A vibration suppression circuit for a drone motor

Abstract

A kind of unmanned aerial vehicle motor vibration suppression circuit, the vibration data of multiple motors are respectively collected by multiple vibration sensors, and the data transmission is transmitted to single-chip microcomputer synchronously, after the algorithm process of multiple sensor fusion→kalman filtering→LSTM prediction→self-adaptive PID in single-chip microcomputer, the PWM control signal capable of inhibiting vibration is output to multiple electronic speed regulators of brushless, to regulate and control the rotating speed of multiple motors respectively, and the rotating speed of motor after regulation and control can effectively reduce the vibration of multiple motors, finally realize the motor vibration suppression effect of entire unmanned aerial vehicle, improve the flight stability, camera imaging quality and equipment reliability of unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of vibration suppression technology for drone motors, and more particularly to a vibration suppression circuit for drone motors. Background Technology

[0002] With the rapid development of drone technology, its applications in aerial photography, logistics, inspection, agriculture, and other fields are becoming increasingly widespread. As the core power source of drones, the motor is prone to vibration during flight. Vibration during motor operation directly affects the drone's stability and lifespan, reducing flight stability, camera image quality, and equipment reliability. Many drone accidents stem from attitude instability caused by motor vibration. Therefore, vibration suppression technology is needed to suppress motor vibration during drone flight. However, since drones typically have multiple motors, effectively suppressing the vibration of multiple motors simultaneously is quite challenging. Summary of the Invention

[0003] The purpose of this invention is to provide a vibration suppression circuit for drone motors that can effectively suppress the vibration of multiple motors simultaneously.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a vibration suppression circuit for a drone motor, used to suppress the vibration of multiple motors installed on the drone. The vibration suppression circuit includes a microcontroller, a memory, a wireless communication module, multiple vibration sensors, and multiple electronic speed controllers. The memory and the wireless communication module are respectively connected to the microcontroller. The microcontroller is respectively connected to all vibration sensors and electronic speed controllers. Multiple vibration sensors are respectively connected to one of their respective motors to collect vibration data of multiple motors in real time. Multiple electronic speed controllers are respectively connected to one of their respective motors to simultaneously regulate the speed of multiple motors. After the microcontroller synchronously receives vibration data from multiple vibration sensors, it performs multi-sensor data fusion and applies Kalman filtering to the fused vibration data. The filtered vibration data is then input into an LSTM neural network prediction model to obtain the vibration deviation signal at the current moment. The obtained vibration deviation signals are stored in a time series, and then the vibration cancellation signal m(n) at the current moment is calculated using an adaptive PID controller. The calculation formula is as follows: ; In the formula, k p Let e(n) be the optimal proportional coefficient, and k be the vibration deviation signal at time n. i Here, k is the integral coefficient, T is the sampling period, and k is the sampling period. d Here are the differential coefficients, and e(n-1) is the vibration deviation signal at time n-1; The microcontroller sends PWM control signals to multiple electronic speed controllers based on the vibration cancellation signal. The electronic speed controllers then output three-phase voltages to the corresponding motors based on the PWM control signals. Vibration suppression is achieved through the regulation of multiple motors.

[0005] Preferably, the microcontroller is an STM32H743VIT6 and the vibration sensor is an ADXL355. The microcontroller and the vibration sensor are connected via an SPI interface, and multiple SPI interfaces transmit data synchronously.

[0006] Preferably, the memory includes an EEPROM memory and a FLASH memory, wherein the EEPROM memory is of model AT24C64 and the FLASH memory is of model W26Q128.

[0007] Preferably, the wireless communication module is model nRF24L01.

[0008] Preferably, all motors of the drone are brushless motors, and all electronic speed controllers are brushless ESCs, model AM32.

[0009] Preferably, the microcontroller acquires vibration feedback signals and speed feedback signals from multiple motors, and dynamically optimizes and adjusts the calculation parameters of the adaptive PID controller based on the feedback signals.

[0010] According to the above technical solution, the beneficial effects of the present invention are: This invention collects vibration data from multiple motors using multiple vibration sensors and simultaneously transmits the data to a microcontroller. After processing by the microcontroller through a multi-sensor fusion, Kalman filtering, LSTM prediction, and adaptive PID algorithm, it outputs a PWM control signal that suppresses vibration to multiple brushless electronic speed controllers. This allows for the individual regulation of the motor speeds, ensuring that the regulated motor speeds effectively reduce the vibration of the multiple motors. Ultimately, this achieves a vibration suppression effect on the entire UAV, improving the UAV's flight stability, camera imaging quality, and equipment reliability. Attached Figure Description

[0011] Figure 1 This is a circuit diagram of the present invention; Figure 2 This is a schematic diagram of the control method of the present invention. Detailed Implementation

[0012] Referring to the attached diagram, the specific implementation method is as follows: A vibration suppression circuit for drone motors is disclosed, used to suppress the vibration of multiple motors installed on the drone. The vibration suppression circuit includes a microcontroller, a memory, a wireless communication module, multiple vibration sensors, and multiple electronic speed controllers. The memory and wireless communication module are respectively connected to the microcontroller. The microcontroller is connected to all vibration sensors and electronic speed controllers. Each vibration sensor is connected to one of its respective motors to collect vibration data of multiple motors in real time. Each electronic speed controller is connected to one of its respective motors to simultaneously regulate the speed of multiple motors.

[0013] like Figure 1 As shown, the drone motor vibration suppression circuit in this embodiment uses an STM32H743VIT6 microcontroller (U5) as its core, and is equipped with four ADXL355 vibration sensors (U1-U4) to transmit data via the SPI1-SPI4 interface. It also integrates an AT24C64EEPROM (U6), a W26Q128 FLASH (U7), and an nRF24L01 wireless communication module (U8) to realize data storage and wireless transmission. The microcontroller outputs control signals to four AM32 brushless ESCs (U9-U12), which drive four brushless motors (M1-M4) respectively, thus forming a complete motor vibration suppression circuit system.

[0014] like Figure 1 As shown, the core controller of the circuit system is the STM32H743VIT6 microcontroller (number U5), whose functions include: receiving sensor data: receiving vibration detection data transmitted from 4 vibration sensors through the SPI interface; data processing and storage coordination: interfacing with the data storage module to realize temporary and long-term data storage; control signal output and communication: generating and outputting motor control signals, while realizing external data interaction through the wireless communication module.

[0015] like Figure 1 As shown, all four vibration sensors are ADXL355 models. The microcontroller and vibration sensors are connected via an SPI interface. The collected motor vibration data is transmitted to the microcontroller MCU (U5) through the SP1-SPI4 synchronization method to ensure the synchronization and accuracy of data transmission.

[0016] The synchronous transmission method in this embodiment adopts a synchronous serial communication interface, which has a fast data transmission rate and high stability. It can ensure that the vibration data collected by the four vibration sensors are consistent in the time dimension, and ensure that the vibration data is transmitted to the microcontroller in real time and accurately. It avoids data interference or transmission delay caused by multiple sensors sharing the same interface, and thus avoids errors in subsequent multi-sensor fusion algorithms due to asynchronous data transmission. It ensures the independence and reliability of the four vibration data, and thus ensures the accuracy of the entire vibration suppression system in judging the motor vibration state, providing accurate data for subsequent filtering, prediction and PID control.

[0017] like Figure 1 As shown, the memory includes EEPROM and FLASH memory. The EEPROM is model AT24C64, which is an electrically erasable programmable read-only memory. It has a small storage capacity and can store a small amount of critical configuration data that needs to be modified frequently, such as sensor calibration parameters and PID control initial parameters. The FLASH memory is model W26Q128, which is flash memory. It has a larger storage capacity and can store large amounts of static data for a long time, such as historical vibration data and algorithm program firmware. However, its erasing and writing speeds are relatively slow, and it is not suitable for frequent modifications.

[0018] It is equipped with two types of memory that can complement each other: EEPROM is responsible for the flexible storage and modification of dynamic configuration data, while FLASH is responsible for the long-term storage of massive static data, which meets the differentiated needs of circuit systems for different types of data storage and ensures the efficiency and rationality of data management.

[0019] like Figure 1 As shown, all four motors in this embodiment are brushless motors, and the multiple electronic speed controllers are also brushless ESCs, model AM32. The wireless communication module in this embodiment is model nRF24L01, which can realize wireless data transmission between the microcontroller and external devices (such as ground stations).

[0020] like Figure 2 As shown, the internal control method flow of this embodiment is as follows: multi-sensor fusion → Kalman filtering → LSTM prediction → adaptive PID. Through multi-step algorithm processing, accurate analysis of vibration data and generation of control strategies are achieved, as detailed below.

[0021] After the microcontroller synchronously receives vibration data from four vibration sensors, it performs multi-sensor data fusion and applies Kalman filtering to the fused vibration data. The filtered vibration data is then input into an LSTM neural network prediction model to obtain the vibration deviation signal at the current moment. The obtained vibration deviation signals are stored in a time series, and then the vibration cancellation signal m(n) at the current moment is calculated using an adaptive PID controller. The calculation formula is as follows: ; In the formula, k p Let e(n) be the optimal proportional coefficient, and k be the vibration deviation signal at time n. i Here, k is the integral coefficient, T is the sampling period, and k is the sampling period. d Here are the differential coefficients, and e(n-1) is the vibration deviation signal at time n-1.

[0022] The microcontroller sends PWM control signals to four electronic speed controllers based on the vibration cancellation signal. The electronic speed controllers then output three-phase voltages to the corresponding motors based on the PWM control signals. Vibration suppression is achieved through the regulation of multiple motors.

[0023] like Figure 2 As shown, this embodiment also features a dual feedback mechanism. The microcontroller acquires vibration feedback signals and speed feedback signals from the four motors, enabling it to monitor the motor's operating status (vibration and speed information) in real time. Based on the received vibration and speed feedback data, the microcontroller dynamically optimizes and adjusts the calculation parameters of the adaptive PID controller to ensure that the algorithm is always in the optimal working state and continuously improves the motor vibration suppression effect.

Claims

1. A vibration suppression circuit for a drone motor, used to suppress the vibration of multiple motors installed on a drone, characterized in that: The vibration suppression circuit includes a microcontroller, a memory, a wireless communication module, multiple vibration sensors, and multiple electronic speed controllers. The memory and wireless communication module are connected to the microcontroller, which is connected to all the vibration sensors and electronic speed controllers. Each vibration sensor is connected to one of its own motors to collect vibration data from multiple motors in real time. Each electronic speed controller is connected to one of its own motors to simultaneously regulate the speed of multiple motors. After the microcontroller synchronously receives vibration data from multiple vibration sensors, it performs multi-sensor data fusion and applies Kalman filtering to the fused vibration data. The filtered vibration data is then input into an LSTM neural network prediction model to obtain the vibration deviation signal at the current moment. The obtained vibration deviation signals are stored in a time series, and then the vibration cancellation signal m(n) at the current moment is calculated using an adaptive PID controller. The calculation formula is as follows: ； In the formula, k p Let e(n) be the optimal proportional coefficient, and k be the vibration deviation signal at time n. i Here, k is the integral coefficient, T is the sampling period, and k is the sampling period. d Here are the differential coefficients, and e(n-1) is the vibration deviation signal at time n-1; The microcontroller sends PWM control signals to multiple electronic speed controllers based on the vibration cancellation signal. The electronic speed controllers then output three-phase voltages to the corresponding motors based on the PWM control signals. Vibration suppression is achieved through the regulation of multiple motors.

2. The vibration suppression circuit for a drone motor according to claim 1, characterized in that: The microcontroller is an STM32H743VIT6, and the vibration sensor is an ADXL355. The microcontroller and the vibration sensor are connected via an SPI interface, and multiple SPI interfaces transmit data synchronously.

3. The vibration suppression circuit for a drone motor according to claim 1, characterized in that: The memory includes EEPROM memory and FLASH memory. The EEPROM memory model is AT24C64, and the FLASH memory model is W26Q128.

4. The vibration suppression circuit for a drone motor according to claim 1, characterized in that: The wireless communication module is model number nRF24L01.

5. The vibration suppression circuit for a drone motor according to claim 1, characterized in that: The drone has multiple brushless motors and multiple brushless ESCs, model AM32.

6. The vibration suppression circuit for a drone motor according to claim 1, characterized in that: The microcontroller acquires vibration feedback signals and speed feedback signals from multiple motors, and dynamically optimizes and adjusts the calculation parameters of the adaptive PID controller based on the feedback signals.

Images