Motor control system and motor control method

Abstract

The invention provides a motor control system and a motor control method, and relates to the technical field of motor control, the motor control system comprises an electronic speed regulator and a motor, and the electronic speed regulator is electrically connected with the motor; the electronic speed regulator at least comprises a first controller and a second controller; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are in communication connection and are used for mutually transmitting electrical parameters and mutually verifying the electrical parameters, the first controller is used for controlling the motor based on the verified electrical parameters, and the second controller is used for taking over control over the motor under the condition that the first controller is abnormal. The motor out-of-control caused by a single-point fault and an isomorphic dual-redundancy common fault can be avoided, so that the reliability of motor control is improved, and particularly, the stable working requirements of various medium and large unmanned aerial vehicles can be met.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and particularly to a motor control system and a motor control method. Background Art

[0002] The combination of an Electronic Speed Controller (ESC) and a motor is a key power system component. The main function of the electronic speed controller is to adjust the speed and torque of the motor to achieve various flight actions of the unmanned aerial vehicle, including takeoff, climb, cruise, and landing.

[0003] Traditional electronic speed controllers usually control the motor by using a single controller and a single current sampling channel. Although this design is simple, there are obvious reliability problems. Once the controller or the current sampling channel fails, it may cause the entire power system to fail, and then lead to catastrophic consequences such as the crash of the unmanned aerial vehicle. Summary of the Invention

[0004] This application provides a motor control system and a motor control method. By adopting a heterogeneous design of controllers in the electronic speed controller, the failure risk caused by homogeneous failures is reduced, and the overall reliability is improved. Moreover, the dual-controller architecture provides redundancy to ensure that the system can still operate normally even if one controller fails, thus avoiding single-point failures of the system.

[0005] In a first aspect, this application provides a motor control system. The system includes an electronic speed controller and a motor, and the electronic speed controller is electrically connected to the motor. The electronic speed controller includes at least a first controller and a second controller. The first controller and the second controller are heterogeneous controllers. The first controller and the second controller are communicatively connected to transmit electrical parameters to each other and verify each other. The first controller is used to control the motor based on the electrical parameters that pass the verification. The second controller is used to take over the control of the motor when the first controller is abnormal.

[0006] For application scenarios with extremely high requirements for flight control accuracy, such as drones, the reliability of the control function is crucial. The design of this motor control system can meet the high requirements of drones for stability and reliability. Especially in terms of the control function, the heterogeneous dual-redundancy design plays a key role. For example, after processing and analyzing the collected parameters, the first controller and the second controller will independently generate control instructions at the same time. In the normal working state, these two control instructions will be compared and verified to ensure their consistency and accuracy before being executed. Once one of the controllers generates incorrect control instructions due to software failures, hardware damages, etc., the other controller can detect it in time and, through the fault tolerance mechanism, enable the motor control system to determine the correct control instruction for operation, effectively avoiding control errors caused by single-point failures, ensuring the stability of the drone's flight attitude and the safe completion of the flight mission, and further reducing the risk of drone out-of-control or crashing caused by controller failures.

[0007] Optionally, the first controller includes a first peripheral device, and the first peripheral device is a single-channel analog-to-digital converter for resolving at least one type of electrical parameter collected to obtain a first control parameter; the second controller includes a second peripheral device, and the second peripheral device is a multi-channel analog-to-digital converter for resolving at least one type of electrical parameter collected to obtain a second control parameter.

[0008] In this way, the single-channel ADC is used for basic control requirements, while the multi-channel ADC is used for more complex monitoring and backup control, optimizing the use of hardware resources. When the first controller fails, the multi-channel ADC of the second controller can provide more comprehensive parameter support to ensure the continuous and stable operation of the system.

[0009] Therefore, in terms of parameter sampling, the traditional single sampling method is often easily affected by factors such as external interference and hardware failures, resulting in the inability to effectively guarantee the accuracy of the sampled data. However, the heterogeneous dual-redundancy design adopted by the motor control system in this application collects data through two independent and parallel sampling channels. These two sampling channels adopt heterogeneous designs in terms of hardware configuration, circuit design, and data acquisition algorithms, avoiding the consequences of motor out-of-control caused by single-point failures and being able to work independently of each other.

[0010] It can be understood that when one of the channels has sampling deviations or fails due to problems such as electromagnetic interference and local sensor failures, the other channel can immediately take over the work seamlessly and continuously provide accurate and reliable parameter sampling, thus ensuring that the entire system's perception of parameters is always in an accurate and stable state, greatly improving the correctness of parameter sampling and the anti-interference ability of the system.

[0011] Optionally, the first controller is configured to generate a control signal based on a first control parameter to control the motor based on the control signal; the second controller is configured to generate a control signal based on a second control parameter in the event of an abnormality in the first controller to control the motor based on the control signal.

[0012] In this way, the first controller and the second controller respectively generate control signals based on the control parameters, ensuring that when the first controller malfunctions, the second controller can quickly take over the control of the motor and respond quickly based on the generated control signal to maintain the normal operation of the motor.

[0013] Optionally, the first controller and the second controller are also respectively configured to verify the first control parameter and the second control parameter.

[0014] In this way, by comparing the parameters calculated by the two controllers, potential data errors can be identified and corrected to ensure the integrity and accuracy of the parameters. Therefore, through the dual verification mechanism, the system can detect and handle abnormal situations earlier, reducing the risk of system failure caused by incorrect data. In addition, ensuring that only the accurate parameters verified by comparison are used to generate control signals improves the accuracy and response speed of motor control.

[0015] Optionally, the first controller and the second controller are communicatively connected through at least two types of hardware interfaces.

[0016] In this way, if one hardware interface fails, the other hardware interface can continue to maintain communication, ensuring the continuity and reliability of data transmission. Multiple types of interfaces can provide more stable communication under different environmental conditions, enabling them to back up each other's information, reducing the risk of interference and signal loss. Furthermore, the design of this redundant communication link reduces the risk of system out-of-control caused by communication failures, enhancing overall security. Therefore, multiple interfaces provide higher fault tolerance, ensuring that the system can still operate normally under various fault conditions.

[0017] In addition, the system can also select the appropriate interface type according to different application requirements and environmental conditions, enhancing the flexibility and adaptability of the system.

[0018] Optionally, the first controller is electrically connected to the motor through the second controller. Specifically, the second controller is configured to:

[0019] In the event that the electrical parameters transmitted by the first controller are not received for more than a preset duration and / or the electrical parameters transmitted by the first controller are found to be incorrect during verification, the second controller cuts off the output signal from the first controller to the motor and takes over the control of the motor.

[0020] In this way, through the real-time monitoring and rapid response mechanism, the system can quickly switch to the backup control when the first controller fails, avoiding system failure. And since the monitoring and takeover functions of the second controller provide an additional protection layer, it can ensure that the motor can still be correctly controlled even when the first controller is abnormal. Therefore, the takeover mechanism of the second controller ensures the continuity and stability of motor control, avoiding interruptions caused by the failure of the first controller. In addition, by cutting off the error signal through the second controller, it can also prevent the motor from running out of control due to incorrect data, reducing potential safety risks.

[0021] Optionally, the second controller includes at least two types of first communication interfaces, which are used to report abnormal information through at least two types of communication interfaces in the case of an abnormality of the first controller;

[0022] The at least two types of first communication interfaces are also used to receive the target instructions sent by the control platform, and the target instructions are used to adjust the operating state of the motor;

[0023] Among them, the at least two types of first communication interfaces are in the working state at the same time. In the case of a failure of at least one first communication interface, the other non-failed first communication interfaces continue to work.

[0024] In this way, in terms of communication interfaces, by designing the parallel operation of multiple communication interfaces, the system can continue to communicate normally when one interface fails, avoiding single-point failures. Moreover, multiple interfaces provide higher fault tolerance, ensuring that the system can still operate normally in various fault situations, and reducing the risks of interference and signal loss.

[0025] Optionally, the first controller includes at least two types of second communication interfaces, which are used to receive the target instructions sent by the control platform, and the target instructions are used to adjust the operating state of the motor;

[0026] Among them, the at least two types of second communication interfaces are in the working state at the same time. In the case of a failure of at least one second communication interface, the other non-failed second communication interfaces continue to work.

[0027] In this way, through the parallel operation of multiple communication interfaces, the system can continue to communicate normally when one interface fails, avoiding single-point failures. This kind of multiple interfaces also provides the ability of heterogeneous backup with each other, making the system have higher fault tolerance, ensuring that the system can still operate normally in various fault situations. Moreover, the design of multiple types of second communication interfaces can provide more stable communication under different environmental conditions, reducing the risks of interference and signal loss.

[0028] In addition, the system can also select appropriate interface types according to different application requirements and environmental conditions, enhancing the flexibility and adaptability of the system.

[0029] Optionally, the first controller is a controller with a digital signal processor (DSP), and the second controller is a controller composed of a dual-core processor and a field programmable gate array (FPGA) logic component.

[0030] It can be understood that the DSP is good at real-time signal processing and complex mathematical operations, and can efficiently execute the algorithms required for motor control. The FPGA provides parallel processing capabilities, and the dual-core processor provides multitasking and fault isolation capabilities. The FPGA can achieve fast hardware reconfiguration, improving fault tolerance and reliability. Therefore, the first controller using a controller with a DSP can achieve efficient control of the motor. The second controller using a controller composed of a dual-core processor and an FPGA logic component can accelerate specific computing tasks, support complex control logic and system management tasks, adapt to various application scenarios, and also allow hardware configuration and optimization according to specific application requirements, providing a high degree of flexibility.

[0031] In addition, the above two heterogeneous controllers can also monitor and verify electrical parameters with each other, improving the fault tolerance of the system. When the first controller fails, the second controller can quickly take over the motor control to ensure the continuity and stability of the system.

[0032] Optionally, the electronic speed governor further includes a parameter acquisition unit for acquiring at least one type of electrical parameter. The parameter acquisition unit is communicatively connected to the first controller and the second controller respectively; the first controller and the second controller respectively obtain at least one type of electrical parameter from the parameter acquisition unit for calculation.

[0033] Therefore, by providing the same electrical parameters for the two controllers, the parameter acquisition unit enables the system to better perform verification and fault detection. If one controller fails, the other controller can continue to use the same parameters for control, ensuring the continuity and stability of the system, thereby improving the overall reliability. In addition, through precise parameter acquisition and calculation, the first controller and the second controller can more accurately control the operating state of the motor, improving the control accuracy.

[0034] Optionally, the electronic speed governor further includes a three-phase inverter bridge unit. The first controller is electrically connected to the three-phase inverter bridge unit through the second controller, and the first controller transmits control signals to the three-phase inverter bridge unit through the second controller, so that the three-phase inverter bridge unit outputs control instructions to the motor.

[0035] In this way, through the second controller as an intermediary, additional signal verification and redundancy processing can be provided, reducing the risk of signal transmission errors. If the first controller fails, the second controller can take over the generation and transmission of control signals to ensure the continuous operation of the motor, improving the reliability of the system. Further, the precise signal generation of the first controller combined with the verification and processing of the second controller ensures the accuracy of the control signals received by the three-phase inverter bridge unit, improving the control precision of the motor.

[0036] Optionally, the system further includes sensors, which are respectively communicatively connected to the first controller and the second controller and are used to transmit the acquired position information of the motor to the first controller and the second controller.

[0037] In this way, since both controllers can receive the position information, the motor control system can flexibly adapt to different control strategies and requirements based on the position information. The acquisition and processing of the position information enable the motor control system to precisely adjust the operating state of the motor, improving the control precision, and also enable the motor control system to quickly respond to external changes and instructions. In addition, the dual connection of the sensors to the two controllers makes the system have higher redundancy and fault tolerance capabilities, reducing the risk of single-point failures.

[0038] Optionally, the electrical parameters include at least one of position information, current parameters, voltage parameters, temperature parameters, power parameters, motor speed parameters, and heartbeat parameters.

[0039] In this way, by monitoring a variety of electrical parameters, the system can comprehensively understand the operating state of the motor and promptly detect abnormal situations. For example, by monitoring the current parameters and voltage parameters, electrical faults can be quickly identified; by monitoring the temperature parameters, overheating damage can be prevented; by monitoring the power parameters and motor speed parameters, the performance and energy efficiency of the motor can be optimized to ensure its operation in an ideal state; by monitoring the position information and heartbeat parameters, the safety and real-time response capabilities of the system in critical tasks can be ensured, preventing out-of-control caused by communication failures. Therefore, by mutually transmitting and verifying these electrical parameters, the motor control system not only improves its resistance to faults but also enhances its reliability and safety in critical tasks, ensuring the stable and efficient operation of the system.

[0040] Optionally, the process of mutually transmitting and verifying the electrical parameters includes:

[0041] One of the controllers converts the format of the electrical parameters according to a preset rule to obtain the first data, sends the first data to the other controller, receives the second data sent by the other controller, decodes the second data to obtain the third data, and verifies the third data with the electrical parameters. The second data is the data obtained by the other controller through format conversion of the electrical parameters;

[0042] After receiving the first data, another controller decodes the first data to obtain the fourth data, and verifies the fourth data and the electrical parameters.

[0043] In this way, through format conversion and two-way verification, it is ensured that the data transmitted between the two controllers is complete and accurate, reducing the risk of errors in data transmission. In particular, the verification mechanism provides an additional layer of redundancy and verification, enhancing the fault tolerance of the system. Therefore, through the mutual verification of the two controllers, the coordination and consistency of the system under the cooperation of multiple controllers are ensured.

[0044] In a second aspect, the present application provides a motor control method, which is applied to a motor control system. The motor control system includes an electronic speed governor and a motor, and the electronic speed governor is electrically connected to the motor; the electronic speed governor includes at least a first controller and a second controller; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are communicatively connected for mutually transmitting electrical parameters and mutually verifying. The method includes:

[0045] Controlling the motor by the first controller based on the verified electrical parameters;

[0046] In the case where the first controller fails, taking over the control of the motor by the second controller.

[0047] In a third aspect, the present application provides a motor control method, which is applied to the first controller. The first controller is one of the controllers in the electronic speed governor, and the electronic speed governor also has a second controller. The electronic speed governor is deployed in the motor control system, and the motor control system also includes a motor. The electronic speed governor is electrically connected to the motor; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are communicatively connected for mutually transmitting electrical parameters and mutually verifying. The method includes:

[0048] Controlling the motor based on the verified electrical parameters;

[0049] Wherein, during the process of the first controller controlling the motor, if the first controller fails, the second controller takes over the control of the motor.

[0050] In a fourth aspect, the present application provides a motor control method, which is applied to the second controller. The second controller is one of the controllers in the electronic speed governor, and the electronic speed governor also has a first controller. The electronic speed governor is deployed in the motor control system, and the motor control system also includes a motor. The electronic speed governor is electrically connected to the motor; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are communicatively connected for mutually transmitting electrical parameters and mutually verifying. The method includes:

[0051] Take over the control of the motor in the event of an abnormality in the first controller; wherein, in the case of no abnormality, the first controller controls the motor based on the electrical parameters that pass the verification.

[0052] In a fifth aspect, the present application provides a drone, which includes a motor control system as described in any one of the first aspects.

[0053] It should be noted that the technical solutions of the second to fifth aspects of the present application correspond to those of the first aspect of the present application. The beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, and will not be elaborated here.

[0054] The motor control system and the motor control method provided by the present application design the electronic speed controller to include at least two controllers, namely the first controller and the second controller. These two controllers adopt different hardware architectures or the same architecture but different cores to reduce the possibility of isomorphic failures. A communication link is established between these two controllers for transmitting electrical parameters to each other, such as parameter information of current, voltage, speed, etc. The present application does not specifically limit the parameter types and quantities of the electrical parameters transmitted to each other, and each controller verifies the received electrical parameters to ensure the integrity and accuracy of the data. In this way, when the system is running normally, the first controller controls the motor based on the electrical parameters that pass the verification, and the second controller continuously monitors the state and output of the first controller and is ready to take over the control when necessary. If the first controller has an abnormality such as a hardware failure or a communication interruption, and the second controller detects the abnormality through the monitoring and verification mechanism, it immediately takes over the control of the motor to ensure the continuous and stable operation of the motor. Therefore, through the heterogeneous dual-redundancy design of the controller, it is possible to avoid the loss of control of the motor caused by single-point failures and the common failures of isomorphic dual-redundancy, thereby improving the reliability of motor control, and in particular, it can meet the stable working requirements of various medium and large drones. Description of the Drawings

[0055] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments in line with the present application, and are used together with the specification to explain the principles of the present application.

[0056] Figure 1 It is a partial structural schematic diagram of a motor control system provided by an embodiment of the present application;

[0057] Figure 2 It is a scenario schematic diagram of the motor control system provided by an embodiment of the present application;

[0058] Figure 3 It is a partial structural schematic diagram of another motor control system provided by an embodiment of the present application;

[0059] Figure 4Partial structural schematic diagram of another motor control system provided by an embodiment of the present application;

[0060] Figure 5 Partial structural schematic diagram of yet another motor control system provided by an embodiment of the present application;

[0061] Figure 6 Partial structural schematic diagram of a motor control system provided by an embodiment of the present application;

[0062] Figure 7 Partial structural schematic diagram of a drone provided by an embodiment of the present application;

[0063] Figure 8 Partial structural schematic diagram of a three - power system of a multi - rotor drone platform provided by an embodiment of the present application;

[0064] Figure 9 Flow schematic diagram of a motor control method provided by an embodiment of the present application.

[0065] Through the above - mentioned drawings, the clear embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and text descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0066] Here, the exemplary embodiments will be described in detail, and their examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0067] In order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and roles. For example, the first device and the second device are only used to distinguish different devices, and their sequence is not limited. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0068] It should be noted that in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0069] In this application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0070] The power system composed of an electronic speed controller and a motor is the main power source for current electric vertical take-off and landing (eVTOL) and many other types of multi-rotor drone platforms. This power system plays a crucial role throughout the flight of the drone. Among them, the electronic speed controller is responsible for controlling the rotation of the motor to complete the take-off, climb, maneuvers, cruise, and landing of the drone.

[0071] Specifically, the electronic speed controller undertakes the key responsibility of precisely controlling the rotation of the motor. During the take-off phase of the drone, the electronic speed controller will accurately adjust the speed of the motor according to the preset instructions, thereby generating sufficient lift to enable the drone to take off smoothly from the ground; during the climbing process, it can sense the changes in the flight state in real time and dynamically adjust the output power of the motor to ensure that the drone flies upward at a stable rate; when the drone performs various complex maneuvers, such as hovering and flipping, the electronic speed controller quickly and precisely controls the speed and direction of each motor, enabling the drone to flexibly display various flight maneuvers; during the cruise phase, the electronic speed controller keeps the motor in a stable working state, providing continuous and uniform power for the drone to ensure its long-term and efficient flight; until the landing phase, it can timely adjust the power output of the motor to assist the drone in landing safely and smoothly.

[0072] Therefore, the electronic speed controller is an essential core component in the power system of an unmanned aerial vehicle (UAV). However, in related technologies, the electronic speed controller usually controls the motor by using a single controller and a single current sampling channel. Although this design is simple, it has obvious reliability problems. Once the controller or the current sampling channel fails, it may cause the entire power system to fail, and then lead to catastrophic consequences such as the crash of the UAV.

[0073] It should also be noted that in the above process, no effective judgment is made on the sampled data. If a single-point failure occurs, it will seriously affect the operation of the entire power system and is very likely to directly cause the UAV system to shut down. In some critical application scenarios, the sudden shutdown of the UAV will undoubtedly lead to catastrophic consequences.

[0074] Therefore, the redundant design of the controller and the sampling has become an urgent problem to be solved in the whole industry.

[0075] In view of the above problems, the present application provides a motor control system. By designing the electronic speed controller to include at least two controllers, namely a first controller and a second controller, these two controllers adopt different hardware architectures or the same architecture but different cores to reduce the possibility of isomorphic failures. And a communication link is established between these two controllers for transmitting electrical parameters to each other, such as parameter information of current, voltage, speed, etc. The present application does not specifically limit the type and quantity of the electrical parameters transmitted to each other, and each controller verifies the received electrical parameters to ensure the integrity and accuracy of the data. In this way, when the system is running normally, the first controller controls the motor based on the verified electrical parameters, and the second controller continuously monitors the state and output of the first controller and is ready to take over the control when necessary. If the first controller has an abnormality such as a hardware failure or a communication interruption, the second controller detects the abnormality through the monitoring and verification mechanism and immediately takes over the control of the motor to ensure the continuous and stable operation of the motor. Therefore, through the heterogeneous dual-redundancy design of the controller, it is possible to avoid the motor out of control caused by single-point failures and the common failures of isomorphic dual redundancy, thereby improving the reliability of motor control, and especially meeting the stable working requirements of various medium and large UAVs.

[0076] The following uses specific embodiments to elaborate in detail on the technical solution of the present application and how the technical solution of the present application solves the above technical problems. These several specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The following will describe the embodiments of the present application with reference to the accompanying drawings.

[0077] Exemplarily, Figure 1 is a partial structural schematic diagram of a motor control system provided by an embodiment of the present application, as Figure 1As shown, the motor control system 100 includes an electronic speed governor 101 and a motor 102. The electronic speed governor 101 is electrically connected to the motor 102. The electronic speed governor 101 includes at least a first controller 11 and a second controller 12. The first controller 11 and the second controller 12 are heterogeneous controllers. The first controller 11 and the second controller 12 are communicatively connected to transmit electrical parameters to each other and verify each other. The first controller 11 is used to control the motor 102 based on the verified electrical parameters. The second controller 12 is used to take over the control of the motor 102 in the event of an abnormality in the first controller 11.

[0078] Among them, heterogeneous controllers refer to controllers with different hardware architectures and controllers with the same hardware architecture but different cores. The specific device types corresponding to the first controller 11 and the second controller 12 in the embodiments of the present application are not limited. For example, the first controller 11 can be a controller with a Digital Signal Processor (DSP), and the second controller 12 can be a controller combining a Field-Programmable Gate Array (FPGA) and an Advanced RISC Machine (ARM) processor.

[0079] In the embodiments of the present application, electrical parameters refer to the parameters necessary for the operation of the electronic speed governor 101 and the external interface data. The external interface data includes control instructions and debugging information sent by the control platform. The specific types of electrical parameters in the embodiments of the present application are not limited.

[0080] Optionally, the electrical parameters include at least one of position information, current parameters, voltage parameters, temperature parameters, power parameters, motor speed parameters, and heartbeat parameters.

[0081] Among them, the position information is used to determine the physical position of the motor 102 or related components. The current parameters are used to reflect the current consumption of the motor 102 to help detect abnormalities such as overload or short circuit. The voltage parameters are used to monitor the power supply status of the motor 102 to ensure that the voltage is within a safe range. The temperature parameters are used to monitor the temperature of the motor 102 and its controller to prevent overheating damage. The power parameters can be calculated by combining the current and voltage parameters or directly monitored based on a power monitoring module. The embodiments of the present application do not make specific limitations on this. The power parameters are used to evaluate the energy consumption and efficiency of the motor 102. The motor speed parameters are used to monitor the actual speed of the motor 102 to ensure that it conforms to the expected operating state. The heartbeat parameters are used to confirm that the communication link between the controllers is normal to ensure the real-time connection and response of all parts of the system.

[0082] Exemplarily, the electrical parameters may include bus voltage, bus current, three-phase voltage, three-phase current, power module temperature, motor temperature, current state, total operating power of the power module, total motor rotation, revolutions per minute (RPM) of the motor, etc. The current state includes ground state, in-air flight state, maintenance state, etc. Optionally, the motor control system 100 may also perform operations such as health management monitoring and life prediction based on the above electrical parameters. The embodiments of the present application do not specifically limit the processes corresponding to health management monitoring and life prediction, which may refer to existing methods or define new methods.

[0083] In this step, the electrical parameters are transmitted between the first controller 11 and the second controller 12 to ensure that both parties have the same understanding of the system state, and each controller verifies the received electrical parameters to ensure the integrity and accuracy of the data. Only after the electrical parameters pass the verification can the controller make control decisions based on these parameters.

[0084] In this way, by monitoring a variety of electrical parameters, the system can comprehensively understand the operating state of the motor 102 and promptly detect abnormal situations. For example, by monitoring current parameters and voltage parameters, electrical faults can be quickly identified; by monitoring temperature parameters, overheating damage can be prevented; by monitoring power parameters and motor speed parameters, the performance and energy efficiency of the motor 102 can be optimized to ensure its operation in an ideal state; by monitoring position information and heartbeat parameters, the safety and real-time response ability of the system in critical tasks can be ensured, and out-of-control caused by communication failures can be prevented. Therefore, by mutually transmitting and verifying these electrical parameters, the motor control system 100 not only improves its resistance to faults but also enhances its reliability and safety in critical tasks, ensuring the stable and efficient operation of the system.

[0085] Exemplarily, when the system is operating normally, the first controller 11 is responsible for controlling the motor 102 based on the verified electrical parameters, and the second controller 12 monitors the state and output of the first controller 11 in the background. That is, the first controller 11 and the second controller 12 perform real-time transmission and verification of electrical parameters. After the second controller 12 detects an abnormality in the first controller 11, the second controller 12 immediately takes over the control of the motor 102. For example, when the second controller 12 fails to obtain any one of the heartbeat information, position information, current parameters, voltage parameters, etc. of the first controller 11 within 10 us, it is determined that the first controller 11 has failed. At this time, the second controller 12 takes over the control of the motor 102.

[0086] Therefore, by adopting a heterogeneous design of the controller in the electronic speed governor 101, the failure risk caused by homogeneous failures is reduced, and the overall reliability is improved. Moreover, the dual-controller architecture provides redundancy to ensure that the system can still operate normally even if one controller fails, thus avoiding single-point failures of the system.

[0087] It should be noted that for application scenarios with extremely high requirements for flight control accuracy, such as unmanned aerial vehicles (UAVs), the reliability of the control function is crucial. The design of this motor control system 100 can meet the high requirements of UAVs for stability and reliability. Especially in terms of the control function, the heterogeneous dual-redundancy design plays a key role. For example, after processing and analyzing the collected parameters, the first controller 11 and the second controller 12 will independently generate control commands at the same time. In the normal working state, these two control commands will be compared and verified to ensure their consistency and accuracy before being executed. Once one of the controllers generates an incorrect control command due to software failures, hardware damage, etc., the other controller can detect it in time and, through the fault-tolerant mechanism, enable the motor control system 100 to determine the correct control command for operation, effectively avoiding control errors caused by single-point failures, ensuring the stability of the UAV's flight attitude and the safe completion of the flight mission, and further reducing the risk of UAV out-of-control or crash caused by controller failures.

[0088] Exemplarily, based on the above structural design of the motor control system 100, it can be applied to UAVs. Figure 2 The scenario schematic diagram of the motor control system provided by the embodiment of the present application is as Figure 2 shown. Taking the application of the motor control system 100 to a UAV as an example, this application scenario includes a UAV 200 and a UAV control platform 300. The UAV 200 is provided with a motor control system 100, and the motor control system 100 includes an electronic speed governor 101 and a motor 102. The electronic speed governor 101 at least includes a first controller 11 and a second controller 12.

[0089] The electronic speed governor 101 is an important part of the power system of the UAV 200, responsible for cross-linking with the UAV control platform 300 and converting the instructions issued by the UAV control platform 300 into motor control instructions.

[0090] For example, during the operation of the drone 200, based on the first controller 11, various types of electrical parameters during the operation of the drone 200 can be obtained, such as current parameters, voltage parameters, motor speed, etc. Correspondingly, the second controller 12 can also obtain various types of electrical parameters during the operation of the drone 200. These two controllers transmit electrical parameters to each other and verify each other to ensure the integrity and accuracy of the data. After the verification passes, the first controller 11 makes control decisions for the drone 200 based on these parameters, such as controlling the speed of the motor 102 of the drone 200.

[0091] If there is a problem with the hardware of the first controller 11, the second controller 12 can immediately take over the control of the motor 102 to ensure the continuous and stable operation of the motor 102.

[0092] Optionally, the drone control platform 300 can generate various control instructions for the drone 200 in response to various operations of the user. For example, when the electronic speed controller 101 is working, it can receive the startup instruction and speed regulation instruction sent by the drone control platform 300 through the CAN and RS422 interfaces. After the first controller 11 receives the sent startup instruction, it starts to prepare for operation and controls the speed of the motor 102 based on the received speed regulation instruction.

[0093] It should be noted that the types and quantities of the control instructions generated by the drone control platform 300 in the embodiments of the present application are not specifically limited. The above is only an example. Optionally, the drone control platform 300 can also visually display the operation trajectory and fault information of the drone 200, etc.

[0094] Optionally, the electronic speed controller 101 is also used to convert the DC power supply on the high-voltage bus into three-phase alternating current available for the motor 102, and is responsible for controlling mechanical parameters such as the speed and torque of the motor 102. The execution functions of the electronic speed controller 101 in the embodiments of the present application are not specifically limited. The above is only an example.

[0095] It should be noted that the specific application scenarios of the motor control system in the embodiments of the present application are not limited. The motor control system provided by the present application is particularly applicable to the control of multi-rotor drones such as brushless direct current (BLDC) motors and permanent magnet synchronous motors (PMSM) in pure electric small transport aircraft, pure electric eVTOL drones, range-extended eVTOL drones, etc., to improve the reliability and stability of the drone power system.

[0096] Optionally, Figure 3 is a partial structural schematic diagram of another motor control system provided by the embodiments of the present application, such asFigure 3 As shown, in addition to having the Figure 1 structure shown, the first controller 11 includes a first peripheral device 111, and the first peripheral device 111 is a single-channel analog-to-digital converter, which is used to calculate at least one type of collected electrical parameter to obtain a first control parameter; the second controller 12 includes a second peripheral device 121, and the second peripheral device 121 is a multi-channel analog-to-digital converter, which is used to calculate at least one type of collected electrical parameter to obtain a second control parameter.

[0097] In this step, the first peripheral device 111 is configured as a single-channel analog-to-digital converter, which is used to collect at least one type of electrical parameter, convert the analog signal corresponding to the electrical parameter into a digital signal, and process the converted digital signal to obtain a first control parameter for controlling the motor 102.

[0098] The second peripheral device 121 is configured as a multi-channel analog-to-digital converter, which can collect multiple types of electrical parameters simultaneously or sequentially, convert the analog signals corresponding to the electrical parameters of each channel into digital signals, and perform comprehensive processing to obtain a second control parameter.

[0099] It can be understood that in the normal working mode, the first controller 11 uses the first control parameter to control the motor. When the first controller 11 is abnormal, the second controller 12 uses the second control parameter to take over the control of the motor 102.

[0100] Exemplarily, the first controller 11 uses an analog-to-digital converter (ADC) peripheral to collect three-phase current parameters, three-phase voltage parameters, and necessary temperature parameters, etc. The second controller 12 uses a multi-channel ADC to collect three-phase current parameters, three-phase voltage parameters, and necessary temperature parameters, etc.

[0101] Among them, the use of the multi-channel ADC enables the second controller 12 to monitor multiple parameters simultaneously, improves the comprehensive understanding of the system state and the ability of anomaly detection, and the multi-channel ADC allows multiple signals to be processed simultaneously, supports more complex signal analysis and control strategies, and improves the response speed and accuracy of the system.

[0102] In this way, the single-channel ADC is used for basic control requirements, while the multi-channel ADC is used for more complex monitoring and standby control, optimizing the use of hardware resources. When the first controller 11 fails, the multi-channel ADC of the second controller 12 can provide more comprehensive parameter support to ensure the continuous and stable operation of the system.

[0103] Therefore, in terms of parameter sampling, the traditional single sampling method is often vulnerable to external interferences, hardware failures and other factors, resulting in the inability to effectively guarantee the accuracy of the sampled data. However, the heterogeneous dual-redundancy design adopted by the motor control system 100 in this application collects data through two independent and parallel sampling channels. These two sampling channels adopt heterogeneous design in terms of hardware configuration, circuit design and data acquisition algorithm, avoiding the consequence of motor out-of-control caused by single-point failures and enabling them to work independently of each other.

[0104] It can be understood that when one of the channels has sampling deviation or fails due to electromagnetic interference, local sensor failure and other problems, the other channel can immediately take over the work seamlessly and continuously provide accurate and reliable parameter sampling, thus ensuring that the perception of parameters by the entire system is always in an accurate and stable state, greatly improving the correctness of parameter sampling and the anti-interference ability of the system.

[0105] Optionally, the first controller is used to generate a control signal based on the first control parameter to control the motor based on the control signal; the second controller is used to generate a control signal based on the second control parameter to control the motor based on the control signal in the case where the first controller is abnormal.

[0106] In this step, the first controller generates a control signal based on the first control parameter obtained from the single-channel analog-to-digital converter and uses the generated control signal to adjust the operating state of the motor such as speed, direction, etc. to achieve the expected control effect; when the first controller is abnormal, the second controller detects the abnormality through the monitoring mechanism, generates a control signal based on the second control parameter obtained from the multi-channel analog-to-digital converter, and takes over the control of the motor using the generated control signal to ensure the continuous and stable operation of the motor. Among them, when the first controller is not abnormal, the second controller only calculates the second control parameter and does not output a control signal.

[0107] Exemplarily, taking the electrical parameters as the current parameter and the voltage parameter as an example, the first controller obtains the analog signals corresponding to the electrical parameters, calculates the three-phase current parameters and the three-phase voltage parameters through the ADC peripheral to obtain the first control parameter, and then generates a control signal based on the first control parameter. For example, this control signal can be a Space Vector Pulse Width Modulation (SVPWM) signal to control the motor based on this SVPWM signal. Correspondingly, the second controller also obtains the analog signals at the same time, calculates the three-phase current parameters and the three-phase voltage parameters through the multi-channel ADC peripheral to obtain the second control parameter, but the second controller does not output the SVPWM signal. Instead, in the case where the first controller is abnormal, it generates and outputs the SVPWM signal based on the second control parameter to control the motor.

[0108] In this way, the first controller and the second controller respectively generate control signals based on control parameters, ensuring that when the first controller malfunctions, the second controller can quickly take over the control of the motor and respond quickly based on the generated control signals to maintain the normal operation of the motor.

[0109] Optionally, the first controller and the second controller are also respectively used to verify the first control parameter and the second control parameter.

[0110] In this application, the first control parameter and the second control parameter can also be verified to ensure the integrity and accuracy of the data. For example, the second controller sends the second control parameter obtained by resolving the same electrical parameter to the first controller, and compares it with the first control parameter obtained by the first controller's resolution for verification to verify the accuracy of the parameter, thereby ensuring the accuracy of the generated control signal.

[0111] It should be noted that the second controller can also receive the first control parameter of the first controller for comparison and verification, and the process is similar to the above description and will not be elaborated here.

[0112] In this way, by comparing the parameters obtained by the two controllers' resolutions, potential data errors can be identified and corrected, ensuring the integrity and accuracy of the parameters. Therefore, through the dual-verification mechanism, the system can detect and handle abnormal situations earlier, reducing the risk of system failure caused by incorrect data. In addition, ensuring that only accurate parameters that have passed the comparison and verification are used to generate control signals improves the accuracy and response speed of motor control.

[0113] Optionally, the first controller and the second controller are communicatively connected through at least two types of hardware interfaces.

[0114] Optionally, the hardware interface types may include serial interfaces, parallel interfaces, Ethernet interfaces, Controller Area Network (CAN) buses, External Memory Interface (EMIF) buses, Input / Output Ports (I / O), etc. For example, the serial interface may be a Universal Asynchronous Receiver-Transmitter (UART), a Serial Peripheral Interface (SPI), an Inter-Integrated Circuit (I2C), etc. In this application, by using at least two different types of hardware interfaces, a dual communication link is established between two controllers. The embodiments of this application do not specifically limit the types of hardware interfaces used by the two controllers, and the selected interface types can be determined according to the system's bandwidth requirements, real-time requirements, and environmental conditions.

[0115] Exemplarily, the EMIF bus and several I / O interfaces are used between the first controller and the second controller as the Clock and Control Data Link (CCDL), so that the first controller and the second controller can obtain three-phase current parameters, three-phase voltage parameters, and necessary temperature parameters from each other and verify them with each other.

[0116] In this way, if one hardware interface fails, the other hardware interface can continue to maintain communication, ensuring the continuity and reliability of data transmission. Multiple types of interfaces can provide more stable communication under different environmental conditions, enabling them to serve as information backups for each other, reducing the risks of interference and signal loss. Furthermore, the design of this redundant communication link reduces the risk of system out-of-control caused by communication failures and improves overall security. Therefore, multiple interfaces provide higher fault tolerance capabilities, ensuring that the system can still operate normally under various fault conditions.

[0117] In addition, the system can also select appropriate interface types according to different application requirements and environmental conditions, enhancing the flexibility and adaptability of the system.

[0118] Optionally, the first controller is electrically connected to the motor through the second controller. The second controller is specifically used for:

[0119] In the case where the electrical parameters transmitted by the first controller are not received for more than a preset duration and / or the electrical parameters transmitted by the first controller have verification errors, the second controller cuts off the output signal of the first controller to the motor and takes over the control of the motor.

[0120] Among them, the first controller is responsible for motor control under normal circumstances, while the second controller serves as a monitoring and backup control unit. The first controller is electrically connected to the motor through the second controller, which means that the second controller has physical priority in controlling the motor, that is, the priority of the second controller is higher than that of the first controller.

[0121] In this step, the second controller continuously monitors the electrical parameter transmission from the first controller. If the electrical parameters of the first controller are not received within the preset duration, the second controller will consider that the first controller may fail. Or, the second controller verifies the received electrical parameters. If it is found that there is a verification error in the electrical parameters, the second controller will identify that the first controller has data anomalies. In this way, in either of the above cases, the second controller cuts off the output signal from the first controller to the motor to prevent the wrong signal from affecting the operation of the motor, and the second controller takes over the control of the motor, generates a control signal based on its own electrical parameters, and ensures the continuous and stable operation of the motor.

[0122] It should be noted that the size of the preset duration in the embodiments of the present application is not specifically limited and can be set according to the actual application scenario requirements. For example, the preset duration is 20 us.

[0123] Exemplarily, the first controller and the second controller monitor each other using 2-bit heartbeat packets. When the second controller does not obtain the heartbeat information of the first controller for more than 20 us, it is considered that the first controller may fail. At this time, the second controller promptly cuts off the control signal of the first controller and takes over the control right of the electronic speed governor according to the control information of the previous CCDL packet to control the motor. Among them, the heartbeat packet is a small data packet sent regularly to confirm whether the connection between the two controllers is valid.

[0124] In another embodiment, when the second controller does not obtain any one of the heartbeat information, position information, current parameter, voltage parameter, temperature parameter, power parameter, and motor speed parameter of the first controller within 10 us, it is determined that the first controller may fail. At this time, the second controller cuts off the output signal from the first controller to the motor and takes over the control function of the motor.

[0125] In this way, through the real-time monitoring and rapid response mechanism, the system can quickly switch to the backup control when the first controller fails, avoiding system failure. Moreover, since the monitoring and takeover functions of the second controller provide an additional protection layer, it can ensure that the motor can still be correctly controlled even when the first controller is abnormal. Therefore, the takeover mechanism of the second controller ensures the continuity and stability of motor control, avoiding interruptions caused by the failure of the first controller. In addition, by cutting off the error signal through the second controller, it can also prevent the motor from running out of control due to incorrect data, reducing potential safety risks.

[0126] Optionally, the second controller includes at least two types of first communication interfaces, which are used to report abnormal information through at least two types of communication interfaces when the first controller is abnormal.

[0127] The at least two types of first communication interfaces are also used to receive the target instructions sent by the control platform, and the target instructions are used to adjust the operating state of the motor.

[0128] Among them, the at least two types of first communication interfaces are all in the working state. In the case where at least one first communication interface fails, the other first communication interfaces that do not fail continue to work.

[0129] Exemplarily, when the first controller is abnormal, the second controller detects the abnormal situation through its monitoring mechanism. Then the second controller can report the abnormal information to the control platform through at least two types of communication interfaces for fault analysis and response. For example, report the fault status through the communication interfaces of CAN and RS422 (Recommended Standard 422), and the fault status corresponds to the alarm information.

[0130] Among them, all the first communication interfaces are in the working state at the same time, ensuring the redundancy and reliability of data transmission.

[0131] Optionally, the alarm information includes bus undervoltage alarm, bus overvoltage alarm, bus overcurrent alarm, three-phase voltage undervoltage alarm, three-phase voltage overvoltage alarm, three-phase current approaching the protection threshold alarm, three-phase current short circuit alarm, phase loss alarm, power module temperature approaching the protection threshold alarm, power module over-temperature alarm, motor temperature approaching the protection threshold alarm, motor temperature over-temperature alarm, etc. The specific content corresponding to the alarm information in the embodiments of the present application is not limited.

[0132] In another example, the second controller receives target instructions from the control platform through at least two types of first communication interfaces. In the event that at least one communication interface fails, the other non-failed interfaces continue to work to ensure the continuity of instruction reception. The target instructions are used to adjust the operating state of the motor, such as changing the speed, direction, etc. For example, the first communication interfaces use a communication method with CAN and RS422 backed up each other, and adjust the operating state of the motor according to the requirements of the UAV control platform for motor operation to ensure the safe and reliable operation of the UAV control platform and complete various task requirements.

[0133] In this way, in terms of communication interfaces, by designing the parallel operation of multiple communication interfaces, the system can continue to communicate normally when one interface fails, avoiding single-point failures. Moreover, multiple interfaces provide higher fault tolerance, ensuring that the system can still operate normally in various fault situations, as well as reducing the risk of interference and signal loss.

[0134] Optionally, for the communication interfaces for control, a heterogeneous dual-redundancy design can also be adopted to further enhance the anti-interference ability and reliability of the system. During the actual working process, the two communication interfaces are both in the working state, and data will be backed up and synchronously transmitted between the two interfaces in real time. To ensure the consistency and integrity of the data, the system also designs an intelligent communication management mechanism. This mechanism monitors the communication status of at least two types of communication interfaces in real time. Once it is found that one of the communication interfaces fails, such as signal interruption, data loss, etc., the other communication interface can quickly take over the work to ensure that data transmission is not interrupted.

[0135] Therefore, through this heterogeneous dual-redundancy communication interface design, the system can maintain a stable communication connection in a complex environment, effectively avoiding communication interruption problems caused by single communication interface failures, providing a solid communication guarantee for the efficient operation of the system.

[0136] Optionally, the second controller can also report self-check information based on at least two types of first communication interfaces, and the self-check information is the monitoring information for health management.

[0137] Optionally, the first controller includes at least two types of second communication interfaces for receiving target instructions sent by the control platform, and the target instructions are used to adjust the operating state of the motor;

[0138] Among them, at least two types of second communication interfaces are both in the working state. In the event that at least one second communication interface fails, the other non-failed second communication interfaces continue to work.

[0139] It should be noted that the first controller is also equipped with at least two types of second communication interfaces, and all communication interfaces are in the working state simultaneously to ensure the redundancy and reliability of data transmission. The design of at least two types of second communication interfaces in the first controller is similar to the design of at least two types of first communication interfaces in the second controller. For details, reference can be made to the description of at least two types of first communication interfaces in the second controller, which will not be elaborated here. The types and quantities of the first communication interfaces and the second communication interfaces can be the same or different, and the embodiments of the present application do not make specific limitations on this.

[0140] In this way, through the parallel operation of multiple communication interfaces, the system can continue to communicate normally when one interface fails, avoiding single-point failures. Such multiple interfaces also provide the ability of heterogeneous backup to each other, making the system have higher fault tolerance and ensuring that the system can still operate normally under various fault conditions. Moreover, the design of multiple types of second communication interfaces can provide more stable communication under different environmental conditions, reducing the risks of interference and signal loss.

[0141] In addition, the system can also select appropriate interface types according to different application requirements and environmental conditions, enhancing the flexibility and adaptability of the system.

[0142] Optionally, the first controller is a controller with a digital signal processor (DSP), and the second controller is a controller composed of a dual-core processor and a field programmable gate array (FPGA) logic component.

[0143] Among them, the DSP is a microprocessor specifically used for processing digital signals, with efficient mathematical operation capabilities, especially suitable for real-time processing and control tasks. The first controller utilizes the powerful computing power of the DSP to execute complex algorithms, such as running drive algorithms, to achieve precise motor control.

[0144] The second controller has a dual-core processor and an FPGA logic component. The dual-core processor provides multitasking capabilities and is suitable for processing complex control logic and system management tasks. The FPGA is a programmable hardware circuit that can achieve parallel processing and high-speed data processing, and is very suitable for implementing specific hardware acceleration functions. Therefore, the second controller can utilize the multitasking capabilities of the dual-core processor and the parallel processing capabilities of the FPGA to execute more complex system tasks and real-time control, providing redundancy and backup functions.

[0145] Optionally, the first controller and the second controller form a heterogeneous dual-redundancy control core of the electronic speed governor. The first controller and the second controller can be two controllers with different architectures, such as a controller with a DSP and a controller with an FPGA, a controller with a DSP and a controller with an ARM, a controller with an ARM and a controller with an FPGA, a controller with an FPGA and a controller with a Complex Programmable Logic Device (CPLD), etc. Or the first controller and the second controller can be controllers of processors with the same architecture but different cores, such as a controller with an ARM7 and a controller with an ARM9, a controller with an FPGA6 and a controller with an FPGA7.

[0146] It can be understood that the DSP is good at real-time signal processing and complex mathematical operations and can efficiently execute the algorithms required for motor control. The FPGA provides parallel processing capabilities, and the dual-core processor provides multitasking and fault isolation capabilities. The FPGA can achieve fast hardware reconfiguration, improving fault tolerance and reliability. Therefore, using a controller with a DSP as the first controller can achieve efficient control of the motor. Using a controller composed of a dual-core processor and FPGA logic components as the second controller can accelerate specific computing tasks, support complex control logic and system management tasks, adapt to various application scenarios, and also allow hardware configuration and optimization according to specific application requirements, providing a high degree of flexibility.

[0147] In addition, the above two heterogeneous controllers can also monitor and verify electrical parameters with each other, improving the fault tolerance of the system. When the first controller fails, the second controller can quickly take over the motor control to ensure the continuity and stability of the system.

[0148] Optionally, Figure 4 is a partial structural schematic diagram of another motor control system provided by an embodiment of the present application. As Figure 4 shown, in addition to having the Figure 1 shown structure, the electronic speed governor 101 of the motor control system 100 further includes a parameter acquisition unit 13. The parameter acquisition unit 13 is used to acquire at least one type of electrical parameter. The parameter acquisition unit is communicatively connected to the first controller 11 and the second controller 12 respectively; the first controller 11 and the second controller 12 respectively obtain at least one type of electrical parameter from the parameter acquisition unit for calculation.

[0149] Among them, the parameter acquisition unit 13 is an integrated hardware module or system component for obtaining various electrical parameters from the motor 102 and its related components. The parameter acquisition unit 13 is used to provide a unified data source for the first controller 11 and the second controller 12, ensuring that the first controller 11 and the second controller 12 use the same electrical parameters for calculation, reducing the risk of data inconsistency.

[0150] Exemplarily, the first controller 11 obtains electrical parameters from the parameter acquisition unit 13 and performs calculations. Then, based on the calculation results, the first controller 11 generates control signals to adjust the operating state of the motor. Similarly, the second controller 12 obtains electrical parameters from the parameter acquisition unit 13 and performs independent calculations. The second controller 12 can be used to verify the calculation results of the first controller 11 and take over the control of the motor 102 when necessary.

[0151] Therefore, by providing the same electrical parameters for the two controllers, the parameter acquisition unit 13 enables the system to better perform verification and fault detection. If one controller fails, the other controller can continue to use the same parameters for control, ensuring the continuity and stability of the system, and thus improving the overall reliability. In addition, through precise parameter acquisition and calculation, the first controller 11 and the second controller 12 can more accurately control the operating state of the motor, improving the control accuracy.

[0152] Optionally, Figure 5 is a partial structural schematic diagram of another motor control system provided by an embodiment of the present application. As Figure 5 shown, in addition to having the Figure 1 shown structure, the electronic speed regulator 101 further includes a three-phase inverter bridge unit 14. The first controller 11 is electrically connected to the three-phase inverter bridge unit 14 through the second controller 12. The first controller 11 transmits control signals to the three-phase inverter bridge unit 14 through the second controller 12, so that the three-phase inverter bridge unit 14 outputs control instructions to the motor.

[0153] Among them, the three-phase inverter bridge unit 14 is used to convert direct current into three-phase alternating current to drive the motor.

[0154] In this step, the first controller 11 generates control signals according to the collected electrical parameters and control algorithms. The control signals can be SVPWM signals for adjusting the motor speed, torque, etc. Further, the generated SVPWM signals are transmitted to the three-phase inverter bridge unit 14 through the second controller 12. The three-phase inverter bridge unit 14 receives the SVPWM signals from the second controller 12, converts the direct current into three-phase alternating current, and drives the motor.

[0155] Among them, the second controller 12 serves as an intermediary and redundant control unit to ensure the correct transmission and processing of signals. In the event of an abnormality in the first controller 11, it can timely cut off the control of the first controller 11 over the motor 102.

[0156] Exemplarily, the first controller 11 acquires the analog signals of the parameter acquisition unit 13, calculates the three-phase current parameters and three-phase voltage parameters through the ADC peripheral, obtains the first control parameter, and then generates an SVPWM signal based on the first control parameter and outputs it to the second controller 12. The three-phase inverter bridge unit 14 is controlled by the PL end of the second controller 12 to output the control instruction of the motor, thereby forming a closed-loop control.

[0157] In this way, by using the second controller 12 as an intermediary, additional signal verification and redundant processing can be provided, reducing the risk of signal transmission errors. If the first controller 11 fails, the second controller 12 can take over the generation and transmission of control signals to ensure the continuous operation of the motor 102, improving the reliability of the system. Further, the precise signal generation of the first controller 11 combined with the verification and processing of the second controller 12 ensures the accuracy of the control signals received by the three-phase inverter bridge unit 14, improving the control precision of the motor 102.

[0158] Optionally, Figure 6 This is a partial structural schematic diagram of a motor control system further provided by an embodiment of the present application. As Figure 6 shown, the motor control system 100 further includes a sensor 103. The sensor 103 is respectively communicatively connected to the first controller 11 and the second controller 12, and is used to transmit the acquired position information of the motor 102 to the first controller 11 and the second controller 12.

[0159] Among them, the sensor 103 is communicatively connected to both the first controller 11 and the second controller 12 at the same time, ensuring that both can receive real-time position information. Moreover, through synchronous transmission, it can ensure that the position information received by the two controllers is consistent for coordinated control.

[0160] Optionally, the first controller 11 uses the received position information to perform real-time control of the motor 102, such as adjusting the speed, position, and acceleration, etc. The embodiment of the present application does not make specific limitations in this regard. The second controller 12 can perform verification based on the acquired position information and take over the control task when necessary.

[0161] It should be noted that the acquisition of position information provides the necessary data support for realizing closed-loop control.

[0162] In this way, since both controllers can receive the position information, the motor control system 100 can flexibly adapt to different control strategies and requirements based on the position information. The acquisition and processing of the position information enable the motor control system 100 to precisely adjust the operating state of the motor 102, improving the control accuracy. It also enables the motor control system 100 to quickly respond to external changes and instructions. In addition, through the dual connection of the sensor 103 with the two controllers, the system has higher redundancy and fault tolerance capabilities, reducing the risk of single-point failures.

[0163] Optionally, the process of mutually transmitting and verifying electrical parameters includes:

[0164] One of the controllers converts the format of the electrical parameters according to a preset rule to obtain first data, sends the first data to the other controller, receives the second data sent by the other controller, decodes the second data to obtain third data, and verifies the third data and the electrical parameters. The second data is the data obtained by the other controller through format conversion of the electrical parameters;

[0165] After receiving the first data, the other controller decodes the first data to obtain fourth data, and verifies the fourth data and the electrical parameters.

[0166] In this application, to avoid data compatibility problems that may be brought by heterogeneous communication interfaces, the controllers adopt a unified data protocol conversion and verification mechanism during data transmission. Taking one controller as the receiving end and the other controller as the sending end as an example, at the sending end, the data will be formatted and verified according to a preset rule, and then sent through a suitable interface; at the receiving end, it will automatically identify the interface type of the data sent by the sending end, and decode and verify the received data to ensure the accuracy and integrity of the data.

[0167] Among them, the preset rule can refer to the rule specified in the software interface-related file, and the embodiments of this application do not make specific limitations on the preset rule.

[0168] Optionally, since the controller has at least two types of interfaces, automatically identifying the interface type of the data sent by the sending end means checking which interface the data sent by the sending end is located in. If there is data in multiple interfaces, the data of multiple interfaces can be verified and compared to ensure data consistency.

[0169] In this way, through format conversion and two-way verification, it is ensured that the data transmitted between the two controllers is complete and accurate, reducing the risk of errors in data transmission. In particular, the verification mechanism provides an additional layer of redundancy and verification, enhancing the fault tolerance ability of the system. Therefore, through the mutual verification of the two controllers, the coordination and consistency of the system under multi-controller cooperation are ensured.

[0170] Optionally, the present application further provides a drone, which includes the motor control system according to any one of the above embodiments. Taking the Figure 1 illustrated motor control system as an example, Figure 7 FIG. is a partial structural schematic diagram of a drone provided by an embodiment of the present application. As Figure 7 shown, the drone 200 includes a motor control system 100, and the motor control system 100 includes an electronic speed controller 101 and a motor 102. The electronic speed controller 101 is electrically connected to the motor 102; the electronic speed controller 101 at least includes a first controller 11 and a second controller 12; the first controller 11 and the second controller 12 are heterogeneous controllers; the first controller 11 and the second controller 12 are communicatively connected for transmitting electrical parameters to each other and verifying each other. The first controller 11 is used to control the motor 102 based on the verified electrical parameters, and the second controller 12 is used to take over the control of the motor 102 when the first controller 11 fails.

[0171] In this way, by designing the electronic speed controller 101 to use two heterogeneous controllers, the motor control system 100 has redundancy. When one controller fails, the other controller can take over the control of the motor 102 to ensure the continuous and stable operation of the drone 200 and reduce the failure risk caused by single-point failures. This design can meet the requirements of the drone 200 for high stability and high reliability during flight, and ensure the stability and safety of the drone 200 in complex environments.

[0172] It should be noted that the drone 200 may further include Figures 3 - 6 the described motor control system. The embodiment of the present application does not specifically limit the structure of the drone 200.

[0173] Therefore, the dual-redundancy design of the electronic speed controller in the present application improves the reliability and safety of the system in all aspects and at multiple levels from parameter sampling, control functions to communication interfaces, enabling it to operate stably and efficiently under various complex working conditions.

[0174] Exemplarily, Figure 8 FIG. is a partial structural schematic diagram of a three-electric system of a multi-rotor drone platform provided by an embodiment of the present application. As Figure 8As shown in the figure, the three-electricity system includes: a host computer, an electronic speed governor, a PMSM motor, an airborne high-voltage power supply manager, sensors, and a Hand Control Unit (HCU). Among them, the host computer and the HCU can be understood as control platforms. The three-phase bridge inverter is a possible implementation of the three-phase inverter bridge unit. The PMSM motor can also be replaced with a BLDC motor. The electronic speed governor includes a first controller, a second controller, a power processing unit, a three-phase bridge inverter, and a parameter acquisition unit.

[0175] The airborne high-voltage power supply manager is used to provide high-voltage direct current for the three-phase bridge inverter for its use.

[0176] Optionally, when the electronic speed governor is working, it can receive the start-up instruction and control instruction sent by the host computer through the CAN and RS422 interfaces.

[0177] Optionally, when the electronic speed governor is working, it can report the self-check information and alarm information of this machine through the CAN and RS422 interfaces.

[0178] Optionally, after receiving the sent start-up instruction, the first controller obtains the position information of the PMSM motor through the sensor and prepares to start running. At the same time, the first controller obtains the analog signals of the parameter acquisition unit and calculates the three-phase current parameters and three-phase voltage parameters through the ADC peripheral. The first controller processes the position information, three-phase current parameters, and three-phase voltage parameters, outputs the SVPWM signal to the second controller, and controls the three-phase bridge inverter to output the control instruction of the motor through the PL terminal of the second controller to form a closed-loop control.

[0179] Optionally, after receiving the sent start-up instruction, the second controller obtains the position information of the PMSM motor through the sensor. At the same time, the second controller obtains the analog signals of the parameter acquisition unit and calculates the three-phase current parameters and three-phase voltage parameters. Furthermore, the second controller processes the position information, three-phase current parameters, and three-phase voltage parameters to calculate the second control parameter, but does not output the SVPWM signal, only forms a closed-loop calculation, and does not control the three-phase bridge inverter to output the control instruction of the motor. It should be noted that the second controller does not control the PMSM motor, but takes over the control of the PMSM motor after the first controller fails.

[0180] Optionally, the first controller and the second controller can communicate through the EMIF bus interface and the 2-bit heartbeat line. The communication content includes position information, current parameters, voltage parameters, temperature parameters, power parameters, motor speed parameters, heartbeat parameters, etc.

[0181] Optionally, when the second controller fails to obtain one of the heartbeat parameter, position information, current parameter, voltage parameter, temperature parameter, power parameter, and motor speed parameter of the first controller within 10 μs, it is determined that the first controller has failed. Then, the second controller cuts off the SVPWM signal output by the first controller, controls the output of the three-phase bridge inverter, and takes over the drive control function of the PMSM motor. After the second controller takes over the control of the PMSM motor, it reports alarm information to the host computer through the CAN and RS422 interfaces.

[0182] It should be noted that the heterogeneous dual-redundancy controller designed in this application has a fault isolation and diagnosis function. The second controller can continuously monitor the heartbeat parameter, position information, current parameter, voltage parameter, temperature parameter, power parameter, and motor speed parameter of the first controller, quickly locate and isolate faults when needed, and quickly take over the control of the PMSM motor.

[0183] Optionally, both the first controller and the second controller have a parameter storage function, which can record information such as the total operating power of the three-phase bridge inverter, the total operating duration and total torque of the PMSM motor, and push information for inspection, maintenance, repair, and replacement to the host computer after the above information reaches a certain level.

[0184] It should be noted that the specific implementation principle and process explanation of the drone can be referred to the description of the relevant embodiments of the above motor control system. Therefore, in the motor control system of the drone, the above design can significantly improve the stability and safety of the system.

[0185] Optionally, Figure 9 is a schematic flowchart of a motor control method provided by an embodiment of this application. As Figure 9 shown, the method is applied to a motor control system. The motor control system includes an electronic speed controller and a motor, and the electronic speed controller is electrically connected to the motor; the electronic speed controller includes at least a first controller and a second controller; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are communicatively connected to transmit electrical parameters to each other and verify each other. The motor control method includes the following steps:

[0186] S901. Control the motor by the first controller based on the verified electrical parameters.

[0187] S902. In the case of an abnormality of the first controller, take over the control of the motor by the second controller.

[0188] Optionally, the method further includes:

[0189] The first controller calculates at least one type of collected electrical parameters to obtain a first control parameter, generates a control signal based on the first control parameter, and controls the motor based on the control signal.

[0190] Optionally, the method further includes:

[0191] The second controller calculates at least one type of collected electrical parameters to obtain a second control parameter, and generates a control signal based on the second control parameter in the case of an abnormality of the first controller, and controls the motor based on the control signal.

[0192] Optionally, the method further includes:

[0193] The first controller and the second controller respectively verify the first control parameter and the second control parameter.

[0194] Optionally, in the case of an abnormality of the first controller, the second controller takes over the control of the motor, including:

[0195] In the case that the electrical parameters transmitted by the first controller are not received for more than a preset duration, and / or the electrical parameters transmitted by the first controller have a verification error, the second controller cuts off the output signal of the first controller to the motor and takes over the control of the motor.

[0196] Optionally, the method further includes:

[0197] In the case of an abnormality of the first controller, report the abnormality information through at least two types of communication interfaces;

[0198] Receive a target instruction sent by the control platform through at least two types of first communication interfaces, where the target instruction is used to adjust the operating state of the motor;

[0199] Among them, at least two types of first communication interfaces are in a working state at the same time. In the case that at least one first communication interface fails, the other non-failed first communication interfaces continue to work.

[0200] Optionally, the method further includes:

[0201] Receive a target instruction sent by the control platform through at least two types of second communication interfaces of the first controller, where the target instruction is used to adjust the operating state of the motor;

[0202] Among them, at least two types of second communication interfaces are in a working state at the same time. In the case that at least one second communication interface fails, the other non-failed second communication interfaces continue to work.

[0203] Optionally, the method further includes:

[0204] Collect at least one type of electrical parameter through a parameter acquisition unit;

[0205] Obtain at least one type of electrical parameter from the parameter acquisition unit through a first controller and a second controller respectively for calculation. The parameter acquisition unit is communicatively connected to the first controller and the second controller respectively.

[0206] Optionally, the method further includes:

[0207] Transmit a control signal to a three-phase inverter bridge unit through the first controller based on the second controller, so that the three-phase inverter bridge unit outputs a control instruction to the motor. The first controller is electrically connected to the three-phase inverter bridge unit through the second controller.

[0208] Optionally, the method further includes:

[0209] Transmit the obtained position information of the motor to the first controller and the second controller through a sensor. The sensor is communicatively connected to the first controller and the second controller respectively.

[0210] Optionally, the process of mutually transmitting electrical parameters and mutually verifying electrical parameters includes:

[0211] One of the controllers converts the format of the electrical parameters according to a preset rule to obtain first data, sends the first data to the other controller, receives second data sent by the other controller, decodes the second data to obtain third data, and verifies the third data and the electrical parameters. The second data is data obtained by the other controller through format conversion of the electrical parameters;

[0212] After receiving the first data, the other controller decodes the first data to obtain fourth data, and verifies the fourth data and the electrical parameters.

[0213] It should be noted that the specific implementation principles and effects of the above motor control method can be referred to the relevant descriptions and effects corresponding to the above embodiments, and will not be elaborated here.

[0214] Optionally, the present application further provides a motor control method. The method is applied to a first controller. The first controller is one of the controllers in an electronic speed governor. The electronic speed governor further has a second controller. The electronic speed governor is deployed in a motor control system. The motor control system further includes a motor. The electronic speed governor is electrically connected to the motor; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are communicatively connected for mutually transmitting electrical parameters and mutually verifying. The method includes:

[0215] Control the motor based on the electrically verified parameters;

[0216] Among them, during the process of the first controller controlling the motor, if the first controller malfunctions, the second controller takes over the control of the motor.

[0217] Optionally, the present application also provides a motor control method. The method is applied to the second controller. The second controller is one of the controllers in the electronic speed governor. The electronic speed governor also has a first controller. The electronic speed governor is deployed in the motor control system. The motor control system also includes a motor. The electronic speed governor is electrically connected to the motor. The first controller and the second controller are heterogeneous controllers. The first controller and the second controller are communicatively connected to transmit electrical parameters to each other and verify each other. The method includes:

[0218] When the first controller malfunctions, take over the control of the motor; among them, when the first controller is normal, control the motor based on the verified electrical parameters.

[0219] It should also be noted that the specific implementation principles and effects of the above motor control method can be referred to the relevant descriptions and effects corresponding to the above embodiments. The difference lies in the different execution entities, and other contents are similar, so no more details will be elaborated here.

[0220] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0221] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the processor executes the computer-executable instructions, the above method is implemented.

[0222] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division. In actual implementation, there may be other division methods. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of devices or modules can be electrical, mechanical or other forms.

[0223] The modules described as separate components may or may not be physically separated. The components shown as modules may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to implement the solution of this embodiment.

[0224] In addition, in each embodiment of the present application, each functional module can be integrated into a processing unit, or each module can exist physically alone, or two or more modules can be integrated into one unit. The unit formed by the above modules can be implemented in the form of hardware, or in the form of a hardware plus software functional unit.

[0225] The integrated module implemented in the form of a software functional module can be stored in a computer-readable storage medium to execute some steps of the methods described in the various embodiments of the present application.

[0226] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, the buses in the drawings of the present application are not limited to only one bus or one type of bus.

[0227] The above storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a Static Random-Access Memory (SRAM), an Electrically Erasable Programmable Read Only Memory (EEPROM), an Erasable Programmable Read-Only Memory (EPROM), a Programmable Read-Only Memory (PROM), a Read-Only Memory (ROM), a magnetic memory, a flash memory, a magnetic disk or an optical disc. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0228] It should be noted that, for the foregoing method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0229] Further, it should be noted that although the steps in the flowchart are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least some of the sub-steps or stages of other steps or other steps.

[0230] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.

[0231] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include the common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the claims.

[0232] As mentioned above, the above is only the specific implementation manner of the embodiments of the present application, but the protection scope of the embodiments of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the embodiments of the present application should be covered within the protection scope of the embodiments of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

Claims

1. A motor control system, characterized in that: The system includes an electronic speed regulator and a motor, the electronic speed regulator is electrically connected to the motor; the electronic speed regulator includes at least a first controller and a second controller; the first controller and the second controller are heterogeneous controllers; the first controller and the second controller are communicatively connected to each other for mutually transmitting electrical parameters and mutually verifying each other, the first controller is used to control the motor based on the verified electrical parameters, and the second controller is used to take over control of the motor when an abnormality occurs in the first controller.

2. The system according to claim 1, characterized in that The first controller includes a first peripheral, which is a single-channel analog-to-digital converter, used to solve at least one type of collected electrical parameters to obtain a first control parameter; the second controller includes a second peripheral, which is a multi-channel analog-to-digital converter, used to solve the at least one type of collected electrical parameters to obtain a second control parameter.

3. The system according to claim 2, characterized in that The first controller is used to generate a control signal based on the first control parameter to control the motor based on the control signal; the second controller is used to generate a control signal based on the second control parameter when an abnormality occurs in the first controller to control the motor based on the control signal.

4. The system according to claim 2, characterized in that The first controller and the second controller are further used to verify the first control parameter and the second control parameter respectively.

5. The system according to claim 1, characterized in that The first controller and the second controller are communicatively connected via at least two types of hardware interfaces.

6. The system according to claim 1, characterized in that The first controller is electrically connected to the motor through the second controller, and the second controller is specifically used for: If the electrical parameters transmitted by the first controller are not received for more than a preset time period, and / or there is a verification error in the electrical parameters transmitted by the first controller, the second controller cuts off the output signal of the first controller to the motor and takes over the control of the motor.

7. The system according to claim 1, characterized in that The second controller comprises at least two types of first communication interfaces, and is used to report abnormal information through the at least two types of communication interfaces when an abnormality occurs in the first controller; The at least two types of first communication interfaces are also used to receive target instructions sent by the control platform, and the target instructions are used to adjust the operating state of the motor; The at least two types of first communication interfaces are in working state at the same time, and when at least one first communication interface fails, the other first communication interfaces that have not failed continue to work.

8. The system according to claim 1, characterized in that The first controller includes at least two types of second communication interfaces for receiving target instructions sent by the control platform, wherein the target instructions are used to adjust the operating state of the motor; The at least two types of second communication interfaces are in working state at the same time, and when at least one second communication interface fails, the other second communication interfaces that have not failed continue to work.

9. The system according to claim 1, characterized in that The first controller is a controller having a digital signal processor DSP, and the second controller is a controller composed of a dual-core processor and a field programmable gate array FPGA logic component.

10. The system according to claim 1, characterized in that The electronic speed regulator also includes a parameter acquisition unit, which is used to acquire at least one type of electrical parameter. The parameter acquisition unit is communicated with the first controller and the second controller respectively; the first controller and the second controller respectively obtain the at least one type of electrical parameter from the parameter acquisition unit for solution.

11. The system according to claim 1, characterized in that The electronic speed regulator also includes a three-phase inverter bridge unit. The first controller is electrically connected to the three-phase inverter bridge unit through the second controller. The first controller transmits a control signal to the three-phase inverter bridge unit through the second controller so that the three-phase inverter bridge unit outputs a control instruction to the motor.

12. The system according to claim 1, characterized in that The system further includes a sensor, which is communicatively connected to the first controller and the second controller respectively, and is used to transmit the acquired position information of the motor to the first controller and the second controller.

13. The system according to claim 1, characterized in that The electrical parameters include at least one of position information, current parameters, voltage parameters, temperature parameters, power parameters, motor speed parameters, and heartbeat parameters.

14. The system according to claim 1, characterized in that The process of mutually transmitting electrical parameters and mutually verifying electrical parameters includes: One of the controllers converts the format of the electrical parameters using a preset rule to obtain first data, sends the first data to another controller, receives second data sent by the other controller, decodes the second data to obtain third data, and verifies the third data and the electrical parameters, wherein the second data is data obtained by the other controller converting the format of the electrical parameters; After receiving the first data, the other controller decodes the first data to obtain fourth data, and verifies the fourth data and the electrical parameters.

15. A motor control method, characterized in that: The method is applied to a motor control system, the motor control system comprises an electronic speed regulator and a motor, the electronic speed regulator is electrically connected to the motor; the electronic speed regulator comprises at least a first controller and a second controller; the first controller and the second controller are heterogeneous controllers; The first controller and the second controller are in communication connection, for mutually transmitting electrical parameters and mutually verifying, and the method comprises: Controlling the motor by the first controller based on the verified electrical parameters; When an abnormality occurs in the first controller, the second controller takes over the control of the motor.

16. A motor control method, characterized in that: The method is applied to a first controller, the first controller is a controller in an electronic speed regulator, the electronic speed regulator also has a second controller, the electronic speed regulator is deployed in the motor control system, the motor control system also includes a motor, and the electronic speed regulator is electrically connected to the motor; The first controller and the second controller are heterogeneous controllers; The first controller and the second controller are in communication connection, for mutually transmitting electrical parameters and mutually verifying, and the method comprises: Controlling the motor based on the electrical parameters that have passed the verification; Wherein, during the process of the first controller controlling the motor, if the first controller fails, the second controller will take over the control of the motor.

17. A motor control method, characterized in that: The method is applied to a second controller, the second controller is a controller in an electronic speed regulator, the electronic speed regulator also has a first controller, the electronic speed regulator is deployed in the motor control system, the motor control system also includes a motor, and the electronic speed regulator is electrically connected to the motor; The first controller and the second controller are heterogeneous controllers; The first controller and the second controller are in communication connection, for mutually transmitting electrical parameters and mutually verifying, and the method comprises: When an abnormality occurs in the first controller, the control of the motor is taken over; wherein, when no abnormality occurs in the first controller, the motor is controlled based on the electrical parameters that have passed the verification.

18. A drone, characterized in that: The drone comprises a motor control system as described in any one of claims 1-14.

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