base 103 are designed with unequal heights. The height of the fins near the driver end is 12 mm, and gradually decreases axially to 5 mm. The fin spacing expands from 8 mm to 15 mm along the air flow direction, forming a gradually expanding flow channel with the guiding inclined surface on the inner wall of the driver housing 301.

[0094] Furthermore, the rotor bearing 207 adopts an oil-gas lubrication system. The lubricating oil path is integrated inside the stator base 103, and synthetic lubricating oil is supplied to the bearing raceway at a flow rate of 0.5 mL / min through a metering pump. It should be understood that the unidirectional magnetic field generated by the Halbach array can reduce the magnetic density of the rotor yoke to below 1.2 T, and cooperate with the gradually expanding flow channel to increase the air flow velocity to 15 m / s, improving the heat dissipation efficiency by about 20% compared with the traditional structure. Embodiment 3

[0095] To optimize the axial positioning accuracy of the rotor assembly and the cooling air flow organization, this embodiment improves the shafting structure and the fan aerodynamic design. The stepped shoulders of the rotor through-shaft 204 include a first shoulder (diameter Φ25 mm, width 4 mm) and a second shoulder (diameter Φ32 mm, width 6 mm), and the transition fillet radius R of 1.5 mm between them is strengthened by rolling. The blades of the self-cooling fan 5 adopt the NACA 6412 airfoil correction scheme, with the blade root installation angle of 32° ± 0.5° and the blade tip installation angle of 12° ± 0.5°, and the leading edge bending angle changes along the span according to a quadratic function curve.

[0096] Furthermore, a wear-resistant coating with a thickness of 0.2 mm is provided on the leading edge of the fan blade, and a guide chamfer of 0.5 mm × 45° is machined on the trailing edge. The rotor bearing 207 adopts a double-row angular contact bearing group with adjustable preload, and the axial clearance is controlled within the range of 0.01 - 0.03 mm through a spacer sleeve.

[0097] It can be understood that the non-linearly varying blade inclination angle causes the air flow to form an axial velocity gradient in the flow channel. An accelerating air flow of 18 m / s is generated in the root region of the blade to wash the stator winding, and a negative pressure zone of 5 kPa is formed in the tip region to promote the discharge of heat inside the driver. Embodiment 4

[0098] To improve the sensor signal stability and the air flow organization efficiency, this embodiment optimizes the sensor layout and the cooling flow channel design. The guide protrusions adopt a three-start right-handed Archimedean spiral layout, and the spiral lead angle of 28° forms a complementary angle difference of ±2° with the inclination angle of the self-cooling fan blades. The through-holes of the honeycomb exhaust grille are arranged in a regular hexagon, with the inscribed circle diameter of a single hole of 2.8 mm, the hole wall thickness of 0.5 mm, and the aspect ratio of 1.35 meeting the flow resistance coefficient requirements of ISO 1217-1:2009.

[0099] Furthermore, the multi-pole magnetic ring of the position and speed sensor unit 6 is press-fitted by a hot-fitting process, with an interference of 0.02 - 0.03 mm. After assembly, a temperature cycle aging treatment from -40°C to 150°C is carried out. The sensor group spacing of the differential Hall array is 1 / 3 of the pole pitch, and the sensitivity deviation of each group of orthogonal Hall elements (HX-6488A) is controlled within ±1%. The output signal is subjected to common-mode rejection by the AD8421 instrumentation amplifier.

[0100] The benefits of this embodiment are as follows: The spiral flow guiding protrusions reduce the air flow turbulence by approximately 40%. The acoustic impedance characteristics of the honeycomb grille can reduce the aerodynamic noise by 5 dB(A). The redundant design of the differential Hall array controls the angle detection error within ±0.2°, meeting the precise attitude control requirements of the unmanned aerial vehicle. Embodiment 5

[0101] To solve the problems of torque shock and system stability during the dual control mode switching process, this embodiment conducts a deep optimization design on the control algorithm architecture and transition strategy. The dual-mode control algorithm constructs a hierarchical control framework in the digital signal processor. The main control layer executes closed-loop vector control based on the feedback of the magnetic encoder, and the secondary control layer runs sensorless control based on the sliding mode observer. The two algorithms achieve resource sharing and state synchronization through the hardware abstraction layer (HAL).

[0102] Furthermore, the closed-loop vector control in the first working mode adopts an improved field-oriented control (FOC) architecture, and a permanent magnet synchronous motor mathematical model including iron loss compensation is established in the dq coordinate system. The current loop regulator uses a decoupled PI controller with a proportional coefficient Kp = 0.35 and an integral time Ti = 0.01 s. The cross-coupling term compensation amount is injected through the feedforward channel. The speed observer adopts a second-order phase-locked loop structure with a bandwidth set to 1.5 times the rated electrical frequency of the motor to achieve phase synchronization between the magnetic encoder signal and the back electromotive force signal.

[0103] Furthermore, the sensorless sliding mode control in the second working mode is constructed in the α-β stationary coordinate system, and the back electromotive force observer adopts an adaptive sliding mode surface design. The switching function s(e) selects the composite form of the sign function and the saturation function, and the boundary layer thickness δ is set to 8% of the back electromotive force amplitude. The observer gain matrix is adjusted online through the Lyapunov stability theorem to ensure the convergence speed under the condition of sudden speed change. To suppress high-frequency chattering, the current differential term is preprocessed by a fourth-order Butterworth filter with a cut-off frequency set to 1 / 10 of the switching frequency.

[0104] Furthermore, the overlapping control interval set during the mode switching process is determined through experiments to be 18% - 22% of the rated speed. Specifically, for a motor with a nominal speed of 4000 rpm, this interval corresponds to 3400 - 4080 rpm. Within the overlapping control interval, the output channels of the dual-mode controller are connected in parallel through a high-speed analog switch, and the switch switching time does not exceed 50 ms. It should be understood that the selection of this interval range needs to meet two conditions: the signal-to-noise ratio of the magnetic encoder signal is higher than 25 dB, and the angle tracking error of the back electromotive force observer is less than 3°.

[0105] The implementation of the transition strategy includes three stages: the phase pre-synchronization stage, in which the output angle of the sliding mode observer is aligned with the magnetic encoder signal through a software phase-locked loop to eliminate the initial phase difference; the weight gradual change stage, in which the control right is transitioned from the closed-loop vector mode to the sensorless mode within 5 ms, and the transition function adopts a cosine-squared smoothing curve; the dynamic compensation stage, in which the observer gain is adjusted in real time according to the bus voltage fluctuation amount to compensate for the influence of the power supply disturbance on the switching process.

[0106] It can be understood that the control algorithm realizes parallel operation at the hardware level through a multi-bus architecture: the magnetic encoder signal is transmitted to the main control chip through the SPI interface at a rate of 10 Mbps, the three-phase current signals are synchronously collected by a Σ-Δ ADC at a sampling rate of 1 MSPS, the PWM generation unit outputs in the center-aligned mode, and the dead time is configured as 150 ns. To improve the real-time performance of the operation, the key control algorithms are encapsulated into a DSP instruction-level optimization library, in which the Park transformation is accelerated by the CORDIC algorithm, and the SVPWM module is implemented using the look-up table method.

[0107] The benefits of this embodiment are as follows: through the precise division of the overlapping control interval and the dynamic compensation mechanism, the torque fluctuation during the mode switching process is controlled within ±5% of the rated value; the hierarchical control architecture ensures the parameter synchronization and resource sharing of the two algorithms during the transition period; the design of the hardware abstraction layer improves the algorithm transplantation efficiency by 30% and adapts to the drone motor control systems with different power levels. Embodiment 6

[0108] To solve the problems of discontinuous torque output and dynamic response mismatch during the switching process of the dual control mode, this embodiment optimizes the parameter configuration of the transition interval of the control algorithm and the actuator. The overlapping control interval is set to 15%-20% of the rated motor speed. Specifically, when implementing, a drone motor with a rated speed of 4000 rpm is selected, and the corresponding speed range of its overlapping control interval is 3400-4080 rpm. A weighted fusion algorithm is adopted within the overlapping control interval: , where k is a gradual change coefficient that is positively correlated with the motor speed. When the speed is higher than the upper limit of the overlapping control interval, k = 0; when it is lower than the lower limit of the overlapping control interval, k = 1, T output is the output motor control torque, T sensor is the closed-loop vector control torque, T sensorless is the sensorless sliding mode control torque.

[0109] Specifically, the generation function of the gradient coefficient k is constructed as a piecewise continuous function: when the real-time rotational speed n ≤ 3400 rpm, the value of k is constantly 1; when 3400 rpm < n < 4080 rpm, k = (4080 - n) / 680; when n ≥ 4080 rpm, k = 0. To eliminate the influence of high-frequency noise of the rotational speed signal on coefficient calculation, a second-order Butterworth low-pass filter is added to the rotational speed sampling channel, and the cut-off frequency is set to 1.2 times the product of the number of motor pole pairs and the rotational speed. The torque output fusion operation adopts the fixed-point operation optimization technology to convert the 32-bit floating-point torque values of T sensor and T sensorless into Q15 format fixed-point numbers, and realizes parallel weighted calculation through single instruction multiple data (SIMD) instructions.

[0110] Furthermore, the execution period of the weighted fusion algorithm is synchronized with the PWM carrier frequency and set to 20 kHz. In the digital signal processing unit, the torque output values of T sensor and T sensorless are respectively processed by the feedforward compensation module, and the compensation amount includes the inductance change ΔL caused by the temperature drift of the motor winding and the residual magnetism attenuation amount ΔΦ of the rotor permanent magnet. The input parameters of the feedforward compensation module are from the temperature sensor and the motor operation time accumulator built in the driver control unit. The calculation formula of the inductance change ΔL is: , where L0 is the reference inductance value at 25°C, α takes the resistance temperature coefficient of copper 0.0039 / °C, T coil is the real-time detected winding temperature, and T0 is the reference temperature.

[0111] Furthermore, a dynamic limit protection mechanism is added to the torque output fusion process: when |T sensor - T sensorless | exceeds 30% of the rated torque, the transition interval contraction strategy is triggered to increase the gradient slope of the k value by 50%; when the difference exceeds 50%, k = 1 is forcibly locked and the fault diagnosis program is triggered. To verify the effectiveness of the algorithm, a real-time data recording module is implanted in the control code to record the transient change data of T output with a 16-bit resolution, and the sampling depth is set to 20,000 data points within 1 second.

[0112] It can be understood that the hardware implementation of the weighted fusion algorithm relies on the FPGA programmable logic device on the driver PCB board, and its parallel processing architecture can control the algorithm delay within 2 μs. The original signals of the differential Hall array are processed by the digital filter chain inside the FPGA, and the generated position information is transmitted to the dual-core processor through the LVDS interface. The filter chain includes:

[0113] 1. A third-order median filter with a window width set to 5 sampling periods;

[0114] 2. A moving average filter with a window length equal to the number of sampled points of the electrical angle corresponding to the rotation speed period.

[0115] 3. An angle predictor based on the least squares method to compensate for the phase lag caused by signal transmission delay.

[0116] The benefits of this embodiment are as follows: By constructing a gradient coefficient function that strictly corresponds to the rotation speed, the dynamic response consistency of the two control modes within the transition interval is ensured; The heterogeneous processor architecture and fixed-point arithmetic design improve the algorithm execution efficiency, meeting the real-time control requirements of high-speed unmanned aerial vehicles; The combined application of the feedforward compensation mechanism and the dynamic limiting strategy suppresses the peak-to-peak torque fluctuation during mode switching within 3% of the rated value, effectively avoiding the attitude instability phenomenon of the unmanned aerial vehicle during emergency mode switching. Embodiment 7

[0117] To solve the problems of real-time performance, anti-interference ability, and reliability of motor control in the dual control mode of rotor unmanned aerial vehicles, this embodiment provides an integrated motor control circuit, and its overall architecture is as Figures 5 to 9 shown. Specifically, it includes a main control circuit, a drive circuit, a acquisition circuit, and a communication circuit. The connection relationship and composition of each part are as follows:

[0118] Specifically, the main control circuit is responsible for processing and controlling the operation of the integrated motor. In this embodiment, the main control circuit uses a microcontroller, which has data processing capabilities and rich peripheral interfaces. This microcontroller can efficiently execute various control algorithms, such as PID control and adaptive filtering, etc., to ensure the stability and accuracy of motor operation. It should be understood that the main control circuit also integrates various protection mechanisms, such as overcurrent protection, overvoltage protection, and temperature protection, to prevent the motor from being damaged under abnormal conditions. In addition, the main control circuit also supports multitask scheduling and interrupt handling, and can manage multiple sensors and communication tasks simultaneously to ensure the real-time performance and response speed of the system.

[0119] Furthermore, the drive circuit is electrically connected to the main control circuit, and its main function is to drive the motors of the rotor unmanned aerial vehicle. In this embodiment, the drive circuit uses advanced power devices, such as insulated gate bipolar transistors IGBT or metal-oxide-semiconductor field-effect transistors MOSFET. These devices have the characteristics of low on-resistance and high switching speed, and can efficiently control the rotation speed and direction of the motor. It should be understood that the drive circuit is also equipped with a dedicated driver chip to generate precise PWM signals for precise control of the motor. In addition, the drive circuit also designs a perfect protection mechanism, including overcurrent protection, short-circuit protection, and temperature protection, etc., to ensure the safe operation of the motor under various working conditions.

[0120] Furthermore, the acquisition circuit includes a first acquisition circuit and a second acquisition circuit, which are respectively connected to the main control circuit and used to acquire various state parameters of the rotary-wing UAV. In this embodiment, the first acquisition circuit is mainly used to acquire parameters such as the current, voltage, and temperature of the motor, while the second acquisition circuit is responsible for acquiring information such as the attitude, position, and speed of the UAV. To ensure the accuracy and reliability of the data, the acquisition circuit adopts high-precision sensors and signal conditioning circuits. For example, a Hall effect sensor can be used as the current sensor, a precision resistor voltage divider can be used as the voltage sensor, and a thermistor or digital temperature sensor can be used as the temperature sensor. It should be understood that the acquisition circuit also has good anti-interference ability, and through measures such as filtering and shielding, the influence of external noise on the signal is effectively suppressed.

[0121] Furthermore, the communication circuit is connected to the main control circuit and used to realize data communication of the rotary-wing UAV. In this embodiment, the communication circuit supports multiple communication methods, including wired communication and wireless communication. Wired communication usually adopts the CAN bus or RS-485 interface, which has the advantages of long transmission distance and strong anti-interference ability; wireless communication can adopt technologies such as Bluetooth, Wi-Fi, or Zigbee, which have the characteristics of high flexibility and convenient networking. It should be understood that the communication circuit also has data encryption and verification functions, ensuring the security and integrity of data transmission. In addition, the communication circuit also supports multi-point communication and network topology, and can meet the data exchange requirements in complex systems.

[0122] Furthermore, the main control circuit, drive circuit, acquisition circuit, and communication circuit are interconnected through signal lines to jointly complete the control and monitoring of the rotary-wing UAV. Specifically, the main control circuit controls the operation of the motor through the drive circuit according to the state parameters provided by the acquisition circuit, and exchanges data with other devices through the communication circuit. This close connection relationship enables each circuit to work together to form a complete control system. It should be understood that the design of the signal lines is also very important, and the transmission quality and anti-interference ability of the signals need to be considered to ensure the stability and reliability of the system.

[0123] The benefit of this embodiment is to provide an integrated motor control circuit with reasonable structure and perfect functions, which can effectively solve the problems in the control and monitoring of rotary-wing UAVs. By optimizing the design of the main control circuit, drive circuit, acquisition circuit, and communication circuit, this embodiment realizes precise control and real-time monitoring of the motor, improving the stability and reliability of the system. In addition, this embodiment also has good scalability and compatibility, can meet the needs of different application scenarios, and provides strong technical support for the development and application of rotary-wing UAVs. Embodiment 8

[0124] To solve the control and monitoring problems of the integrated motor in the rotor UAV, this embodiment further optimizes the structure and function of the main control circuit. Specifically, this embodiment provides a control circuit for the integrated motor, which includes a microcontroller U1A, decoupling capacitors C1 to C7, a crystal oscillator X1, a reset circuit, an LED indicator, an SPI interface, a USART interface, a debugging interface, and a battery power supply part. These components jointly ensure the stable operation and efficient communication of the system.

[0125] Furthermore, to filter out power supply noise, this embodiment connects decoupling capacitors C1 to C7 to the power supply line. It should be understood that decoupling capacitors usually adopt a combination of ceramic capacitors and electrolytic capacitors to cover noise in different frequency ranges. Ceramic capacitors have low ESR (equivalent series resistance) and high self-resonant frequency, which are suitable for filtering high-frequency noise; while electrolytic capacitors have a larger capacitance and are suitable for filtering low-frequency noise. By reasonably selecting and configuring decoupling capacitors, the impact of power supply noise on the microcontroller and other circuits can be effectively reduced, improving the reliability and performance of the system.

[0126] Furthermore, the crystal oscillator X1 is connected to the PH0-OSC_IN(PH0) and PH1-OSC_OUT(PH1) pins of the microcontroller U1A to provide a stable clock signal. In this embodiment, the crystal oscillator X1 selects a high-precision quartz crystal oscillator, which has high frequency stability and small temperature drift, and can provide an accurate clock source for the microcontroller. It should be understood that the frequency selection of the crystal oscillator X1 should be matched according to the working requirements of the microcontroller to ensure the normal operation of the system. In addition, the crystal oscillator X1 should also have good anti-interference ability to avoid the influence of external noise on its operation.

[0127] Furthermore, the reset circuit includes a capacitor C12 and a resistor R24, which are connected to the NRST pin of the microcontroller to reset the microcontroller. In this embodiment, the design of the reset circuit takes into account the reset requirements during system startup and abnormal conditions. It should be understood that the parameter selection of the capacitor C12 and the resistor R24 should be matched according to the reset requirements of the microcontroller to ensure the stability and reliability of the reset signal. In addition, the reset circuit should also have a certain anti-interference ability to avoid the influence of external noise on its operation.

[0128] Further, the LED indicators LED_R and LED_G are connected to ground through resistors R19 and R20 respectively, and are used to indicate the system status. In this embodiment, the design of the LED indicators takes into account the operating status of the system and the requirements for fault diagnosis. It should be understood that the color and on / off state of the LED indicators can be used to represent different system states, such as normal operation, fault alarm, etc. In addition, the LED indicators should also have a certain brightness and lifespan to ensure their visibility and reliability in various environments.

[0129] Further, the SPI interface includes SPI3 NSS, SCK, MOSI, and MISO signal lines, and communicates with external devices through the J2 connector. In this embodiment, the design of the SPI interface takes into account the communication requirements and protection requirements of the system. It should be understood that resistors R153, R155, R157, and R180 are used for current limiting and protection to prevent external devices from damaging the microcontroller. In addition, the SPI interface should also have a certain communication rate and reliability to meet the real-time and data transmission requirements of the system.

[0130] Further, the USART interface includes USART1_TX and USART1_RX signal lines, and performs serial communication with other devices through the J13 connector. In this embodiment, the design of the USART interface takes into account the communication requirements and protection requirements of the system. It should be understood that resistors R15 and R16 are used for current limiting and protection to prevent external devices from damaging the microcontroller. In addition, the USART interface should also have a certain communication rate and reliability to meet the real-time and data transmission requirements of the system.

[0131] Further, the debugging interface includes SWDIO and SWCLK signal lines, and is used for debugging and programming the microcontroller through the J5 connector. In this embodiment, the design of the debugging interface takes into account the development and maintenance requirements of the system. It should be understood that resistors R22 and R28 are used for current limiting and protection to prevent external devices from damaging the microcontroller. In addition, the debugging interface should also have a certain communication rate and reliability to meet the development and debugging requirements of the system.

[0132] Further, the battery power supply part includes the microcontroller U1B. The microcontroller U1B is connected to the battery voltage VBAT, and after being filtered by inductors L14 and L15, it supplies power to the microcontroller U1A. In this embodiment, the design of the battery power supply part takes into account the power supply requirements and stability of the system. It should be understood that inductors L14 and L15 are used for filtering to eliminate the ripple and noise in the battery voltage. In addition, capacitors C10, C11, and C12 are used to filter out power supply noise to ensure the stable operation of the microcontroller U1A.

[0133] Furthermore, in addition to the above basic features, this embodiment can also consider some additional features to further enhance the performance and functions of the control circuit. For example, more peripheral interfaces such as USB, SD card, and GPIO can be integrated into the microcontroller U1A to facilitate expansion and debugging; more filtering components can be added on the basis of the decoupling capacitors C1 to C7 to further reduce power supply noise; more clock sources can be added on the basis of the crystal oscillator X1 to provide richer clock options; more protection mechanisms can be added on the basis of the reset circuit to improve the security of the system; more status indicators can be added on the basis of the LED indicator to enrich the status information of the system; more communication protocols can be added on the basis of the SPI interface, USART interface, and debugging interface to enhance the compatibility and adaptability of the system.

[0134] The benefit of this embodiment is to provide an integrated motor control circuit with reasonable structure and perfect functions, which can effectively solve the problems in the control and monitoring of rotor UAVs. By optimizing the designs of the microcontroller U1A, the decoupling capacitors C1 to C7, the crystal oscillator X1, the reset circuit, the LED indicator, the SPI interface, the USART interface, the debugging interface, and the battery power supply part, this embodiment realizes the precise control and real-time monitoring of the motor, and improves the stability and reliability of the system. Embodiment 9

[0135] To solve the problem of accurate acquisition and processing of state parameters during the operation of rotor UAVs, this embodiment further optimizes the designs of the first acquisition circuit and the second acquisition circuit. Specifically, this embodiment provides a first acquisition circuit and a second acquisition circuit for the integrated motor control circuit. Through the collaborative work of these circuits, the precise acquisition and reliable transmission of various state parameters by the system are ensured.

[0136] Design and functions of the first acquisition circuit:

[0137] Furthermore, the first acquisition circuit includes an isolated power supply part, multiple capacitors, an optocoupler isolator, an operational amplifier, and a signal output part. The isolated power supply part uses multiple 5V ISO-L isolation power supply modules to provide stable isolated power to ensure the independent power supply and electrical isolation of each module. It should be understood that the isolation power supply module can effectively prevent the influence of power supply noise and interference signals on the acquisition circuit, and improve the stability and reliability of the system.

[0138] Furthermore, multiple capacitors are connected to the power line to filter out power noise and ensure the stable operation of each module. These capacitors usually adopt a combination of ceramic capacitors and electrolytic capacitors to cover noise in different frequency ranges. Ceramic capacitors have low ESR (equivalent series resistance) and high self-resonant frequency, which are suitable for filtering high-frequency noise; while electrolytic capacitors have a large capacitance and are suitable for filtering low-frequency noise. By reasonably selecting and configuring capacitors, the impact of power noise on the acquisition circuit can be effectively reduced.

[0139] Furthermore, optocoupler isolators U4, U5, U6, U33 are used to achieve electrical isolation, prevent interference and protect the subsequent circuit. The optocoupler isolator is a commonly used electrical isolation device that can achieve electrical isolation between the input end and the output end, thereby preventing interference signals from being conducted to the subsequent circuit through the power line or signal line. It should be understood that multiple resistors are also connected to the input end of the optocoupler isolator for current limiting and protecting the input end of the optocoupler to avoid damaging the optocoupler isolator due to excessive current.

[0140] Furthermore, operational amplifiers U34, U39, U40, U36 are used for signal amplification and conditioning, setting the amplification factor, filtering and energy storage to ensure the accurate transmission of signals. These operational amplifiers are configured according to specific signal requirements. For example, the amplification factor can be set by adjusting the feedback resistor and input resistor, noise can be removed by adding a filter circuit, and the stability of the signal can be maintained by an energy storage circuit. It should be understood that the selection of the operational amplifier should consider its bandwidth, gain and noise characteristics to meet the requirements of signal processing.

[0141] Furthermore, the signal output part includes signal output terminals of VA, VB, VC, VBUSI. The signal processed by the operational amplifier is output for the processing and analysis of the subsequent circuit. These signal output terminals are connected to the main control circuit or other processing units through signal lines to ensure that the acquired signals can be processed and analyzed in a timely manner. It should be understood that the design of the signal output part should consider the transmission distance and anti-interference ability of the signal to ensure the integrity and accuracy of the signal.

[0142] Design and function of the second acquisition circuit:

[0143] Furthermore, the second acquisition circuit includes a current sensor part, optocoupler isolators, operational amplifiers and a signal output part. The current sensor part uses current sensors U7, U8, U9 to detect current signals. These current sensors can monitor the current changes of the motor in real time and provide accurate current data. It should be understood that the selection of the current sensor should consider its range, accuracy and response time to meet the requirements of current detection.

[0144] Furthermore, the optocoupler isolator U35 is used to achieve electrical isolation, prevent interference, and protect the subsequent circuit. The optocoupler isolator provides electrical isolation between the current sensor and the subsequent circuit, effectively preventing the conduction of interference signals and improving the stability and reliability of the system. It should be understood that multiple resistors are also connected to the input end of the optocoupler isolator for current limiting and protecting the input end of the optocoupler to avoid damaging the optocoupler isolator due to excessive current.

[0145] Furthermore, operational amplifiers UIA1, UIB1, UIC1, U38, and U37 are used for signal amplification and conditioning to ensure the accurate transmission of signals. These operational amplifiers are configured according to specific signal requirements. For example, the amplification factor can be set by adjusting the feedback resistor and input resistor, noise can be removed by adding a filter circuit, and the stability of the signal can be maintained by adding an energy storage circuit. It should be understood that the selection of operational amplifiers should consider their bandwidth, gain, and noise characteristics to meet the signal processing requirements.

[0146] Furthermore, the signal output section includes signal output terminals for IA+, IB+, IC+, and RTMOT. The signals processed by the operational amplifiers are output for subsequent circuit processing and analysis. These signal output terminals are connected to the main control circuit or other processing units through signal lines to ensure that the collected signals can be processed and analyzed in a timely manner. It should be understood that the design of the signal output section should consider the signal transmission distance and anti-interference ability to ensure the integrity and accuracy of the signals.

[0147] Furthermore, the first acquisition circuit and the second acquisition circuit are interconnected through signal lines to jointly complete the acquisition of various state parameters of the rotor UAV. Specifically, the first acquisition circuit is mainly responsible for acquiring signals such as voltage and bus current, while the second acquisition circuit is responsible for acquiring the three-phase current signals of the motor. These acquired signals are processed and conditioned by the operational amplifier and then transmitted to the main control circuit or other processing units through the signal output terminal for further processing and analysis. It should be understood that the connection relationship between each circuit should be designed properly to ensure the accurate transmission of signals and the stable operation of the system.

[0148] Furthermore, in addition to the above basic features, this embodiment can also consider some additional features to further improve the performance and function of the acquisition circuit. For example, more filtering components such as LC filters can be added to the isolated power supply section to further reduce power supply noise; more protection mechanisms such as transient voltage suppressors (TVS) can be added based on the optocoupler isolator to improve the safety of the system; more signal processing functions such as filters and integrators can be added based on the operational amplifier to enrich the signal processing capabilities; more interface types such as differential signal output can be added to the signal output section to enhance the compatibility and adaptability of the system.

[0149] The benefit of this embodiment is to provide a first acquisition circuit and a second acquisition circuit with reasonable structure and perfect functions, which can effectively solve the problems of accurate acquisition and processing of state parameters during the operation of the rotary-wing UAV. By optimizing the design of the isolated power supply part, capacitors, opto-isolators, operational amplifiers, and signal output parts, this embodiment realizes the accurate acquisition and reliable transmission of state parameters such as voltage and current, and improves the stability of the system. Embodiment 10

[0150] To solve the problems of stability and anti-interference in the data communication process of the rotary-wing UAV, this embodiment further optimizes the design of the communication circuit. Specifically, this embodiment provides a communication circuit for an integrated motor control circuit, which includes a power supply and a grounding part, an isolator U10, a CAN transceiver, a filtering and protection part, and connectors J4 and J14. Through the collaborative work of these components, reliable communication of the system in a complex electromagnetic environment is ensured.

[0151] Furthermore, the power supply and grounding part includes VCC_VIO_CAN and GND_CAN, which are used to provide a 3.3V power supply and a ground signal to ensure the stability of the power supply. In this embodiment, VCC_VIO_CAN is a regulated 3.3V power supply, which is suitable for the voltage requirements of CAN bus communication. It should be understood that a stable power supply is the basis for ensuring the normal operation of the communication circuit. Therefore, the power supply part should have good voltage regulation and filtering capabilities to eliminate power supply noise and fluctuations. In addition, GND_CAN provides a reliable ground signal, ensuring that the reference potential of the entire circuit is consistent and improving the stability of the system.

[0152] Furthermore, the isolator U10 is used to achieve electrical isolation, prevent interference, and protect the subsequent circuit. In this embodiment, the isolator U10 integrates a CAN transceiver inside, which can simultaneously achieve electrical isolation and CAN bus communication functions. It should be understood that electrical isolation can effectively prevent external interference signals from being conducted to the subsequent circuit through the power line or signal line, improving the anti-interference ability and reliability of the system. In addition, the isolator U10 also has the characteristics of low power consumption and high transmission rate, which can reduce the power consumption of the system while ensuring the communication quality.

[0153] Furthermore, in this embodiment, the CAN transceiver supports the standard CAN 2.0A and CAN 2.0B protocols, which can meet the requirements of the rotary-wing UAV for high-speed data transmission. It should be understood that the selection of the CAN transceiver should consider its transmission rate, anti-interference ability, and reliability to ensure the accurate transmission of data. In addition, the CAN transceiver should also have certain fault diagnosis and protection functions, such as over-temperature protection and short-circuit protection, to improve the safety of the system.

[0154] Furthermore, the filtering and protection section includes a common-mode choke L9, filtering capacitors C74, C122, C50, C123, and transient voltage suppression diodes D2, D3, D4, which are used to suppress electromagnetic interference, filter out high-frequency noise, and protect the circuit from overvoltage surges. In this embodiment, the common-mode choke L9 is used to suppress common-mode interference signals and reduce the impact of electromagnetic radiation on the circuit. It should be understood that the common-mode choke is a commonly used electromagnetic compatibility component that can effectively suppress common-mode current and improve the anti-interference ability of the system.

[0155] Furthermore, the transient voltage suppression diodes D2, D3, D4 are used to protect the circuit from overvoltage surges. These diodes can conduct quickly when the voltage exceeds the set threshold and release the excess voltage, thereby protecting the sensitive components in the circuit. It should be understood that the selection of transient voltage suppression diodes should consider their breakdown voltage, response time, and power capacity to ensure their effective operation under various working conditions.

[0156] Design and Function of Connectors J4 and J14

[0157] Furthermore, connectors J4 and J14 are used for the external connection of the CAN bus and the connection of the isolated ground signal. In this embodiment, connectors J4 and J14 adopt standard DB9 or D-Sub connectors, which have good mechanical strength and electrical performance. It should be understood that the design of the connectors should consider their insertion and extraction times, contact resistance, and environmental resistance to ensure their reliability and durability during long-term use. In addition, connectors J4 and J14 should also have a certain degree of waterproof and dustproof capabilities to adapt to various harsh working environments.

[0158] Furthermore, the various components of the communication circuit are interconnected through signal lines to jointly complete data transmission and processing. Specifically, the power supply and grounding section provides a stable power supply and ground signal for the entire communication circuit; the isolator U10 realizes electrical isolation and sends and receives data through the internally integrated CAN transceiver; the filtering and protection section effectively suppresses electromagnetic interference and protects the circuit through a common-mode choke, filtering capacitors, and transient voltage suppression diodes; and connectors J4 and J14 are responsible for connecting to external devices to ensure reliable data transmission. It should be understood that the connection relationship between the various components should be properly designed to ensure signal integrity and system stability.

[0159] Furthermore, in addition to the above basic features, this embodiment can also consider some additional features to further improve the performance and functions of the communication circuit. For example, more filtering components, such as LC filters, can be added to the power supply and ground parts to further reduce power supply noise; more protection mechanisms, such as transient voltage suppressors (TVS), can be added based on the isolator U10 to improve the system's safety; more communication protocols, such as CAN FD (Flexible Data Rate), can be added based on the CAN transceiver to enhance the system's compatibility and adaptability; more filtering components, such as RC filters, can be added to the filtering and protection parts to further filter out high-frequency noise; more interface types, such as M12 connectors, can be added based on the connectors J4 and J14 to adapt to different application scenarios.

[0160] The benefit of this embodiment is to provide a communication circuit with reasonable structure and perfect functions, which can effectively solve the stability and anti-interference problems of the rotary-wing UAV during data communication. By optimizing the designs of the power supply and ground parts, the isolator U10, the CAN transceiver, the filtering and protection parts, and the connectors J4 and J14, this embodiment realizes the reliable transmission of data and the stable operation of the system. In addition, this embodiment also has good scalability and compatibility, can meet the requirements of different application scenarios, and provides strong technical support for the development and application of the rotary-wing UAV. Through the application of this embodiment, the communication quality of the rotary-wing UAV can be significantly improved, promoting the development and progress of related technologies. Embodiment 11

[0161] To solve the problems of high efficiency and reliability of the rotary-wing UAV during motor drive, this embodiment further optimizes the design of the drive circuit. Specifically, this embodiment provides a drive circuit for an integrated motor control circuit, which includes a power supply and ground part, an IGBT module Q1, MOSFET drivers U14 to U19, a power device RTMOSI, and connectors P5 to P12. Through the collaborative work of these components, the precise control and efficient operation of the system for the motor are ensured.

[0162] Furthermore, the power supply and ground part includes 400VGND and 400VL, which are used to provide a ground signal and voltage. In this embodiment, 400VGND is a reliable ground signal to ensure the consistency of the reference potential of the entire circuit; 400VL is a high-voltage power supply that has been regulated and is suitable for the drive requirements of high-power motors. It should be understood that stable power supply and ground signals are the basis for ensuring the normal operation of the drive circuit. Therefore, the power supply and ground part should have good voltage regulation and filtering capabilities to eliminate power supply noise and fluctuations.

[0163] Furthermore, the IGBT module Q1 is used for power switch control to achieve efficient drive of the motor. In this embodiment, a high-performance insulated gate bipolar transistor (IGBT) is selected for the IGBT module Q1, which has low on-resistance, high switching speed, and high breakdown voltage characteristics. It should be understood that the selection of the IGBT module should consider its rated current, breakdown voltage capability, and switching frequency to meet the requirements of motor drive. In addition, the IGBT module should also have certain protection mechanisms, such as overcurrent protection and overtemperature protection, to improve the safety of the system.

[0164] Furthermore, the MOSFET drivers U14 to U19 are used to drive the IGBT module Q1 to achieve high-speed switch control. In this embodiment, a series of high-performance drive chips are adopted for the MOSFET drivers, which can provide sufficient drive current and fast switching response. It should be understood that the selection of the MOSFET drivers should consider their output current, switching speed, and anti-interference ability to ensure reliable drive of the IGBT module. In addition, the MOSFET drivers should also have certain protection functions, such as undervoltage protection and short-circuit protection, to prevent the influence of external faults on the drive circuit.

[0165] Furthermore, the power device RTMOSI is used to achieve current switch control and assist the IGBT module Q1 in power regulation. In this embodiment, a metal oxide semiconductor field effect transistor (MOSFET) with high breakdown voltage and low on-resistance is selected for the power device RTMOSI. It should be understood that the selection of the power device RTMOSI should consider its rated current, breakdown voltage capability, and on-resistance to meet the requirements of current switch control. In addition, the power device RTMOSI should also have certain heat dissipation ability to ensure its stable operation under high-power conditions.

[0166] Furthermore, the connectors P5 to P12 are used to provide electrical connection interfaces to ensure reliable connection between the drive circuit and other circuits or devices. In this embodiment, standard industrial-grade connectors are adopted for the connectors P5 to P12, which have good mechanical strength and electrical performance. It should be understood that the design of the connectors should consider their insertion and extraction times, contact resistance, and environmental resistance to ensure their reliability and durability during long-term use. In addition, the connectors should also have certain waterproof and dustproof capabilities to adapt to various harsh working environments.

[0167] Furthermore, the various components of the drive circuit are interconnected through signal lines to jointly complete the drive control of the motor. Specifically, the power supply and ground parts provide stable power supply and ground signals for the entire drive circuit; the IGBT module Q1, as the main power switch component, is responsible for the power regulation of the motor; the MOSFET drivers U14 to U19 ensure the reliable drive of the IGBT module Q1 by providing sufficient drive current and fast switching response; the power device RTMOSI assists the IGBT module Q1 in current switching control to improve the efficiency of the system; the connectors P5 to P12 are responsible for connecting with other circuits or devices to ensure the reliable transmission of data and signals. It should be understood that the connection relationships between the various components should be properly designed to ensure signal integrity and system stability.

[0168] Furthermore, in addition to the above basic features, this embodiment can also consider some additional features to further enhance the performance and functions of the drive circuit. For example, more filtering components, such as LC filters, can be added to the power supply and ground parts to further reduce power supply noise; more protection mechanisms, such as temperature sensors and overcurrent detection circuits, can be added based on the IGBT module Q1 to improve system safety; more drive functions, such as dead-time control and soft-start functions, can be added based on the MOSFET drivers U14 to U19 to enhance system reliability and stability; more heat dissipation measures, such as heat sinks and fans, can be added based on the power device RTMOSI to improve its heat dissipation capacity under high-power conditions; more interface types, such as M12 connectors, can be added based on the connectors P5 to P12 to adapt to different application scenarios.

[0169] The benefit of this embodiment is to provide a drive circuit with a reasonable structure and complete functions, which can effectively solve the problems of high efficiency and reliability in the motor drive process of rotor UAVs. By optimizing the designs of the power supply and ground parts, the IGBT module Q1, the MOSFET drivers U14 to U19, the power device RTMOSI, and the connectors P5 to P12, this embodiment achieves precise control and efficient operation of the motor. In addition, this embodiment also has good scalability and compatibility, and can meet the requirements of different application scenarios.

Claims

1. An integrated motor for dual control modes of a rotary wing UAV, characterized in that: include: A motor stator (1), comprising a stator core (101), a stator winding (102) and a stator seat (103), wherein the stator seat (103) is fixedly connected to a drive housing (3); A motor rotor (2), comprising a rotor core (201), a rotor magnetic steel (202), a rotor housing (203) and a through-type rotor shaft (204), wherein the rotor shaft (204) is rotatably connected to a stator seat (103) via a rotor bearing (207); A driver housing (3) comprises a driver housing (301) and a driver back cover (302), wherein the driver housing (301) and the stator seat (103) form a sealed cavity, and a driver control unit (4) is arranged in the cavity; A self-dissipating fan (5) is coaxially fixed to the driver end of the rotor through-shaft (204) and forms a forced airflow channel with the internal space of the driver housing (3); A position and speed sensor unit (6), comprising an induction magnet (602) embedded in the self-cooling fan (5) and a position and speed sensor (601) mounted on a driver PCB board (401), wherein the position and speed sensor (601) and the induction magnet (602) form a non-contact magnetic encoding detection system; The drive control unit (4) receives the power cable of the stator winding (102) through the threading hole, and is configured with a dual-mode control algorithm, and can dynamically switch between a non-sensing control mode and a sensing control mode according to a real-time signal from a position and speed sensor unit (6); The rotor through shaft (204) is provided with a stepped shaft shoulder structure, wherein a first shaft shoulder is used to position the rotor bearing (207), and a second shaft shoulder is used to fix the self-cooling fan (5); The blade inclination angle of the self-cooling fan (5) varies nonlinearly along the radial direction, with the blade root inclination angle being 25° to 35° and the blade tip inclination angle being 10° to 15°, so as to form a tapered vortex structure; The dual-mode control algorithm includes: In a first working mode, when the signal of the position and speed sensor unit (6) is valid, closed-loop vector control based on magnetic encoder feedback is adopted; A second working mode, when an abnormal signal of the position and speed sensor unit (6) is detected, switching to sensorless sliding mode control based on back electromotive force observation; The mode switching process is provided with an overlapping control interval, in which the first working mode and the second working mode are simultaneously operated in the overlapping control interval to achieve a smooth transition; The overlapping control interval is set to 15%-20% of the rated speed of the motor, and a weighted fusion algorithm is used within the overlapping control interval: , where k is a gradient coefficient negatively correlated with the motor speed. When the speed is higher than the upper limit of the overlap control interval, k=0; when the speed is lower than the lower limit of the overlap control interval, k=1. T output is the output motor control torque, T sensor is the closed-loop vector control torque, T sensorless The torque is controlled by sensorless sliding mode.

2. The integrated motor for dual control modes of a rotary wing UAV according to claim 1, characterized in that: The motor rotor (2) adopts an outer rotor structure, the rotor housing (203) is sealed by a rotor front cover (205) and a rotor rear cover (206) to form an electromagnetic action cavity, and the rotor magnetic steel (202) is arranged on the surface of the rotor core (201) in a Halbach array manner; The stator seat (103) is provided with axially extending heat dissipation ribs, and the gaps between the heat dissipation ribs and the inner flow channel of the driver housing (301) form a continuous heat dissipation path.

3. The integrated motor for dual control modes of a rotary wing UAV according to claim 1, characterized in that: The inner wall of the driver housing (3) is provided with flow-guiding protrusions, the flow-guiding protrusions are arranged in a spiral line shape, and the spiral rise angle forms a complementary angle relationship with the blade inclination angle of the self-cooling fan (5); The driver rear cover (302) is provided with a honeycomb exhaust grille, and the through-hole aspect ratio of the exhaust grille is in the range of 1.2-1.5; The position and speed sensor unit (6) comprises a multi-pole magnetic ring and a differential Hall array, and the multi-pole magnetic ring is press-fitted onto the end of the rotor through-shaft (204) in an interference fit manner; The differential Hall array includes three groups of Hall sensor groups distributed at 120 degrees, and each sensor group includes two linear Hall elements arranged orthogonally.

4. A control circuit for the integrated motor according to any one of claims 1 to 3, characterized in that: The control circuit comprises: A main control circuit, used for processing and controlling the operation of the integrated motor; A driving circuit, connected to the main control circuit, for driving the motor of the rotary-wing UAV; The acquisition circuit includes a first acquisition circuit and a second acquisition circuit, which are respectively connected to the main control circuit and are used to acquire various state parameters of the rotary-wing UAV; A communication circuit, connected to the main control circuit, for realizing data communication of the rotary-wing UAV; The main control circuit, drive circuit, acquisition circuit and communication circuit are interconnected through signal lines to jointly complete the control and monitoring of the rotary-wing UAV.

Images