Integrated automatic homing FOC unmanned aerial vehicle power set

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, and particularly discloses an integrated automatic homing FOC unmanned aerial vehicle power set which is composed of a propeller, a motor, a driving plate and a shell with a heat transfer effect, the motor is installed outside one end of the shell, and the driving plate, the motor and the shell are arranged into a whole; according to the utility model, the driving plate, the motor and the housing are integrated, so that the integrated design can be realized, the encoder chip is arranged on the driving plate, the motor and the driving plate are directly fixed on the housing, the position requirement of the encoder can be met, a user only needs to consider how the housing is installed on equipment, the design difficulty is small, and the processing precision requirement is low; through cooperation of the encoder chip and the control circuit, high-speed control and position keeping of the direct-current brushless motor can be realized, so that the motor has excellent high-speed characteristic, and the motor can be accurately controlled to rotate to a specified angle when the motor rotates at a low speed.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles, in particular to an integrated automatic homing FOC unmanned aerial vehicle power suit. Background Art

[0002] The high-speed motor solutions used to power drones on the market are all split-type sensorless control. The motor and the electric regulator (motor driver) are two separate devices, which can achieve high-speed rotation, but cannot maintain the position at the specified position when stopped. The motors that can maintain position on the market are servo motors, which have a low maximum speed, large motor size and weight, and large driver size and weight. They cannot be used on drones. In addition, with the split design, users need to consider the installation structure of the motor and encoder, and strictly control the relative position of the motor and encoder. The design is difficult and the processing accuracy requirements are high, which increases the difficulty of installing the driver. Therefore, we need to propose an integrated automatic homing FOC drone power kit to solve the above problems, so that it can effectively reduce the system size and reduce the difficulty of installation. Utility Model Content

[0003] The purpose of the utility model is to provide an integrated automatic homing FOC UAV power kit, in which the drive board, motor and casing are arranged as a whole, so that it can achieve an integrated design, effectively reduce the system volume, and reduce the difficulty of installation, so as to solve the problems raised in the background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an integrated automatic homing FOC UAV power suit, which is composed of a propeller, a motor, a drive plate and a shell with a heat transfer effect, wherein the motor is installed outside one end of the shell, a rotating shaft is provided on the motor, the propeller is installed at one end of the rotating shaft, the drive plate is fixed to the other end of the shell through a bottom plate, and the drive plate, the motor and the shell are arranged as a whole;

[0005] The drive board is provided with an encoder chip and a control circuit for accurately controlling the motor to rotate to a specified angle. One side of the drive board is connected to the motor through a connecting line, and a magnet is provided at the other end of the rotating shaft. The distance between the magnet and the encoder chip is 1.5 mm.

[0006] Preferably, the control circuit includes a main controller, a non-sensing high-speed rotation control unit and a sensed position holding control unit connected to the main controller for high-speed control and position holding of the motor, a drive circuit connected to the non-sensing high-speed rotation control unit and the sensed position holding control unit, the drive circuit is connected to the motor, one end of the drive circuit is connected to a three-resistance sampling circuit, one end of the three-resistance sampling circuit is connected to a signal amplification circuit, and the signal amplification circuit and the encoder chip are both connected to the main controller.

[0007] Preferably, the outer shell and the bottom plate are configured as metal shells, and the outer wall of the bottom plate is provided with heat dissipation teeth for accelerating the heat dissipation of the bottom plate.

[0008] Preferably, a screw hole is provided in the middle of the propeller, the rotating shaft passes through the propeller and is fixed to the motor through the screw hole on the propeller using screws, and the motor rotor is provided with an external thread section that matches the screw hole.

[0009] Preferably, the propeller comprises a connecting portion and positive blades and reverse blades located at two ends of the connecting portion and arranged in opposite directions, and the positive blades and reverse blades are used in combination.

[0010] Preferably, the motor is configured as a three-phase brushless motor, and the distance between the motor position and the encoder chip position is 0.5 mm-2 mm.

[0011] Preferably, the other end of the shell is provided with a notch for installing the base plate, and a sealing rubber ring is provided at the connection between the base plate and the shell. The shell is provided with a limiting hole, through which the shell and the machine arm can be limited and fixed.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The utility model sets the driving board, the motor and the housing as the same whole, so that it can achieve an integrated design. The encoder chip is on the driving board, and the motor and the driving board are directly fixed on the housing to meet the requirements of the encoder position. The user only needs to consider how to install the housing on the equipment. The design difficulty is small, the processing accuracy requirement is low, and the system volume can be effectively reduced, which reduces the difficulty of installation.

[0014] 2. The utility model can realize high-speed control and position holding of the brushless DC motor through the cooperation of the encoder chip and the control circuit, so that the motor can have excellent high-speed characteristics and can accurately control the motor to rotate to a specified angle when the motor rotates at a low speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a side view structural schematic diagram of the utility model;

[0016] Figure 2 It is a schematic diagram of the explosion structure of the utility model;

[0017] Figure 3 It is a schematic diagram of the top view structure of the utility model;

[0018] Figure 4 This is a control circuit system block diagram of the utility model;

[0019] Figure 5This is a schematic diagram of the storage of a four-axis drone of the utility model.

[0020] In the figure: 1. propeller; 2. motor; 3. housing; 4. connecting wire; 5. bottom plate; 6. drive board; 7. rotating shaft; 8. magnet; 9. limit hole; 10. encoder chip; 11. sealing rubber ring. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] See also Figure 1-5 As shown, the utility model provides a technical solution: an integrated automatic homing FOC UAV power suit, consisting of a propeller 1, a motor 2, a drive plate 6 and a shell 3 with a heat transfer effect, wherein the motor 2 is mounted on the outside of one end of the shell 3, a rotating shaft 7 is provided on the motor 2, the propeller 1 is mounted on one end of the rotating shaft 7, the drive plate 6 is fixed to the other end of the shell 3 through a bottom plate 5, the drive plate 6, the motor 2 and the shell 3 are arranged as a whole, so that an integrated design can be achieved, an encoder chip 10 is arranged on the drive plate 6, the motor 2 and the drive plate 6 are directly fixed on the shell 3 to meet the position requirement of the encoder chip 10, and the user only needs to consider how to install the shell 3 on the equipment, the design difficulty is small, and the processing accuracy requirement is low.

[0023] The drive board 6 is provided with an encoder chip 10 and a control circuit for accurately controlling the motor 2 to rotate to a specified angle. One side of the drive board 6 is connected to the motor 2 via a connecting line 4. The connecting line 4 is provided with a sealing rubber ring 11 for mounting on the housing 3. A magnet 8 is provided at the other end of the rotating shaft 7. The distance between the magnet 8 and the encoder chip is 1.5 mm. The distance between the motor 2 and the encoder chip is designed to be 1.5 mm with less noise. The user does not need to design a precise installation structure for the electric adjustment, while ensuring the measurement accuracy of the encoder chip.

[0024] The control circuit includes a main controller, a non-sensing high-speed rotation control unit and a sensed position holding control unit connected to the main controller for high-speed control and position holding of the motor 2, a drive circuit connected to the non-sensing high-speed rotation control unit and the sensed position holding control unit, the drive circuit is connected to the motor 2, one end of the drive circuit is connected to a three-resistance sampling circuit, one end of the three-resistance sampling circuit is connected to a signal amplification circuit, and the signal amplification circuit and the encoder chip are both connected to the main controller.

[0025] By setting up a non-sensing high-speed rotation control unit and a sensing position holding control unit, it is possible to use a method combining sensorless vector control technology with sensor vector control technology to achieve high-speed control and position holding of the DC brushless motor 2. When high-speed rotation is required to provide lift for the drone, the non-sensing vector control technology is used, and the speed can reach up to 5000RPM or more. When position holding is required, the sensing vector control technology is used to keep the position angle of the motor 2 within the set angle ±0.5°.

[0026] When the motor 2 needs to rotate at high speed to provide lift, the sensorless vector control technology is adopted. The state observer calculates the position information of the motor 2 by obtaining the indirect state quantity containing the angle information, so as to realize the high-speed control of the motor 2. The sensorless control intersects with the sensory control and has the advantages of high upper limit of maximum speed, high reliability and strong system robustness. When the motor 2 needs to drive the propeller 1 to keep at the set angle, it will automatically switch from the sensorless vector control to the sensored vector control. The absolute encoder chip obtains the absolute angle of the motor 2, and the drive circuit drives the motor 2 to rotate to the target angle and maintain it by controlling the stator magnetic field. By combining the sensorless vector control with the sensored vector control method, the problem that the state observer cannot accurately calculate the angle of the motor 2 when the motor 2 rotates at a low speed in the sensorless vector control is solved, and the pain point of the sensored vector control technology with a low maximum speed is solved, so that the motor 2 can have excellent high-speed characteristics and can accurately control the motor 2 to rotate to the specified angle when the motor 2 rotates at a low speed.

[0027] The outer shell 3 and the bottom plate 5 are configured as metal shells, and the outer wall of the bottom plate 5 is provided with heat dissipation teeth for accelerating the heat dissipation of the bottom plate 5. The drive plate 6 is fixed in the metal shell, and the heat is transferred to the outside air through the bottom plate 5. The heat dissipation teeth on the bottom plate 5 accelerate the process of heat transfer to the air, thereby improving the heat dissipation efficiency of the drive plate 6. The metal shell is located at the lower part of the propeller 1 of the motor 2. The downward airflow generated by the propeller 1 will directly blow onto the outer shell 3 and the bottom plate 5, bringing the heat to the surrounding environment, thereby ensuring a good temperature environment for the components in the outer shell 3.

[0028] The propeller 1 is provided with a screw hole in the middle, and a mounting hole is provided on each side of the screw hole. The rotating shaft 7 passes through the screw hole provided in the middle of the propeller 1, and is fixed to the motor 2 through the mounting hole on the propeller 1 by screws, so that the propeller 1 is connected and fixed to the motor rotor. The rotor of the motor 2 is provided with an external thread section that matches the screw hole, so that the propeller 1 can be easily installed on the rotor of the motor 2 through the screw hole and the threaded match of the external thread.

[0029] The propeller 1 includes a connecting portion and positive blades and reverse blades disposed in opposite directions at both ends of the connecting portion. The positive blades and reverse blades are used in conjunction with each other, and the propeller 1 generates an upward pulling force by rotating. This is a key factor for the multi-rotor drone to take off, maintain airborne flight, and land. The reaction force generated by the rotation of the propeller 1 is offset by the coordinated use of the positive blades and reverse blades disposed in opposite directions.

[0030] The propeller composed of positive blades and reverse blades can save 50% of the space when the drone is stored, taking a quadcopter as an example. It effectively reduces the storage and storage area of ​​the drone, reduces the overall volume and weight of the equipment, helps to miniaturize the equipment and reduce the equipment cost.

[0031] The motor 2 is configured as a three-phase brushless motor, and the distance between the position of the motor 2 and the position of the encoder chip is 0.5mm-2mm. The function of the motor 2 is to drive the propeller 1 to rotate at a high speed when the drone is flying, so that the propeller 1 generates lift, and drive the blades to rotate to a specified angle and maintain it after the drone lands.

[0032] The other end of the shell 3 is provided with a groove for installing the bottom plate 5, and a sealing rubber ring 11 is provided at the connection between the bottom plate 5 and the shell 3, so that the air tightness between the shell 3 and the bottom plate 5 is good, which plays a certain role in dust and water prevention, and also prevents damage to key components due to bumps. A limiting hole 9 is also provided on the shell 3. The limiting hole 9 is used to facilitate the installation of the shell 3 on the arm of the drone equipment using screws, thereby preventing the shell 3 and the arm from falling off and rotating.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Integrated automatic homing FOC UAV power suit, characterized by: The invention comprises a propeller (1), a motor (2), a drive plate (6) and a housing (3) having a heat transfer effect, wherein the motor (2) is mounted outside one end of the housing (3), a rotating shaft (7) is arranged on the motor (2), the propeller (1) is mounted on one end of the rotating shaft (7), the drive plate (6) is fixed to the other end of the housing (3) through a bottom plate (5), and the drive plate (6), the motor (2) and the housing (3) are arranged as a whole; The drive board (6) is provided with an encoder chip (10) and a control circuit for accurately controlling the motor (2) to rotate to a specified angle. One side of the drive board (6) is connected to the motor (2) via a connecting line (4). The other end of the rotating shaft (7) is provided with a magnet (8). The distance between the magnet (8) and the encoder chip (10) is 1.5 mm.

2. The integrated automatic homing FOC UAV power suit according to claim 1 is characterized by: The control circuit comprises a main controller, a non-sensing high-speed rotation control unit and a sensing position holding control unit connected to the main controller for high-speed control and position holding of a motor (2), a drive circuit connected to the non-sensing high-speed rotation control unit and the sensing position holding control unit, the drive circuit being connected to the motor (2), one end of the drive circuit being connected to a three-resistance sampling circuit, one end of the three-resistance sampling circuit being connected to a signal amplification circuit, the signal amplification circuit and an encoder chip (10) being both connected to the main controller.

3. The integrated automatic homing FOC UAV power suit according to claim 2 is characterized by: The outer shell (3) and the bottom plate (5) are configured as metal shells, and the outer wall of the bottom plate (5) is provided with heat dissipation teeth for accelerating the heat dissipation of the bottom plate (5).

4. The integrated automatic homing FOC UAV power suit according to claim 3 is characterized by: A screw hole is provided in the middle of the propeller (1); the rotating shaft (7) passes through the propeller (1) and is fixed to the motor (2) by means of screws through the screw hole on the propeller (1); and an external thread section matching the screw hole is provided on the rotor of the motor (2).

5. The integrated automatic homing FOC UAV power suit according to claim 4 is characterized by: The propeller (1) comprises a connecting portion and positive blades and reverse blades located at two ends of the connecting portion and arranged in opposite directions, and the positive blades and reverse blades are used in combination.

6. The integrated automatic homing FOC UAV power suit according to claim 5 is characterized by: The motor (2) is configured as a three-phase brushless motor, and the distance between the position of the motor (2) and the position of the encoder chip (10) is 0.5 mm-2 mm.

7. The integrated automatic homing FOC UAV power suit according to claim 6 is characterized by: The other end of the shell (3) is provided with a notch for mounting the bottom plate (5), and a sealing rubber ring (12) is provided at the connection between the bottom plate (5) and the shell (3). A limiting hole (9) is provided on the shell (3), and the shell (3) and the machine arm can be fixed by limiting the position through the limiting hole (9).

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