System and method for synchronously controlling folding and unfolding of cabin door double-actuating device for unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle cabin door dual-actuating device retracting and releasing synchronous control system and method, and solves the problems that in the synchronous retracting and releasing process of an unmanned aerial vehicle cabin door, accumulative errors exist in mechanical transmission, consequently, strokes on the two sides of the cabin door are inconsistent, a hydraulic system is complex, and the load of an electric driving mechanism is unbalanced. The system comprises a main integrated controller, a standby integrated controller and two paths of actuating devices, each integrated controller comprises a power driving module and a control module electrically connected with the power driving module, and each path of actuating device comprises a main motor, a standby motor and a displacement sensor; the main motor and the standby motor are used for driving the cabin door to retract; each displacement sensor collects a displacement signal of the cabin door and synchronously transmits the displacement signal to the control module of the main integrated controller and / or the control module of the standby integrated controller; the control module is used for receiving a control signal sent by a flight control and management system of the unmanned aerial vehicle to control the power driving module to work so as to fold and unfold the cabin door.

Description

Technical Field

[0001] This invention relates to a synchronous retraction and deployment control system for unmanned aerial vehicle (UAV) doors, specifically to a synchronous retraction and deployment control system and method for a dual-actuator door for UAVs. Background Technology

[0002] Meteorological observation drones are unmanned aerial vehicles used for meteorological data collection and monitoring. They can overcome the limitations of traditional monitoring methods, providing more comprehensive, timely, and accurate data support for meteorological research and forecasting. During severe weather events such as typhoons, rainstorms, and hailstorms, they can fly into the disaster epicenter and transmit real-time data on wind speed, air pressure, and rainfall, improving the accuracy of disaster forecasts and providing strong support for disaster prevention and mitigation efforts.

[0003] When conducting weather surveys, weather-detecting drones may carry various meteorological instruments, such as anemometers, thermometers, and hygrometers, which may be installed inside the cabin. The simultaneous opening of the actuators on both sides of the cabin door allows the instruments to be exposed to the atmosphere simultaneously for concurrent measurements, obtaining accurate meteorological data. After the measurements are completed, the cabin door is closed synchronously to protect the instruments and equipment.

[0004] The synchronous opening and closing of existing UAV cabin doors generally employs mechanical mechanisms such as dual-head rotary actuators. These mechanisms use a one-piece output shaft to drive synchronous drive components, such as synchronous belt pulley mechanisms or rack and pinion mechanisms, to ensure that both sides of the cabin door move synchronously and that the force on the cabin door is uniform. However, the matching errors of the mechanical transmission components will gradually accumulate, leading to inconsistent travel on both sides of the cabin door, which in turn will cause the cabin door to deform and affect the synchronous movement of the cabin door.

[0005] In addition, the hydraulic system can be used to synchronize the opening and closing of the two actuators on both sides of the hatch. By using the hydraulic system and incorporating components such as one-way flow-limiting valves and directional valves, the flow direction and speed of the hydraulic oil can be controlled to achieve synchronized opening and closing of the hatch. This method offers a certain degree of stability. However, the hydraulic system is relatively complex, difficult to install, and costly, and requires frequent maintenance and inspection.

[0006] Using a dual-pushrod motor or dual-linear module as the drive mechanism to synchronously extend and retract the hatch can achieve fast extension and retraction speed, high control precision, and convenient maintenance. However, due to differences in the performance of the drive mechanism itself and uneven load, asynchronous extension and retraction of the hatch can easily occur, leading to the risk of the hatch jamming or being damaged. Summary of the Invention

[0007] The purpose of this invention is to solve the technical problems of the mechanical transmission having accumulated errors during the synchronous opening and closing of the drone door, resulting in inconsistent travel on both sides of the door; the hydraulic system having a complex structure, being difficult to install and requiring frequent maintenance and inspection; and the electric drive mechanism itself having performance differences and unbalanced loads, which can easily lead to asynchronous opening and closing of the door, causing the door to jam or be damaged. The invention provides a synchronous control system and method for the opening and closing of a drone door with a dual actuation device.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] A synchronous control system for the opening and closing of a drone's cabin door using a dual-actuator mechanism is characterized by the following features: it includes two integrated controllers and two actuators located on both sides of the drone's cabin door; the two integrated controllers are a main integrated controller and a backup integrated controller, both of which are electrically connected to the two actuators, which are used to jointly push the opening and closing of the cabin door;

[0010] Each integrated controller includes a power drive module and a control module electrically connected thereto. Each of the actuating devices includes a motor, which includes a main motor and a backup motor. Each actuating device is also equipped with a displacement sensor.

[0011] The main motor and backup motor of each actuation device are used to connect to the hatch;

[0012] Each displacement sensor is used to collect the real-time displacement signal of the corresponding actuation device and transmit it synchronously to the control module of the main integrated controller and / or the control module of the backup integrated controller.

[0013] The control module is used to receive control signals from the UAV's flight control system and, based on the real-time displacement signals collected by the displacement sensors of the two actuators, determine the control output of the two actuators and output them to the corresponding power drive module.

[0014] The power drive module is electrically connected to the main motor and the backup motor of the two actuation devices respectively, and is used to drive the main motor or the backup motor of the two actuation devices to operate according to the control output of the control module, so as to open and close the hatch.

[0015] Furthermore, the control module includes a power conversion circuit, an isolation circuit, a position detection circuit, and a control unit. The control unit includes an ARM minimum system and an AD sampling extension circuit, a level conversion circuit, a communication circuit, a FLASH storage circuit, and a signal conditioning and conversion circuit, all connected to the ARM minimum system.

[0016] The input terminal of the position detection circuit is connected to the displacement sensors of the two actuating devices, and its output terminal is connected to the first input terminal of the signal conditioning and conversion circuit, which is used to amplify and filter the real-time displacement signal collected by the displacement sensor.

[0017] The first output terminal of the signal conditioning and conversion circuit is connected to the AD sampling expansion circuit, which is used to output the amplified and filtered real-time displacement signal to the AD sampling expansion circuit.

[0018] The output of the AD sampling expansion circuit is connected to the ARM minimum system, which is used to convert the amplified and filtered real-time displacement signal into a digital signal and input it to the ARM minimum system.

[0019] The FLASH storage circuit interacts with the ARM minimum system via SPI communication for storing and retrieving system control parameters and operating status information.

[0020] The signal input terminal of the communication circuit is connected to the flight control system, and its signal output terminal is connected to the ARM minimum system. It is used for information interaction between the flight control system and the ARM minimum system to realize control command response and working status information feedback.

[0021] The input of the level conversion circuit is connected to the ARM minimum system, and its output is connected to the power drive module through the isolation circuit. It is used to convert the PWM signal output by the ARM minimum system from 3.3V to 5V and input it to the power drive module through the isolation circuit. The isolation circuit is used to isolate the digital ground of the control terminal from the power ground of the drive terminal.

[0022] The power conversion circuit is used to convert the voltage signal of the external power supply to power the synchronous control system for the dual-actuator door of the UAV.

[0023] Furthermore, the control module also includes a Hall signal detection circuit, a position signal detection circuit, and a fault detection module;

[0024] The input terminal of the Hall signal detection circuit is connected to the Hall signal sensor on the motor stator, and the output terminal is connected to the second input terminal of the signal conditioning and conversion circuit. The second output terminal of the signal conditioning and conversion circuit is connected to the ARM minimum system. The Hall signal detection circuit is used to convert the acquired 15V Hall signal into 3.3V, and input it to the ARM minimum system through the signal conditioning and conversion circuit to determine the current position of the motor rotor and the relative displacement of the motor relative to the motor when it is stationary during the entire running process.

[0025] The arrival signal detection circuit includes an arrival switch installed on the drone's cabin door;

[0026] The position switch is connected to the signal conditioning and conversion circuit to detect whether the hatch is in position, and transmits the detected hatch position signal to the ARM minimum system after being amplified and filtered by the signal conditioning and conversion circuit.

[0027] The input terminal of the fault detection module is connected to the power conversion circuit and the power drive module respectively, and is used to collect fault signals and send them to the ARM minimum system.

[0028] Furthermore, the actuating device also includes a brake locking device mounted on the motor for locking the actuating device;

[0029] The control module also includes a brake unlocking circuit, whose input is connected to the ARM minimum system and whose output is connected to the brake locking device. It is used to receive control commands from the ARM minimum system to control the brake locking device to lock or unlock.

[0030] Furthermore, the power drive module includes two IPM modules and a phase current detection circuit;

[0031] The input terminals of the two IPM modules are connected to the level conversion circuit through the isolation circuit, and their output terminals are connected to the main motor and the standby motor through the phase current detection circuit, respectively, to drive the main motor and the standby motor.

[0032] The phase current detection circuit includes four phase current sampling chips. Two phase current sampling chips are grouped together. The input terminals of the two phase current sampling chips in one group are respectively connected between the output terminal of one IPM module and two phase input terminals of the corresponding main motor, and are used to transmit the U-phase and V-phase current values ​​of the main motor when it is working to the AD sampling expansion circuit and the fault detection module, respectively. The input terminals of the two phase current sampling chips in the other group are respectively connected between the output terminal of another IPM module and two phase input terminals of the corresponding standby motor, and are used to transmit the U-phase and V-phase current values ​​of the standby motor when it is working to the AD sampling expansion circuit and the fault detection module, respectively.

[0033] Furthermore, the power drive module also includes a bus voltage detection circuit and a discharge circuit;

[0034] The control unit also includes a discharge control circuit connected to the ARM minimum system. The output of the discharge control circuit is connected to the discharge circuit and is used to control the on / off state of the discharge circuit.

[0035] The input of the bus voltage detection circuit is connected to an external power supply, and its output is connected to the AD sampling expansion circuit and the fault detection module. It is used to convert the collected bus voltage into a digital signal through the AD sampling expansion circuit and then send it to the ARM minimum system to monitor the bus voltage in real time.

[0036] The discharge circuit includes a third optocoupler, a third MOSFET, and a power braking resistor; the third MOSFET is an N-type transistor.

[0037] The drain of the third MOSFET is connected to the positive terminal of the bus power supply, and its source is connected to one end of the power braking resistor. The other end of the power braking resistor is connected to the negative terminal of the bus power supply. The gate of the third MOSFET is connected to the output terminal of the third optocoupler. The input terminal of the third optocoupler is connected to the output terminal of the discharge control circuit. The third optocoupler receives the control signal from the discharge control circuit to control the switching on and off of the third MOSFET, thereby controlling whether the power braking resistor is connected to the positive terminal of the bus power supply, and thus controlling the bus voltage.

[0038] Furthermore, the power conversion circuit includes an EMC circuit, a reverse connection protection circuit, a power soft-start circuit, and an overvoltage, undervoltage, and overcurrent protection circuit connected in sequence, as well as a filter unit and a secondary power conversion circuit connected to the output terminal of the overvoltage, undervoltage, and overcurrent protection circuit.

[0039] The secondary power conversion circuit is used to power the IPM module and the subsequent stage of the isolation circuit; the EMC circuit is used to suppress electromagnetic conduction and electromagnetic radiation interference, as well as to protect the UAV from lightning strikes.

[0040] The reverse connection protection circuit is used to prevent reverse power from entering the device;

[0041] The overvoltage, undervoltage, and overcurrent protection circuit is used for overvoltage, undervoltage, and overcurrent protection of the bus voltage, and its output terminal is connected to the fault detection module.

[0042] The filtering unit includes an energy storage and voltage stabilizing capacitor and a surge absorption capacitor, which are connected in sequence to the output terminals of the overvoltage, undervoltage, and overcurrent protection circuits. The bus voltage is filtered by the energy storage and voltage stabilizing capacitor and the surge absorption capacitor before being connected to the power input terminal of the IPM.

[0043] The energy storage and voltage stabilizing capacitor is used to filter out low-frequency interference signals of the bus voltage and to stabilize voltage energy storage.

[0044] The surge absorption capacitor is used to reduce the chopper spike signal present in the power transistor switching inside the IPM.

[0045] Furthermore, the power supply soft-start circuit includes a capacitor C1, a second MOSFET, a PTC thermistor, and an IGBT device; the second MOSFET is an N-type transistor.

[0046] The source of the second MOSFET is connected to the emitter of the IGBT device and one end of the PTC thermistor. The other end of the PTC thermistor is connected to the high end of the energy storage voltage regulator capacitor. The drain of the second MOSFET is connected to the collector of the IGBT device and the high end of the capacitor C1. The high end and low end of the capacitor C1 are connected to the positive and negative terminals of the reverse connection protection circuit for high-frequency power filtering. The control terminal 1 of the second MOSFET and the control terminal 2 of the IGBT device are connected to the ARM minimum system through an isolation circuit to receive the power-on command of the ARM minimum system.

[0047] When the external power supply is turned on, the second MOSFET turns on and the IGBT device turns off. The power supply current charges the energy storage voltage regulator capacitor through the second MOSFET and the PTC thermistor, which is used to limit the surge current when the capacitor is charging.

[0048] When the energy storage capacitor is charged to near the power supply voltage, it controls the IGBT device to turn on and the second MOSFET to turn off.

[0049] This invention also provides a synchronous control method for a dual-actuator door device for unmanned aerial vehicles (UAVs). Based on the aforementioned synchronous control system for the deployment and retraction of a dual-actuator door device for UAVs, its key feature is that it includes the following steps:

[0050] Step 1: Collect the real-time displacement signal feedback values ​​P1(t) and P2(t) of the two actuators respectively using displacement sensors. Then, the real-time synchronization error e of the two actuators is calculated. sync (t) is

[0051] e sync (t)=P1(t)-P2(t)

[0052] Step 2: Based on the position feedback values ​​P1(t) and P2(t) of the real-time displacement signal and the position command P sent by the flight control system... ref (t), calculate the real-time errors e1(t) and e2(t) of the two actuators respectively, and then calculate the real-time independent position control output u of the two actuators. pid1 (t) and u pid2 (t), the calculation formula is as follows:

[0053] e1(t)=P ref (t)-P1(t)

[0054] e2(t)=P ref (t)-P2(t)

[0055]

[0056] Among them, K p1 K p2 The proportional coefficient for the two-way actuator;

[0057] K i1 K i2 The integral coefficient of the two-way actuator;

[0058] K d1 K d2 The differential coefficients of the two-way actuator;

[0059] Step 3: Based on the real-time synchronization error e of the two actuators sync (t), the real-time synchronization error compensation amount u is calculated. sync (t):

[0060]

[0061] Where, e(t) = e sync (t), e sync (t) represents the real-time synchronization error;

[0062] K p The proportional coefficient for synchronous compensation;

[0063] K i The integral coefficient for synchronous compensation;

[0064] K d The differential coefficients for synchronous compensation;

[0065] Step 4: Introduce a preset synchronization coefficient k and calculate the real-time synchronization compensation amount Δu for the two actuators respectively. sync1 (t) and Δu sync2 (t), the calculation formula is as follows:

[0066] Δu sync1 (t)=(-k)·u sync (t)

[0067] Δu sync2 (t)=k·u sync (t)

[0068] Among them, 0 <k≤1;

[0069] Step 5: Control the output u of the two actuators in real time based on their independent positions. pid1 (t) and u pid2 (t) and the real-time synchronous compensation amount Δu of the two actuators sync1 (t) and Δu sync2 (t), the final control output quantities u1(t) and u2(t) of the two actuators are calculated using the following formulas:

[0070] u1(t)=u pid1 (t)+Δusync1 (t)

[0071] u2(t)=u pid2 (t)+Δu sync2 (t);

[0072] Step 6: The power drive module drives the motor to operate according to the final control outputs u1(t) and u2(t) of the two actuators, thus completing the synchronous control of the dual actuators of the UAV door.

[0073] Compared with the prior art, the present invention has the following beneficial technical effects:

[0074] 1. This invention discloses a synchronous control system for the opening and closing of a dual-actuator door for unmanned aerial vehicles (UAVs). It employs a distributed control scheme, with each door including a main integrated controller, two backup integrated controllers, and two actuators. Each actuator includes a main motor and two backup motors. The two actuators for each door are synchronously controlled to jointly drive the door to open and close. This solves the problems of existing hydraulic door opening and closing systems being complex, difficult to install, costly, and requiring frequent maintenance and inspection. Furthermore, the synchronous control of the two actuators for each door ensures that, under no-load conditions, after sending the door opening / closing command, both actuators maintain real-time synchronization during operation, with a real-time positional deviation of no more than 1mm. Under load conditions, especially when there is a significant difference in load between the two actuators, the two actuators maintain real-time synchronization during operation, exhibiting excellent resistance to load disturbances.

[0075] 2. This invention provides a synchronous control system for the deployment and retraction of a dual-actuator door for unmanned aerial vehicles (UAVs). The power supply soft-start circuit includes a capacitor C1, a second MOSFET and a PTC thermistor connected in series, with an IGBT connected in parallel across the two ends of the second MOSFET. The source of the N-channel MOSFET is connected to the emitter of the IGBT and one end of the PTC thermistor, respectively. The other end of the PTC thermistor is connected to a voltage-regulating energy storage capacitor. The drain of the second MOSFET is connected to the collector of the IGBT and one end of capacitor C1, respectively. The two ends of capacitor C1 are connected to the positive and negative terminals of the reverse connection protection circuit output for high-frequency power supply filtering. The control terminal 1 of the second MOSFET and the control terminal 2 of the IGBT are respectively connected to the output terminal of the isolation circuit to receive the power-on command of the ARM minimum system. When the external power supply is turned on, the second MOSFET is turned on and the IGBT is turned off. The power supply current charges the energy storage capacitor through the second MOSFET and the PTC thermistor to limit the surge current when the capacitor is charging. When the energy storage capacitor is charged to close to the power supply voltage, the IGBT is turned on and the second MOSFET is turned off to realize the soft start process of the power supply, reduce the impact of the instantaneous current surge on the system, and ensure the reliable operation of the system.

[0076] 3. The present invention provides a synchronous control system for the opening and closing of a dual-actuator door for unmanned aerial vehicles (UAVs). When the door is subjected to the same wind force and the same direction of movement during the opening and closing process, the wind force will push the door to move, doing work on the actuator. Energy flows from the actuator to the motor, generating a pump voltage on the power bus. At this time, an overvoltage signal is detected by the bus voltage detection circuit. By setting a discharge circuit, the bus voltage is adjusted to a suitable range to avoid overvoltage faults causing system damage.

[0077] 4. The present invention provides a synchronous control system for the opening and closing of a dual-actuator door for unmanned aerial vehicles (UAVs). It adopts a dual-redundancy design of a main integrated controller, a backup integrated controller, a main motor, and a backup motor. When the main channel experiences faults such as overcurrent, open circuit, undervoltage, or overvoltage, the control module will cut off the fault point through the protection circuit and immediately switch to the backup channel, without affecting the opening and closing function of the UAV door.

[0078] 5. This invention provides a synchronous control method for the deployment and retraction of a dual-actuator door for unmanned aerial vehicles (UAVs), incorporating synchronization error calculation and compensation techniques. After the synchronization error is calculated, it is compensated and applied to the control systems of each actuator. The control output of the faster-moving actuator is reduced, while the control output of the slower-moving actuator is increased, thereby achieving coordinated control of their positions. This effectively reduces synchronization error and improves the system's synchronization control accuracy and stability. Attached Figure Description

[0079] Figure 1 This is a schematic diagram illustrating the working principle of an embodiment of the synchronous control system for the retraction and extension of a dual-actuator door for unmanned aerial vehicles (UAVs) according to the present invention.

[0080] Figure 2 This is a block diagram of the control module of an embodiment of the synchronous control system for the deployment and retraction of a dual-actuator door for unmanned aerial vehicles (UAVs) according to the present invention.

[0081] Figure 3 This is a power conversion circuit principle block diagram (including bus voltage detection circuit and phase current detection circuit) of an embodiment of the synchronous control system for the dual-actuator door of an unmanned aerial vehicle (UAV) according to the present invention.

[0082] Figure 4 This is an EMC circuit block diagram of an embodiment of the synchronous control system for the deployment and retraction of a dual-actuator door for an unmanned aerial vehicle (UAV) according to the present invention.

[0083] Figure 5 This is a circuit block diagram illustrating the anti-reverse connection of a dual-actuator door retraction and extension synchronous control system for unmanned aerial vehicles (UAVs) according to an embodiment of the present invention.

[0084] Figure 6 This is a power soft-start circuit block diagram of an embodiment of the synchronous control system for the deployment and retraction of a dual-actuator door for unmanned aerial vehicles (UAVs) according to the present invention.

[0085] Figure 7 This is a block diagram of the overvoltage, undervoltage, and overcurrent protection circuit of an embodiment of the synchronous control system for the dual-actuator door of an unmanned aerial vehicle (UAV) according to the present invention.

[0086] Figure 8 This is a power drive module block diagram (including isolation circuit) of an embodiment of the synchronous control system for the deployment and retraction of a dual-actuator door for an unmanned aerial vehicle (UAV) according to the present invention.

[0087] Figure 9 This is a schematic diagram of the discharge circuit of an embodiment of the synchronous control system for the retraction and extension of a dual-actuator door for unmanned aerial vehicles (UAVs) according to the present invention.

[0088] Figure 10 This is a flowchart illustrating the calculation process of u1(t) and u2(t) in an embodiment of the synchronous control method for the extension and retraction of a dual-actuator door for an unmanned aerial vehicle (UAV) according to the present invention.

[0089] Figure 11 This is a flowchart illustrating the synchronous control of the opening and closing of the dual-actuator door for unmanned aerial vehicles (UAVs) in an embodiment of the present invention. Detailed Implementation

[0090] To make the objectives, advantages, and features of the present invention clearer, the following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a synchronous control system and method for the deployment and retraction of a dual-actuator door for unmanned aerial vehicles (UAVs). Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0091] like Figure 1 As shown, a synchronous control system for the opening and closing of a drone's hatch with dual actuation devices is disclosed. This system controls the synchronous opening and closing of the hatch using dual actuation devices. It includes one main integrated controller and one backup integrated controller, along with two actuation devices positioned on either side of the drone's hatch. These two actuation devices work together to push the hatch open and close. Both the main and backup integrated controllers are electrically connected to the two actuation devices. When the main integrated controller is active, the backup integrated controller is inactive; when the main integrated controller malfunctions, the backup integrated controller becomes active.

[0092] Each actuation device includes a motor connected to the hatch, comprising a main motor and a backup motor, as well as a brake locking device mounted on the motor. Each actuation device is also equipped with a displacement sensor. Each integrated controller includes a control module and a power drive module electrically connected to it. Only one of the main motor and backup motor is active at any given time. They can both receive drive signals from the power drive module simultaneously, or only the active motor can receive drive signals while the inactive motor does not. The control module receives control signals from the UAV's flight control system and, based on the real-time displacement signals collected by the displacement sensors of the two actuation devices, determines the control output quantities for each device and outputs them to the corresponding power drive modules. The power drive modules are electrically connected to the main motor and backup motor of each actuation device, respectively, and drive either the main motor or the backup motor of the two actuation devices to operate according to the control output quantities output by the control module, thereby opening and closing the hatch.

[0093] like Figure 2 As shown, the control module is a control processor based on the ARM architecture, including a power conversion circuit, an isolation circuit, an LDO circuit, a Hall signal detection circuit, and a control unit. The control unit includes an ARM minimum system and a FLASH storage circuit, a communication circuit, a brake unlocking circuit, a discharge control circuit, a fault detection module, a level conversion circuit, a signal conditioning and conversion circuit, a 16-bit AD sampling extension circuit, an arrival signal detection circuit, and a position detection circuit.

[0094] The power drive module includes two IPM modules, a bus voltage detection circuit, a bleeder circuit, and a phase current detection circuit. A temperature sensor is integrated within the power drive module to monitor the real-time temperature of each integrated controller and transmit the temperature signal to a 16-bit AD sampling expansion circuit. Simultaneously, it outputs a fault signal to the fault detection module. The input terminals of the fault detection module are connected to both the power conversion circuit and the power drive module to collect fault signals and send them to the ARM minimum system. Fault signals include voltage fault signals, current fault signals, and temperature fault signals.

[0095] like Figure 3As shown, the power conversion circuit converts the voltage signal from the external power supply to power the remote control system for the dual-actuator door of the UAV. It includes an EMC circuit, a reverse connection protection circuit, a power soft-start circuit, and overvoltage, undervoltage, and overcurrent protection circuits connected in sequence. A filter unit and a secondary power conversion circuit are connected to the output of the overvoltage, undervoltage, and overcurrent protection circuits. The filter unit includes an energy storage and voltage stabilizing capacitor and a surge absorption capacitor, which are connected in sequence to the output of the overvoltage, undervoltage, and overcurrent protection circuits. The bus voltage, after being filtered by the energy storage and voltage stabilizing capacitors, is connected to the power input of the IPM. The energy storage and voltage stabilizing capacitor is used to filter out low-frequency interference signals from the bus voltage and to stabilize the voltage. The surge absorption capacitor is used to reduce the chopper spike signals present in the power transistor switching within the IPM.

[0096] The power conversion circuit converts the external power supply voltage to 15V and 5V via a secondary power conversion circuit. The input of the LDO circuit is connected to the secondary power conversion circuit, and its output is connected to the ARM minimum system, converting the voltage from 5V to 3.3V to power the core and peripheral circuits of the ARM minimum system. Specifically, the 15V is used to power the operational amplifiers of the 16-bit AD sampling expansion circuit and signal conditioning and conversion circuit, while the 5V is used to power the level conversion circuit and communication circuits.

[0097] like Figure 4 As shown, the EMC circuit includes a power EMI filter for suppressing electromagnetic conduction and electromagnetic radiation interference, as well as lightning protection for drones.

[0098] Figure 5 The reverse connection protection circuit shown is mainly composed of an NPN MOS transistor placed at the low end of the power supply. Once the power supply is reversed, the gate voltage of the NPN MOS transistor cannot be established, so it will not be turned on, thus preventing the reverse power supply from entering the device and achieving effective protection.

[0099] like Figure 6As shown, the power supply soft-start circuit includes capacitor C1, a second MOSFET, a PTC thermistor, and an IGBT device. The second MOSFET is an N-type transistor, and the collector-emitter voltage of the IGBT device is not less than twice the power supply input voltage. The source of the second MOSFET is connected to the emitter of the IGBT device and one end of the PTC thermistor. The other end of the PTC thermistor is connected to the high end of the energy storage capacitor. The drain of the second MOSFET is connected to the collector of the IGBT device and the high end of capacitor C1. The high end and low end of capacitor C1 are connected to the positive and negative terminals of the reverse connection protection circuit for high-frequency power supply filtering. The control terminal 1 of the second MOSFET and the control terminal 2 of the IGBT device are connected to the isolation circuit connected to the ARM minimum system to receive the power start command from the ARM minimum system. When the external power supply is powered on, the second MOSFET turns on, the IGBT device turns off, and the power supply current charges the energy storage capacitor through the second MOSFET and the PTC thermistor to limit the inrush current during capacitor charging. When the energy storage capacitor is charged to near the power supply voltage, the IGBT is controlled to turn on, and the second MOSFET is turned off. Instead of a relay switch, the second MOSFET is turned on by default when powered on. A PTC thermistor is connected in series with the power supply and energy storage capacitor circuit. The PTC thermistor limits the charging current of the capacitor, thereby reducing the peak current at the moment of power-on. When the voltage across the capacitor reaches the required level, the IGBT is turned on to turn off the MOSFET, ensuring stable operation under rated current.

[0100] like Figure 7 As shown, the overvoltage, undervoltage, and overcurrent protection circuit is mainly composed of surge suppressor chips, which have overvoltage, undervoltage, and overcurrent protection functions. Its output terminal is connected to the fault detection module. By adjusting the configuration of the external resistors, the protection threshold can be adjusted, which has a certain degree of flexibility. When any one of the main channels has a problem, the faulty channel will be cut off in the form of hard shutdown to avoid impacting the power supply on the UAV and ensure the high reliability of the system.

[0101] Figure 2 The secondary power conversion circuit shown mainly generates a 15V drive power supply and a 5V power-side power supply, which are used for powering the IPM module and the subsequent power supply of the isolation circuit, respectively.

[0102] An off-chip FLASH storage circuit is set in the control module. It interacts with the ARM minimum system via SPI communication and is used for storing and reading system control parameters and operating status information. The storage capacity is not less than 16M.

[0103] The input of the position detection circuit is connected to the displacement sensors of two actuators, and its output is connected to the first input of the signal conditioning and conversion circuit, used to amplify and filter the real-time displacement signals collected by the displacement sensors. The 16-bit AD sampling expansion circuit receives the displacement signals collected by the actuators through the position detection circuit, with a resolution down to 0.006mm. After amplification and filtering by the signal conditioning and conversion circuit, the signals are transmitted to the ARM minimum system. Specifically, this includes signal scaling, signal shaping and filtering. The filtering uses a first-order passive filtering method, which effectively saves space in the UAV door retraction and extension synchronization control system. The cutoff frequency is set to 1.6kHz to effectively ensure signal quality.

[0104] The first output terminal of the signal conditioning and conversion circuit is connected to the AD sampling expansion circuit, which outputs the amplified and filtered real-time displacement signal to the AD sampling expansion circuit. The output terminal of the AD sampling expansion circuit is connected to the ARM minimum system, which converts the amplified and filtered real-time displacement signal into a digital signal and inputs it to the ARM minimum system.

[0105] The communication circuit includes an RS485 communication chip, a CAN communication chip, and peripheral circuits for the communication chips. The signal input of the communication circuit connects to the flight control system (FCS), and its signal output connects to the ARM minimum system. This facilitates information exchange between the FCS and the ARM minimum system, enabling control command response and operational status feedback. It is responsible for information exchange between the FCS and the ARM minimum system of the control module, enabling control command response and operational status feedback. When a fault occurs in the main channel (i.e., the main integrated controller and main motor), the fault information is uploaded to the FCS via the communication circuit. The FCS will then decide whether to activate the backup channel (i.e., the backup integrated controller and backup motor) based on the current aircraft operating status. Control commands include start commands, stop commands, control modes, and parameter settings. Control modes are divided into maintenance mode and synchronization mode. Maintenance mode can specify the action of one actuator, while synchronization mode allows two actuators for each door to enter synchronized control. Operational status information includes phase current values, bus current values, bus voltage values, position feedback, position switch status, and fault information.

[0106] The fault detection module includes a comparator and its peripheral circuitry, used to determine whether the current, voltage, and motor temperature exceed predetermined values. The judgment result is sent to the ARM minimum system in the form of I / O signals. Fault signals include bus voltage overvoltage fault signals, phase current overcurrent fault signals, and motor temperature overheating fault signals. The ARM minimum system interacts with the fault detection module, which monitors the fault signals of the two actuators in real time and reports them to the ARM minimum system.

[0107] The input of the level conversion circuit is connected to the ARM minimum system, and its output is connected to the power drive module through the isolation circuit. It mainly consists of a level conversion chip and its peripheral circuits, and is not limited to 2, 4, or 8 channels. It realizes the conversion of the PWM signal output by the ARM from 3.3V to 5V, and inputs it to the power drive module through the isolation circuit. In addition, it also has the function of signal shaping and filtering to enhance the driving capability, with a maximum of 50mA.

[0108] The isolation circuit is mainly composed of magnetic couplers, and is not limited to 2-channel or 6-channel. It realizes the isolation between the digital ground of the control end and the power ground of the drive end, ensuring that the high-voltage side signal will not affect the low-voltage side.

[0109] The brake unlocking circuit connects its input to the ARM minimum system and its output to the brake locking device. It receives control commands from the ARM minimum system to control the locking or unlocking of the brake locking device. The brake unlocking circuit employs a first optocoupler, a first MOSFET, and a reverse peak suppression circuit. The first MOSFET is an N-type transistor. The first optocoupler receives control commands from the ARM minimum system and is used for switching the first MOSFET. The reverse peak suppression circuit consists of two series-connected diodes and a current-limiting resistor, used to eliminate the induced electromotive force from the brake locking device coil. The two diodes are connected in series to improve circuit reliability; if one diode short-circuits and fails, the other will still function, ensuring normal system operation.

[0110] The input terminal of the Hall signal detection circuit is connected to the Hall signal sensor on the motor stator, and the output terminal is connected to the second input terminal of the signal conditioning and conversion circuit. The second output terminal of the signal conditioning and conversion circuit is connected to the ARM minimum system. The Hall signal detection circuit is used to convert the 15V Hall signal acquired by the second optocoupler into 3.3V, and input it to the ARM minimum system through the signal conditioning and conversion circuit to determine the current position of the motor rotor and the relative displacement of the motor relative to the motor when it is stationary during the entire running process. In this embodiment, the Hall signal detection circuit includes a second optocoupler and a second optocoupler peripheral circuit. The front end of the second optocoupler is connected to the Hall signal sensor on the motor stator, and its rear end is connected to the second input terminal of the signal conditioning and conversion circuit through the second optocoupler peripheral circuit. Each actuation device is equipped with two motors, a main motor and a backup motor, with a total of 6 sets of Hall signals. The Hall signal detected by the second optocoupler is input to the signal conditioning and conversion circuit for proportional adjustment and filtering and shaping. The processed signal is transmitted to the ARM minimum system for calculation to obtain the current position of the motor rotor and the relative displacement of the motor relative to the motor when it is stationary during the entire running process. This serves as another way to interpret the position signal and acts as a backup for the displacement sensor.

[0111] The arrival signal detection circuit includes an arrival switch installed on the hatch; the arrival switch is connected to a signal conditioning and conversion circuit to detect whether the hatch is in position, and transmits the detected hatch arrival signal to the ARM minimum system after being amplified and filtered by the signal conditioning and conversion circuit.

[0112] The ARM minimum system obtains sensor information from the position detection circuit, phase current detection circuit, and Hall signal detection circuit. Combined with the configuration parameters of the FLASH storage circuit, it completes the planning and calculation of the actuator's release and take-off instructions, performs position control, and ensures the realization of synchronous control of the two actuators.

[0113] The output of the discharge control circuit is connected to the discharge circuit and is used to control the on / off state of the discharge circuit.

[0114] The input terminals of the two IPM modules are connected to the level conversion circuit through the isolation circuit, and their output terminals are connected to the main motor and the standby motor through the phase current detection circuit, respectively, to drive the main motor and the standby motor.

[0115] The phase current detection circuit includes four phase current sampling chips. Two phase current sampling chips are grouped together. The input terminals of the two phase current sampling chips in one group are respectively connected between the output terminal of one IPM module and two phase input terminals of the corresponding main motor, and are used to transmit the U-phase and V-phase current values ​​of the main motor when it is working to the AD sampling expansion circuit and the fault detection module, respectively. The input terminals of the two phase current sampling chips in the other group are respectively connected between the output terminal of another IPM module and two phase input terminals of the corresponding standby motor, and are used to transmit the U-phase and V-phase current values ​​of the standby motor when it is working to the AD sampling expansion circuit and the fault detection module, respectively.

[0116] The input of the bus voltage detection circuit is connected to an external power supply, and its output is connected to the AD sampling expansion circuit and the fault detection module. It is used to convert the collected bus voltage into a digital signal through the AD sampling expansion circuit and then send it to the ARM minimum system to monitor the bus voltage in real time.

[0117] Figure 8 As shown, the power drive module in this embodiment includes two IPM modules, a bus voltage detection circuit, a phase current detection circuit, and a discharge circuit. The phase current detection circuit includes four phase current sampling chips, and the bus voltage detection circuit includes one voltage sampling chip. It is mainly used for driving the main motor and the standby motor. Each actuation device is equipped with one of these modules. The IPM module integrates the drive and power bridge and is directly connected to the motor through the phase current detection circuit to drive the load mechanism to extend and retract, thereby achieving the purpose of controlling the opening and closing of the hatch.

[0118] Two phase current sampling chips are grouped together. The input terminals of the two chips in one group are connected between the output terminal of one IPM module and two phase input terminals of the corresponding main motor, respectively. This is used to transmit the U-phase and V-phase current values ​​of the main motor during operation to the AD sampling expansion circuit and the fault detection module, respectively. The input terminals of the two chips in the other group are connected between the output terminal of another IPM module and two phase input terminals of the corresponding standby motor, respectively. This is used to transmit the U-phase and V-phase current values ​​of the standby motor during operation to the AD sampling expansion circuit and the fault detection module, respectively. In this embodiment, two phase current sampling chips are connected in series between the IPM and the main motor or standby motor. The U-phase and V-phase current values ​​output by the IPM module are transmitted to the AD sampling expansion circuit. Simultaneously, each phase current sampling chip outputs a fault signal to the fault detection module. The U-phase and V-phase current values ​​are compared with the normal current values ​​for phase current overcurrent protection.

[0119] The voltage sampling chip is used to detect the voltage signal of the bus voltage and transmit the voltage signal to the AD sampling expansion circuit. At the same time, it outputs a fault signal to the fault detection module. The bus voltage value is compared with the normal voltage value and used for bus voltage overvoltage protection.

[0120] Both the phase current sampling chip and the voltage sampling chip adopt digital isolation. The output and input of the phase current sampling chip and the voltage sampling chip are isolated from the front and rear stages by an isolation barrier with high magnetic field immunity, thereby isolating strong and weak currents. The input and output adopt a high-precision differential form to improve the anti-interference capability of the UAV door retraction and deployment synchronization control system. The output signal also goes through signal conditioning and conversion circuits, and performs proportional adjustment and filtering and shaping processing. The processed signal is passed to the on-chip AD unit of the ARM minimum system for calculation to obtain the bus voltage value and phase current value of the current UAV door retraction and deployment synchronization control system.

[0121] like Figure 9 As shown, the discharge circuit includes a third optocoupler, a third MOSFET, and a power braking resistor; wherein, the third MOSFET is an N-type transistor.

[0122] The drain of the third MOSFET is connected to the positive terminal of the bus power supply, and its source is connected to one end of the power braking resistor. The other end of the power braking resistor is connected to the negative terminal of the bus power supply. The gate of the third MOSFET is connected to the output terminal of the third optocoupler, and the input terminal of the third optocoupler is connected to the discharge control circuit. The third optocoupler receives the control signal from the discharge control circuit to control the switching on and off of the third MOSFET, thereby controlling whether the power braking resistor is connected to the positive terminal of the bus power supply, and thus controlling the bus voltage. The output terminal of the discharge control circuit is connected to the input terminal of the third optocoupler, and controls the switching on and off of the discharge circuit through the discharge control signal. Figure 9As shown, when the hatch is subjected to the same wind force and the same direction of movement during the opening and closing process, the wind force will push the hatch to move, doing work on the actuator. Energy flows from the actuator to the motor, generating a pump voltage on the power bus. At this time, an overvoltage signal is detected by the bus voltage detection circuit. The ARM minimum system will send a discharge command to the discharge control circuit. The discharge control circuit controls the opening and closing of the discharge circuit of the power module by outputting a high or low level control signal. The third optocoupler turns on the third MOSFET and connects the power braking resistor to the bus power supply terminal, thereby adjusting the bus voltage to a suitable range and avoiding system damage caused by overvoltage faults.

[0123] Each actuation device is equipped with one displacement sensor to collect the real-time displacement signal of the corresponding actuation device, measure the change in stroke during the entire opening and closing process of the hatch, convert the detected real-time displacement signal into a position voltage analog signal, and then convert the collected position voltage analog signal into a 16-bit digital signal through a 16-bit AD sampling expansion circuit, and input it to the ARM minimum system through serial communication.

[0124] In addition, the integrated controller is equipped with a first substrate, a second substrate, and a third substrate, for a total of three substrates. The electronic components in the control module are set on the first substrate, and the electrical components in the power drive module are set on the second substrate. The first substrate and the second substrate are connected by board-to-board plug-in, and the first substrate and the second substrate are arranged sequentially from top to bottom. External power supply and communication signals are transferred through the third substrate. The third substrate is placed separately in the middle of the controller housing, at the same height as the second substrate, to avoid the crossing of the wiring of the whole machine. Through reasonable allocation, the strong and weak current wiring is arranged separately.

[0125] Figure 10 , Figure 11 The calculation process of u1 and u2 and the synchronous control process of the dual-actuator door of the UAV are shown. The system dynamically calculates the synchronization error compensation value of each actuator through the cross-coupling synchronous control algorithm based on the position feedback signal collected in real time by the two actuators and the preset position synchronization coefficient. The output of the two actuators is compensated and corrected in real time according to the synchronization error compensation value to suppress the synchronization error caused by mechanical transmission deviation, uneven load or external disturbance.

[0126] The present invention also provides a synchronous control method for a dual-actuator door device for unmanned aerial vehicles (UAVs), which, based on the above-mentioned synchronous control system for the deployment and retraction of a dual-actuator door device for UAVs, includes the following steps:

[0127] Step 1: Collect the real-time displacement signal feedback values ​​P1(t) and P2(t) of the two actuators respectively using displacement sensors. Then, the real-time synchronization error e of the two actuators is calculated. sync (t), is calculated using the following formula:

[0128] esync (t)=P1(t)-P2(t)

[0129] Step 2: Based on the position feedback values ​​P1(t) and P2(t) of the real-time displacement signal and the position command P sent by the flight control system... ref (t), calculate the real-time errors e1(t) and e2(t) of the two actuators respectively, and then calculate the real-time independent position control output u of the two actuators. pid1 (t) and u pid2 (t), the calculation formula is as follows:

[0130] e1(t)=P ref (t)-P1(t)

[0131] e2(t)=P ref (t)-P2(t)

[0132]

[0133] Among them, K p1 K p2 The proportional coefficient for the two-way actuator;

[0134] K i1 K i2 The integral coefficient of the two-way actuator;

[0135] K d1 K d2 The differential coefficients of the two-way actuator;

[0136] Step 3, the real-time synchronization error e sync (t) is processed by a PID algorithm to generate the synchronization compensation quantity. The input of this PID algorithm is the synchronization error e(t) = e sync (t), whose output u sync (t) is composed of proportional-integral-differential, and the real-time synchronization error compensation amount u is calculated. sync (t):

[0137]

[0138] Where, e(t) = e sync (t), e sync (t) represents the real-time synchronization error;

[0139] K p The proportional coefficient for synchronous compensation;

[0140] K i The integral coefficient for synchronous compensation;

[0141] K dis the differential coefficient for synchronous compensation;

[0142] Step 4: According to the error allocation and compensation, to enhance the system regulation ability, a preset synchronous coefficient k (where 0 < k ≤ 1) is introduced. The specific value of the preset synchronous coefficient k is adjusted according to the magnitude of the synchronous compensation amount and the effect of synchronous control, and the real-time synchronous compensation amounts Δu sync1 (t) and Δu sync2 (t) of the two actuating devices are calculated respectively by the following formulas:

[0143] Δu sync1 (t) = (-k)·u sync (t)

[0144] Δu sync2 (t) = k·u sync (t)

[0145] Step 5: According to the real-time independent position control output amounts u pid1 (t) and u pid2 (t) of the two actuating devices and the real-time synchronous compensation amounts Δu sync1 (t) and Δu sync2 (t) of the two actuating devices, the final control output amounts u1(t) and u2(t) of the two actuating devices are calculated, and the calculation formulas are as follows:

[0146] u1(t) = u pid1 (t) + Δu sync1 (t)

[0147] u2(t) = u pid2 (t) + Δu sync2 (t)K p 、K<00000​​​​​​​​​​​​​​​​​​​​​​​ Figure 11 The synchronous control process for each hatch is described. The synchronous control system for the dual-actuator hatches of this UAV adopts a hierarchical control architecture, reading independent position closed-loop PID parameters, synchronous compensation PID parameters, and real-time position feedback values ​​from two actuators. Then, upon receiving the hatch opening / closing command (i.e., the position command P sent by the flight control system), the system processes the data. ref After (t), coordinated control of the two actuators is achieved sequentially through instruction planning, synchronization control, and position closed-loop control. The synchronization control specifically includes:

[0151] The system uses the S-curve algorithm to plan the motion trajectory of the actuator, and achieves continuous change of acceleration by limiting the jerk, generating a smooth motion command sequence, which effectively suppresses rigid impact and system vibration.

[0152] The synchronous control system for the dual-actuator door of the UAV employs a high-resolution AD sampling extension circuit to acquire actual position feedback values ​​at fixed intervals. Simultaneously, it adjusts the position feedback values ​​P1(t) and P2(t) based on real-time displacement signals and the position command P sent by the flight control system. ref (t) Calculate the real-time errors e1(t) and e2(t) of the two actuators respectively, and then calculate the real-time independent position control output u of the two actuators. pid1 (t) and u pid2 (t).

[0153] A cross-coupling control algorithm is employed to construct a synchronization error compensation mechanism between two actuators. This mechanism not only collects the position of each actuator separately but also calculates the position deviation between the two actuators in real time, and calculates the real-time synchronization compensation amount Δu between the two actuators based on this deviation. sync1 (t) and Δu sync2 (t), after dynamically correcting the final control outputs u1(t) and u2(t) of each actuation device, the synchronization error caused by nonlinear load, inconsistent mechanical transmission or external disturbance is significantly suppressed.

[0154] Upon reaching the target position, the system triggers the brake locking device to self-lock, preventing position overshoot caused by changes in load torque. Simultaneously, a secondary confirmation is performed via the position switch. Finally, after confirming that the hatch has accurately reached the target position, the entire shutdown process is completed.

[0155] This control process achieves highly reliable and high-precision synchronous motion control under complex working conditions through multi-layer collaboration and multi-verification mechanisms.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention.

Claims

1. A synchronous control system for the deployment and retraction of a dual-actuator door for unmanned aerial vehicles (UAVs), characterized in that: It includes two integrated controllers and two actuators located on both sides of the UAV door; the two integrated controllers are a main integrated controller and a backup integrated controller, both of which are electrically connected to the two actuators, which are used to jointly push the door open and close; Each integrated controller includes a power drive module and a control module electrically connected thereto. Each of the actuating devices includes a motor, which includes a main motor and a backup motor. Each actuating device is also equipped with a displacement sensor. The main motor and backup motor of each actuation device are used to connect to the hatch; Each displacement sensor is used to collect the real-time displacement signal of the corresponding actuation device and transmit it synchronously to the control module of the main integrated controller and / or the control module of the backup integrated controller. The control module is used to receive control signals from the UAV's flight control system and, based on the real-time displacement signals collected by the displacement sensors of the two actuators, determine the control output of the two actuators and output them to the corresponding power drive module. The power drive module is electrically connected to the main motor and the backup motor of the two actuation devices respectively, and is used to drive the main motor or the backup motor of the two actuation devices to operate according to the control output of the control module, so as to open and close the hatch.

2. The synchronous control system for the retraction and extension of the dual-actuator door of an unmanned aerial vehicle (UAV) according to claim 1, characterized in that: The control module includes a power conversion circuit, an isolation circuit, a position detection circuit, and a control unit. The control unit includes an ARM minimum system and an AD sampling extension circuit, a level conversion circuit, a communication circuit, a FLASH storage circuit, and a signal conditioning and conversion circuit, all connected to the ARM minimum system. The input terminal of the position detection circuit is connected to the displacement sensors of the two actuating devices, and its output terminal is connected to the first input terminal of the signal conditioning and conversion circuit, which is used to amplify and filter the real-time displacement signal collected by the displacement sensor. The first output terminal of the signal conditioning and conversion circuit is connected to the AD sampling expansion circuit, which is used to output the amplified and filtered real-time displacement signal to the AD sampling expansion circuit. The output of the AD sampling expansion circuit is connected to the ARM minimum system, which is used to convert the amplified and filtered real-time displacement signal into a digital signal and input it to the ARM minimum system. The FLASH storage circuit interacts with the ARM minimum system via SPI communication for storing and retrieving system control parameters and operating status information. The signal input terminal of the communication circuit is connected to the flight control system, and its signal output terminal is connected to the ARM minimum system. It is used for information interaction between the flight control system and the ARM minimum system to realize control command response and working status information feedback. The input of the level conversion circuit is connected to the ARM minimum system, and its output is connected to the power drive module through the isolation circuit. It is used to convert the PWM signal output by the ARM minimum system from 3.3V to 5V and input it to the power drive module through the isolation circuit. The isolation circuit is used to isolate the digital ground of the control terminal from the power ground of the drive terminal. The power conversion circuit is used to convert the voltage signal of the external power supply to power the synchronous control system for the dual-actuator door of the UAV.

3. The synchronous control system for the deployment and retraction of the dual-actuator door for unmanned aerial vehicles according to claim 2, characterized in that: The control module also includes a Hall signal detection circuit, a position signal detection circuit, and a fault detection module; The input terminal of the Hall signal detection circuit is connected to the Hall signal sensor on the motor stator, and the output terminal is connected to the second input terminal of the signal conditioning and conversion circuit. The second output terminal of the signal conditioning and conversion circuit is connected to the ARM minimum system. The Hall signal detection circuit is used to convert the acquired 15V Hall signal into 3.3V, and input it to the ARM minimum system through the signal conditioning and conversion circuit to determine the current position of the motor rotor and the relative displacement of the motor relative to the motor when it is stationary during the entire running process. The arrival signal detection circuit includes an arrival switch installed on the drone's cabin door; The position switch is connected to the signal conditioning and conversion circuit to detect whether the hatch is in position, and transmits the detected hatch position signal to the ARM minimum system after being amplified and filtered by the signal conditioning and conversion circuit. The input terminals of the fault detection module are connected to the power conversion circuit and the power drive module, respectively, and are used to collect fault signals and send them to the ARM minimum system.

4. The synchronous control system for the deployment and retraction of the dual-actuator door for unmanned aerial vehicles according to claim 3, characterized in that: The actuating device also includes a brake locking device mounted on the motor for locking the actuating device; The control module also includes a brake unlocking circuit, whose input is connected to the ARM minimum system and whose output is connected to the brake locking device. It is used to receive control commands from the ARM minimum system to control the brake locking device to lock or unlock.

5. The synchronous control system for the deployment and retraction of the dual-actuator door for unmanned aerial vehicles according to claim 3, characterized in that: The power drive module includes two IPM modules and a phase current detection circuit. The input terminals of the two IPM modules are connected to the level conversion circuit through the isolation circuit, and their output terminals are connected to the main motor and the standby motor through the phase current detection circuit, respectively, to drive the main motor and the standby motor. The phase current detection circuit includes four phase current sampling chips. Two phase current sampling chips are grouped together. The input terminals of the two phase current sampling chips in one group are respectively connected between the output terminal of one IPM module and two phase input terminals of the corresponding main motor, and are used to transmit the U-phase and V-phase current values ​​of the main motor when it is working to the AD sampling expansion circuit and the fault detection module, respectively. The input terminals of the two phase current sampling chips in the other group are respectively connected between the output terminal of another IPM module and two phase input terminals of the corresponding standby motor, and are used to transmit the U-phase and V-phase current values ​​of the standby motor when it is working to the AD sampling expansion circuit and the fault detection module, respectively.

6. The synchronous control system for the retraction and extension of the dual-actuator door of an unmanned aerial vehicle (UAV) according to claim 5, characterized in that: The power drive module also includes a bus voltage detection circuit and a discharge circuit; The control unit also includes a discharge control circuit connected to the ARM minimum system. The output of the discharge control circuit is connected to the discharge circuit and is used to control the on / off state of the discharge circuit. The input of the bus voltage detection circuit is connected to an external power supply, and its output is connected to the AD sampling expansion circuit and the fault detection module. It is used to convert the collected bus voltage into a digital signal through the AD sampling expansion circuit and then send it to the ARM minimum system to monitor the bus voltage in real time. The discharge circuit includes a third optocoupler, a third MOSFET, and a power braking resistor; the third MOSFET is an N-type transistor. The drain of the third MOSFET is connected to the positive terminal of the bus power supply, and its source is connected to one end of the power braking resistor. The other end of the power braking resistor is connected to the negative terminal of the bus power supply. The gate of the third MOSFET is connected to the output terminal of the third optocoupler. The input terminal of the third optocoupler is connected to the output terminal of the discharge control circuit. The third optocoupler receives the control signal from the discharge control circuit to control the switching on and off of the third MOSFET, thereby controlling whether the power braking resistor is connected to the positive terminal of the bus power supply, and thus controlling the bus voltage.

7. The synchronous control system for the deployment and retraction of the dual-actuator door for unmanned aerial vehicles according to claim 6, characterized in that: The power conversion circuit includes an EMC circuit, a reverse connection protection circuit, a power soft start circuit, and an overvoltage, undervoltage, and overcurrent protection circuit connected in sequence, as well as a filter unit and a secondary power conversion circuit connected to the output of the overvoltage, undervoltage, and overcurrent protection circuit. The secondary power conversion circuit is used to power the IPM module and the subsequent stage of the isolation circuit; the EMC circuit is used to suppress electromagnetic conduction and electromagnetic radiation interference, as well as to protect the UAV from lightning strikes. The reverse connection protection circuit is used to prevent reverse power from entering the device; The overvoltage, undervoltage, and overcurrent protection circuit is used for overvoltage, undervoltage, and overcurrent protection of the bus voltage, and its output terminal is connected to the fault detection module. The filtering unit includes an energy storage and voltage stabilizing capacitor and a surge absorption capacitor, which are connected in sequence to the output terminals of the overvoltage, undervoltage, and overcurrent protection circuits. The bus voltage is filtered by the energy storage and voltage stabilizing capacitor and the surge absorption capacitor before being connected to the power input terminal of the IPM. The energy storage and voltage stabilizing capacitor is used to filter out low-frequency interference signals of the bus voltage and to stabilize voltage energy storage. The surge absorption capacitor is used to reduce the chopper spike signal present in the power transistor switching inside the IPM.

8. The synchronous control system for the deployment and retraction of the dual-actuator door for unmanned aerial vehicles according to claim 7, characterized in that: The power supply soft-start circuit includes a capacitor C1, a second MOSFET, a PTC thermistor, and an IGBT device; the second MOSFET is an N-type transistor. The source of the second MOSFET is connected to the emitter of the IGBT device and one end of the PTC thermistor. The other end of the PTC thermistor is connected to the high end of the energy storage voltage regulator capacitor. The drain of the second MOSFET is connected to the collector of the IGBT device and the high end of the capacitor C1. The high end and low end of the capacitor C1 are connected to the positive and negative terminals of the reverse connection protection circuit for high-frequency power filtering. The control terminal 1 of the second MOSFET and the control terminal 2 of the IGBT device are connected to the ARM minimum system through an isolation circuit to receive the power-on command of the ARM minimum system. When the external power supply is turned on, the second MOSFET turns on and the IGBT device turns off. The power supply current charges the energy storage voltage regulator capacitor through the second MOSFET and the PTC thermistor, which is used to limit the surge current when the capacitor is charging. When the energy storage capacitor is charged to near the power supply voltage, it controls the IGBT device to turn on and the second MOSFET to turn off.

9. A synchronous control method for a dual-actuator door device for unmanned aerial vehicles (UAVs), based on the synchronous control system for the deployment and retraction of a dual-actuator door device for UAVs as described in claim 1, characterized in that... Includes the following steps: Step 1: Collect the real-time displacement signal feedback values ​​P1(t) and P2(t) of the two actuators respectively using displacement sensors. Then, the real-time synchronization error e of the two actuators is calculated. sync (t) is e sync (t)=P1(t)-P2(t) Step 2: Based on the position feedback values ​​P1(t) and P2(t) of the real-time displacement signal and the position command P sent by the flight control system... ref (t), calculate the real-time errors e1(t) and e2(t) of the two actuators respectively, and then calculate the real-time independent position control output u of the two actuators. pid1 (t) and u pid2 (t), the calculation formula is as follows: e1(t)=P ref (t)-P1(t) e2(t)=P ref (t)-P2(t) Among them, K p1 K p2 The proportional coefficient for the two-way actuator; K i1 K i2 The integral coefficient of the two-way actuator; K d1 K d2 The differential coefficients of the two-way actuator; Step 3: Based on the real-time synchronization error e of the two actuators sync (t), the real-time synchronization error compensation amount u is calculated. sync (t): Where, e(t) = e sync (t), e sync (t) represents the real-time synchronization error; K p The proportional coefficient for synchronous compensation; K i The integral coefficient for synchronous compensation; K d The differential coefficients for synchronous compensation; Step 4: Introduce a preset synchronization coefficient k and calculate the real-time synchronization compensation amount Δu for the two actuators respectively. sync1 (t) and Δu sync2 (t), the calculation formula is as follows: Δu sync1 (t)=(-k)·u sync (t) Δu sync2 (t)=k·u sync (t) Among them, 0 <k≤1; Step 5: Control the output u of the two actuators in real time based on their independent positions. pid1 (t) and u pid2 (t) and the real-time synchronous compensation amount Δu of the two actuators sync1 (t) and Δu sync2 (t), the final control output quantities u1(t) and u2(t) of the two actuators are calculated using the following formulas: u1(t)=u pid1 (t)+Δu sync1 (t) u2(t)=u pid2 (t)+Δu sync2 (t); Step 6: The power drive module drives the motor to operate according to the final control outputs u1(t) and u2(t) of the two actuators, thus completing the synchronous control of the dual actuators of the UAV door.

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