All-wheel-drive control circuit of multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle

Abstract

The utility model discloses an all-wheel-drive control circuit of a multi-rotor unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle, which are applied to the technical field of unmanned aerial vehicle devices and are used for solving the problems of poor stability and reliability of a control circuit of the multi-rotor unmanned aerial vehicle in the prior art. Specifically, the main control circuit board and the power distribution driving circuit board are physically separated and are connected through a first connector; a plurality of mutually independent motor driving channels are arranged on the power distribution driving circuit board; the main control circuit board generates a plurality of power supply channel control signals and sends the signals to the motor driving channel through the first connector; and each motor driving channel connects or disconnects the connection between the corresponding motor and the external power supply under the control of the power supply channel control signal. Through physical separation of the circuit board and independent on-off control of the motor driving channel, the stability and reliability of the control circuit are improved.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) device technology, and in particular to a multi-rotor UAV all-drive control circuit and a multi-rotor UAV. Background Technology

[0002] With the rapid development of UAV technology, multi-rotor UAVs, with their flexible and controllable flight characteristics, have been widely used in industrial inspection, logistics transportation, and other fields. Diverse mission scenarios place higher demands on the dynamic response speed and stability of flight control. Fully Actuated Systems (FAS) can eliminate the nonlinear effects of the system by reconfiguring the control input, enabling free configuration of the closed-loop system's characteristic structure. This significantly improves the maneuverability and control performance of UAVs, such as achieving faster attitude adjustments and more precise trajectory tracking.

[0003] Currently, all-wheel drive systems are typically integrated into the control circuitry to achieve drive control of multi-rotor drones. However, existing control circuits generally suffer from the following structural problems:

[0004] Firstly, the high-power motor drive circuit and the low-level control signal circuit are mixed on the same PCB layer. The high-frequency electromagnetic noise generated during the motor commutation process is easily coupled to the sensitive control signal path, which directly affects the main control chip's acquisition accuracy of the attitude sensor signal, resulting in a decrease in the stability of the control circuit.

[0005] Secondly, multiple motor drive channels share the same power bus and grounding circuit. The current fluctuations generated during dynamic adjustment not only cause local overheating of the PCB copper foil and increased line voltage drop, but also cause current crosstalk between channels through the common path, which significantly reduces the reliability of the control circuit.

[0006] Third, centralized power distribution and signal transmission mechanisms have limitations in response speed and parallel control capabilities, making it difficult to meet the deterministic requirements of high dynamic control for all-drive systems, and further weakening the circuit's stable operation capability under complex working conditions.

[0007] In summary, electromagnetic interference, heat accumulation, and channel coupling caused by improper circuit layout and structural design directly affect the stability and reliability of the control circuit. Utility Model Content

[0008] This utility model provides a multi-rotor drone all-drive control circuit and a multi-rotor drone to solve the problem of poor stability and reliability of existing multi-rotor drone control circuits in the prior art.

[0009] The technical solution provided by this utility model embodiment is as follows:

[0010] On the one hand, this utility model embodiment provides a multi-rotor unmanned aerial vehicle (UAV) all-drive control circuit, including: a main control circuit board and a power distribution drive circuit board;

[0011] The main control circuit board and the power distribution drive circuit board are physically separated and connected by a first connector; the power distribution drive circuit board is provided with multiple independent motor drive channels; the first input terminal of each motor drive channel is connected to an external power supply, the second input terminal of each motor drive channel is connected to the main control circuit board through the first connector, and the output terminal of each motor drive channel is connected to the corresponding motor.

[0012] The main control circuit board outputs power channel control signals to each motor drive channel on the power distribution drive circuit board through the first connector;

[0013] Under the control signal of the power channel, each motor drive channel on the power distribution drive circuit board connects or disconnects the corresponding motor from the external power supply.

[0014] Optionally, the main control circuit board includes: a control module, an inertial module, a main control power module, and a peripheral power module;

[0015] The input terminal of the main control power module is connected to the power distribution drive circuit board via the second connector. The first output terminal of the main control power module is connected to the power supply terminal of the control module, and the second output terminal of the main control power module is connected to the input terminal of the peripheral power module. The main control power module is used to step down the power supply voltage from the power distribution drive circuit board to the first voltage, convert the first voltage into the first supply voltage, input the first voltage to the peripheral power module, and input the first supply voltage to the control module.

[0016] The output terminal of the peripheral power module is connected to the power supply terminal of the inertial module; the peripheral power module is used to convert the first voltage into a second power supply voltage and input the second power supply voltage to the inertial module.

[0017] The output of the inertial module is connected to the input of the control module; the inertial module is used to measure the attitude of the UAV to obtain attitude data and send the attitude data to the control module.

[0018] The output of the control module is connected to each motor drive channel of the power distribution drive circuit board through the first connector; the control module is used to generate power channel control signals and motor drive control signals.

[0019] Optionally, the main control power module includes: a DC-DC step-down converter module, a first low-dropout linear regulator chip, a first resistor, a second resistor, a first light-emitting diode, and a second light-emitting diode;

[0020] The input terminal of the DC-DC buck converter module is connected to the power distribution drive circuit board via the second connector, and the output terminal of the DC-DC buck converter module is connected to the input terminal of the first low dropout linear regulator chip and the input terminal of the peripheral power module, respectively.

[0021] The output terminal of the first low-dropout linear regulator chip is connected to the power supply terminal of the control module;

[0022] The positive terminal of the first LED is connected to the output terminal of the DC-DC step-down converter module via the first resistor, and the negative terminal of the first LED is connected to ground.

[0023] The positive terminal of the second LED is connected to the output terminal of the first low-dropout linear regulator chip via the second resistor, and the negative terminal of the second LED is connected to ground.

[0024] Optionally, the peripheral power module includes: a second low-dropout linear regulator chip, a third resistor, and a third light-emitting diode;

[0025] The input terminal of the second low-dropout linear regulator chip is connected to the output terminal of the DC-DC buck converter module, and the output terminal of the second low-dropout linear regulator chip is connected to the power supply terminal of the inertial module.

[0026] The positive terminal of the third LED is connected to the output terminal of the second low-dropout linear regulator chip via the third resistor, and the negative terminal of the third LED is connected to ground.

[0027] Optionally, the motor drive channel includes: a first MOSFET, a second MOSFET, a fourth resistor, a fifth resistor, and a motor interface module;

[0028] The source of the first MOSFET is connected to an external power supply, the drain of the first MOSFET is connected to the first terminal of the motor interface module, and the gate of the first MOSFET is connected to the drain of the second MOSFET.

[0029] The source of the second MOSFET is connected to ground, and the gate of the second MOSFET is connected to the main control circuit board via the first connector.

[0030] The first end of the fourth resistor is connected to the source of the first MOSFET, and the second end of the fourth resistor is connected to the gate of the first MOSFET.

[0031] The first end of the fifth resistor is connected to the gate of the second MOSFET, and the second end of the fifth resistor is connected to the source of the second MOSFET.

[0032] The second end of the motor interface module is connected to the main control circuit board via the first connector, and the third end of the motor interface module is connected to the corresponding motor.

[0033] Optionally, the motor interface module includes: a composite interface; the composite interface includes power terminals and signal terminals;

[0034] The power terminals are connected to the drain of the first MOSFET and the power input terminal of the corresponding motor, respectively, and are used to supply power to the corresponding motor.

[0035] The signal terminal is connected to the main control circuit board via the first connector. The signal terminal is also connected to the signal input terminal of the corresponding motor. The signal terminal is used to receive motor drive control signals and transmit them to the corresponding motor.

[0036] Optionally, the motor drive channel may also include: a first Zener diode;

[0037] The cathode of the first Zener diode is connected to the gate of the first MOSFET, and the anode of the first Zener diode is connected to the source of the first MOSFET.

[0038] Optionally, the main control circuit board may also include: a debugging interface;

[0039] The debugging interface is connected to both the control module and external debugging equipment.

[0040] Optionally, the first connector includes: a first board-end interface, a second board-end interface, and connecting wires; the first board-end interface is fixed on the main control circuit board and is connected to the control module on the main control circuit board; the second board-end interface is fixed on the power distribution drive circuit board and is connected to the second input terminal of each motor drive channel; the first board-end interface and the second board-end interface are connected by corresponding connecting wires.

[0041] The second connector includes: a first power interface, a second power interface, and a power wire; the first power interface is fixed to the main control power module and is connected to the input terminal of the main control power module; the second power interface is fixed to the power distribution driver circuit board and is connected to the power terminal of the power distribution driver circuit board; the first power interface and the second power interface are connected to each other by power wires.

[0042] On the other hand, this utility model embodiment provides a multi-rotor drone, including: a frame, multiple rotor motors, and the above-mentioned multi-rotor drone all-drive control circuit;

[0043] Multiple rotor motors are mounted on the frame; the motor drive channels of the multi-rotor UAV's full-drive control circuit are connected to the corresponding rotor motors; the multi-rotor UAV's full-drive control circuit is used to independently control the power supply and drive of each rotor motor.

[0044] The beneficial effects of this utility model embodiment are as follows:

[0045] In this embodiment of the invention, by physically separating the main control circuit board from the power distribution drive circuit board, the electromagnetic coupling path between the high-current loop of the motor drive channel and the main control signal loop is cut off, ensuring the stability of the control signals generated by the main control circuit board. Each motor drive channel is independently connected to an external power supply through its first input terminal, dispersing the current path, avoiding local overheating and voltage drop, and improving power supply reliability. Simultaneously, the independence of each motor drive channel confines the current fluctuations generated by a single motor drive within its own channel, eliminating electrical crosstalk between channels and ensuring the accuracy of signal transmission and the stability of circuit operation. Furthermore, the independent control of the power channel control signal to switch each motor on and off with the external power supply achieves independent control of the power supply to each motor, improving fault isolation capability and maintainability. Therefore, through the physical separation of the main control circuit board and the power distribution drive circuit board, the independent connection of each motor drive channel to the external power supply, and the independent on / off control based on the power channel control signal, the stability and reliability of the multi-rotor UAV control circuit are significantly improved.

[0046] Other features and advantages of this invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0047] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0048] Figure 1 This is a schematic diagram of the first structure of the all-drive control circuit for a multi-rotor UAV in this embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the second structure of the multi-rotor UAV all-drive control circuit in this embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the third structure of the all-drive control circuit for a multi-rotor UAV in this embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the specific circuit structure of the DC-DC step-down converter module in this embodiment of the present invention;

[0052] Figure 5 This is a schematic diagram of the fourth structure of the multi-rotor UAV all-drive control circuit in this utility model embodiment;

[0053] Figure 6 This is a schematic diagram of the fifth structure of the multi-rotor UAV all-drive control circuit in this utility model embodiment;

[0054] Figure 7 This is a schematic diagram of the sixth structure of the multi-rotor UAV all-drive control circuit in this utility model embodiment;

[0055] Figure 8 This is a perspective view of the board-end interface in an embodiment of this utility model;

[0056] Figure 9 This is a top view of the board end interface in an embodiment of this utility model;

[0057] Figure 10 This is a front view of the board-end interface in an embodiment of this utility model;

[0058] Figure 11 This is a perspective view of the power interface in an embodiment of the present utility model;

[0059] Figure 12 This is a top view of the power interface in an embodiment of this utility model;

[0060] Figure 13 This is a front view of the power interface in an embodiment of this utility model.

[0061] Icons: 100 - Multi-rotor UAV full-drive control circuit; 110 - Main control circuit board; 120 - Power distribution drive circuit board; 130 - First connector; 140 - Second connector; 121 - Motor drive channel; 111 - Control module; 112 - Inertial module; 113 - Main control power module; 114 - Peripheral power module; 115 - DC-DC step-down converter module; 116 - First low-dropout linear regulator chip; R1 - First resistor; R2 - Second resistor; LED1 - First light-emitting diode; LED2 - Second light-emitting diode; 117 - Second low-dropout linear regulator chip; R3 - Third resistor; LED3 - Third light-emitting diode; Q1 - First MOSFET; Q2 - Second MOSFET; R4 - Fourth resistor; R5 - Fifth resistor; 122 - Motor interface module; D1 - First Zener diode; 150 - Debugging interface. Detailed Implementation

[0062] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0063] This utility model embodiment provides a multi-rotor unmanned aerial vehicle (UAV) all-drive control circuit, see reference. Figure 1 As shown, the multi-rotor UAV all-drive control circuit 100 includes at least: a main control circuit board 110 and a power distribution drive circuit board 120;

[0064] The main control circuit board 110 and the power distribution drive circuit board 120 are physically separated and connected by the first connector 130; the power distribution drive circuit board 120 is provided with multiple independent motor drive channels 121; the first input terminal of each motor drive channel 121 is connected to an external power supply, the second input terminal of each motor drive channel 121 is connected to the main control circuit board 110 through the first connector 130, and the output terminal of each motor drive channel 121 is connected to the corresponding motor;

[0065] The main control circuit board 110 outputs power channel control signals to each motor drive channel 121 on the power distribution drive circuit board through the first connector 130;

[0066] Under the control signal of the power channel, each motor drive channel 121 on the power distribution drive circuit board connects or disconnects the corresponding motor from the external power supply.

[0067] exist Figure 1In the multi-rotor drone all-drive control circuit 100 shown, the main control circuit board 110 and the power distribution drive circuit board 120 are physically separated and connected by a first connector 130. The first connector 130 can be a ZH1.5 series wire-to-board connector, which has a 1.5mm pin pitch and is equipped with a tight-fitting connector with a physical snap-fit ​​for transmitting control signals. The power distribution drive circuit board 120 has multiple independent motor drive channels 121, the number of which corresponds to the number of rotor motors in the multi-rotor drone. For example, a quadcopter drone has four motor drive channels 121. The first input terminal of each motor drive channel 121 is connected to an external power source, which is the positive terminal of the drone's power battery. The second input terminal of each motor drive channel 121 is connected to the main control circuit board 110 through the first connector 130 to receive power channel control signals and motor drive control signals. The output terminal of each motor drive channel 121 is connected to the corresponding motor, which is a brushless DC motor or a motor driven by an electronic speed controller. The main control circuit board 110 generates multiple power channel control signals and multiple motor drive control signals. The power channel control signals are digital switch control signals used to control the on / off state of motor power supply, and the motor drive control signals are DSHOT (Digital Shot) signals or PWM (Pulse Width Modulation) signals. The main control circuit board 110 sends the power channel control signals and motor drive control signals to each motor drive channel 121 of the power distribution drive circuit board 120 via the first connector 130. The motor drive channel 121 responds to the received power channel control signals by connecting or disconnecting the corresponding motor from the external power supply, thus achieving independent control of the motor power supply. The motor drive channel 121 also transmits the received motor drive control signals to the corresponding motor to regulate the motor speed.

[0068] In practical applications, a dual-PCB (Printed Circuit Board) architecture, consisting of a main control circuit board and a power distribution driver circuit board, achieves complete physical separation between the control logic circuit and the power drive circuit. The main control circuit board focuses on attitude sensing, control calculations, and motor control signal generation, while the power distribution driver circuit board handles the switching of the power MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors) and high-current power distribution. Only low-power control signals are transmitted between the main control circuit board and the power distribution driver circuit board; high-current power is not transmitted. This achieves physical isolation between the low-voltage logic system and the high-voltage power system, eliminating the high coupling between high-power and low-signal circuits at the PCB level. Each motor drive channel is electrically independent, with its own power distribution path and independent switching control circuit. Current fluctuations generated by a single motor during acceleration or deceleration will not affect the operating status of other motors through a common power bus or common ground path, avoiding mutual interference between motor drive channels. When a motor experiences stall, overcurrent, or electronic speed controller lockup, the main control circuit board can output a corresponding power channel control signal to disconnect the motor's drive channel from the external power supply, preventing the fault from spreading to other motors or the main control circuit board, thus achieving active fault isolation. This architecture significantly reduces the risk of PCB-level electromagnetic interference, ensures the purity of high-frequency control signals, and improves the stability and reliability of the entire system under high load and high dynamic conditions, while also meeting the real-time and parallel requirements of full-drive control.

[0069] In this way, by physically separating the main control circuit board from the power distribution drive circuit board, the electromagnetic coupling path between the high-current loop of the motor drive channel and the main control signal loop is cut off, ensuring the stability of the control signals generated by the main control circuit board. Each motor drive channel is independently connected to the external power supply through the first input terminal, dispersing the current path, avoiding local overheating and voltage drop, and improving power supply reliability. At the same time, each motor drive channel is independent of each other, limiting the current fluctuations generated by a single motor drive to its own channel, eliminating electrical crosstalk between channels, and ensuring the accuracy of signal transmission and the stability of circuit operation. In addition, the independent control of the on / off of each motor and the external power supply through the power channel control signal realizes independent control of the power supply to each motor, improving fault isolation capability and maintainability. Thus, through the physical separation of the main control circuit board and the power distribution drive circuit board, the independent connection of each motor drive channel to the external power supply, and the independent on / off control based on the power channel control signal, the stability and reliability of the multi-rotor UAV control circuit are significantly improved.

[0070] In one possible implementation, see [reference] Figure 2As shown, the main control circuit board 110 includes: a control module 111, an inertial module 112, a main control power module 113, and a peripheral power module 114;

[0071] The input terminal of the main control power module 113 is connected to the power distribution drive circuit board 120 through the second connector 140. The first output terminal of the main control power module 113 is connected to the power supply terminal of the control module 111, and the second output terminal of the main control power module 113 is connected to the input terminal of the peripheral power module 114. The main control power module 113 is used to step down the power supply voltage from the power distribution drive circuit board 120 to a first voltage, convert the first voltage into a first supply voltage, input the first voltage to the peripheral power module 114, and input the first supply voltage to the control module 111.

[0072] The output terminal of the peripheral power module 114 is connected to the power supply terminal of the inertial module 112; the peripheral power module 114 is used to convert the first voltage into a second power supply voltage and input the second power supply voltage to the inertial module 112.

[0073] The output of the inertial module 112 is connected to the input of the control module 111; the inertial module 112 is used to measure the attitude of the UAV to obtain attitude data and send the attitude data to the control module 111.

[0074] The output of the control module 111 is connected to each motor drive channel 121 of the power distribution drive circuit board 120 through the first connector 130; the control module 111 is used to generate power channel control signals and motor drive control signals.

[0075] exist Figure 2 In the multi-rotor UAV all-drive control circuit 100 shown, the input terminal of the main control power module 113 is connected to the power distribution drive circuit board 120 via a second connector 140. The second connector 140 is an XT30 power connector. The first output terminal of the main control power module 113 is connected to the power supply terminal of the control module 111, and the second output terminal of the main control power module 113 is connected to the input terminal of the peripheral power module 114. The main control power module 113 is used to step down the power supply voltage from the power distribution drive circuit board 120, such as a 24V lithium battery voltage, to a first voltage, which is a 5V DC voltage. The main control power module 113 converts the first voltage into a first supply voltage, which is a 3.3V DC voltage. The main control power module 113 inputs the first voltage to the peripheral power module 114 and to the control module 111. The output terminal of the peripheral power module 114 is connected to the power supply terminal of the inertial module 112. The peripheral power module 114 is used to convert the first voltage into a second power supply voltage, which is a 3.3V DC voltage. The peripheral power module 114 inputs the second power supply voltage to the inertial module 112.

[0076] The output of inertial module 112 is connected to the input of control module 111. Inertial module 112 uses a JY931S IMU (Inertial Measurement Unit) and connects to control module 111 via a UART (Universal Asynchronous Receiver / Transmitter) interface. Internally, inertial module 112 integrates an accelerometer, gyroscope, and magnetometer to measure the UAV's three-dimensional acceleration, angular velocity, and magnetic field direction, fusing these measurements to obtain attitude data, including pitch, roll, and yaw angles. Inertial module 112 transmits the attitude data to control module 111 via the UART interface. Control module 111 uses a microcontroller unit (MCU). Its input receives the attitude data from inertial module 112. Internally, control module 111 executes attitude calculation and motor control algorithms, generating power channel control signals and motor drive control signals based on the attitude data. The output of the control module 111 is connected to each motor drive channel 121 of the power distribution drive circuit board 120 through the first connector 130, and sends the power channel control signal and the motor drive control signal to the corresponding motor drive channel 121.

[0077] Thus, a dual-power domain architecture is constructed through the main control power module 113 and the peripheral power module 114. The main control power module 113 is dedicated to providing the first power supply voltage for the control module 111, and the peripheral power module 114 is dedicated to providing the second power supply voltage for the inertial module 112, achieving electrical isolation between the main control power domain and the peripheral power domain. The first low-dropout linear regulator chip 116 and the second low-dropout linear regulator chip 117 operate independently, respectively providing regulated power to the control module 111 and the inertial module 112. This avoids the impact of load changes of the inertial module 112 and other peripherals on the power stability of the control module 111, and prevents power fluctuations of peripherals from interfering with the normal operation of the control module 111 through power line coupling. The inertial module 112 is powered by an independent second power supply voltage, ensuring the measurement accuracy and transmission reliability of attitude data, providing accurate feedback information for the control module 111 to generate precise motor control signals, thereby improving the attitude control accuracy and flight stability of the UAV.

[0078] In one possible implementation, see [reference] Figure 3 As shown, the main control power module includes: a DC-DC step-down converter module 115, a first low-dropout linear regulator chip 116, a first resistor R1, a second resistor R2, a first light-emitting diode LED1, and a second light-emitting diode LED2.

[0079] The input terminal of the DC-DC step-down converter module 115 is connected to the power distribution drive circuit board via the second connector 140, and the output terminal of the DC-DC step-down converter module 115 is connected to the input terminal of the first low dropout linear regulator chip 116 and the input terminal of the peripheral power module 114, respectively.

[0080] The output terminal of the first low-dropout linear regulator chip 116 is connected to the power supply terminal of the control module 111;

[0081] The positive terminal of the first light-emitting diode LED1 is connected to the output terminal of the DC-DC step-down converter module 115 via the first resistor R1, and the negative terminal of the first light-emitting diode LED1 is connected to ground.

[0082] The positive terminal of the second light-emitting diode LED2 is connected to the output terminal of the first low-dropout linear regulator chip 116 via the second resistor R2, and the negative terminal of the second light-emitting diode LED2 is connected to ground.

[0083] exist Figure 3In the multi-rotor UAV all-drive control circuit shown, the input terminal of the DC-DC buck converter module 115 is connected to the power distribution driver circuit board via the second connector 140, receiving the 24V battery voltage from the power supply terminal of the power distribution driver circuit board. The DC-DC buck converter module 115 uses the SCT2450STER synchronous buck converter chip, which integrates high-side and low-side metal-oxide-semiconductor field-effect transistors (MOSFETs). An external bootstrap capacitor is connected to the BOOT pin, a frequency setting resistor is connected to the RT pin, a loop compensation network is connected to the COMP pin, and a feedback voltage divider resistor is connected to the FB pin. The output terminal of the DC-DC buck converter module 115 is connected to the input terminal of the first low-dropout linear regulator chip 116 and the input terminal of the peripheral power module 114, respectively. The DC-DC buck converter module 115 steps down the 24V battery voltage to a first voltage, namely 5V DC voltage. The first low-dropout linear regulator chip 116 uses an XC6210B332MR chip. Its input is connected to the output of the DC-DC buck converter module 115 to receive the first voltage. The output of the first low-dropout linear regulator chip 116 is connected to the power supply of the control module 111, regulating the first voltage into a first supply voltage, i.e., a 3.3V DC voltage, which is then input to the power supply pin of the control module 111. The positive terminal of the first light-emitting diode LED1 is connected to the output of the DC-DC buck converter module 115 via a first resistor R1, and the negative terminal of the first light-emitting diode LED1 is connected to ground. The first resistor R1 acts as a current-limiting resistor. The first light-emitting diode LED1 is used to indicate the power supply status of the first voltage; when the first voltage is output normally, the first light-emitting diode LED1 lights up. The positive terminal of the second light-emitting diode LED2 is connected to the output terminal of the first low-dropout linear regulator chip 116 via the second resistor R2. The negative terminal of the second light-emitting diode LED2 is connected to ground. The second resistor R2 is used as a current-limiting resistor. The second light-emitting diode LED2 is used to indicate the power supply status of the first power supply voltage. When the first power supply voltage is output normally, the second light-emitting diode LED2 lights up.

[0084] Thus, by employing the SCT2450STER synchronous buck converter chip as the DC-DC buck converter module 115, its synchronous rectification architecture and high switching frequency achieve efficient voltage conversion from 24V to 5V, effectively reducing power loss and circuit board heat generation. The SCT2450STER chip, through external inductors and filter capacitors, smooths the switching square wave to a stable 5V DC first voltage, and implements undervoltage lockout functionality through a resistor divider on the EN pin to prevent circuit malfunction when the battery is over-discharged. The first low-dropout linear regulator chip 116, utilizing its low-dropout characteristics, maintains a stable output even with an input-output voltage difference of only 1.7V, further regulating the 5V first voltage to a 3.3V first supply voltage. This effectively filters out the high-frequency switching noise and ripple generated by the DC-DC buck converter module 115, providing a low-noise, high-stability power supply for the control module 111. The first LED1 and the second LED2 are current-limited by the first resistor R1 and the second resistor R2, respectively, providing an intuitive power status indication. This allows on-site debugging personnel to quickly determine the working status of the main control power module. When a fault occurs in a certain voltage domain, the fault point can be quickly located by observing the extinguishing state of the corresponding LED, thus improving the maintainability of the circuit.

[0085] In one possible implementation, see [reference] Figure 3 As shown, the peripheral power supply module includes: a second low-dropout linear regulator chip 117, a third resistor R3, and a third light-emitting diode LED3;

[0086] The input terminal of the second low-dropout linear regulator chip 117 is connected to the output terminal of the DC-DC buck converter module 115, and the output terminal of the second low-dropout linear regulator chip 117 is connected to the power supply terminal of the inertial module 112.

[0087] The positive terminal of the third LED3 is connected to the output terminal of the second low-dropout linear regulator chip 117 via the third resistor R3, and the negative terminal of the third LED3 is connected to ground.

[0088] exist Figure 3In the multi-rotor UAV all-drive control circuit shown, the second low-dropout linear regulator chip 117 uses an XC6210B332MR chip. The input terminal of the second low-dropout linear regulator chip 117 is connected to the output terminal of the DC-DC buck converter module 115, receiving the first voltage, i.e., a 5V DC voltage, from the DC-DC buck converter module 115. The output terminal of the second low-dropout linear regulator chip 117 is connected to the power supply terminal of the inertial module 112, regulating the first voltage to a second power supply voltage, i.e., a 3.3V DC voltage, and inputting the second power supply voltage to the power supply pin of the inertial module 112. The positive terminal of the third light-emitting diode LED3 is connected to the output terminal of the second low-dropout linear regulator chip 117 via the third resistor R3, and the negative terminal of the third light-emitting diode LED3 is connected to ground. The third resistor R3 acts as a current-limiting resistor. The third light-emitting diode LED3 is used to indicate the power supply status of the second power supply voltage. When the second power supply voltage is output normally, the third light-emitting diode LED3 lights up.

[0089] In this way, by setting up a second low-dropout linear regulator chip 117 independent of the first low-dropout linear regulator chip 116, the inertial module 112 obtains a power supply path that is physically isolated from the main control power module. The second low-dropout linear regulator chip 117 specifically converts the 5V first voltage to a 3.3V second supply voltage to independently power the inertial module 112, avoiding the impact of load changes of the inertial module 112 on the power stability of the control module 111, and also preventing the digital switching noise of the control module 111 from coupling to the analog circuit part of the inertial module 112 through the power line. This dual power domain design is managed at the printed circuit board level through independent power traces and decoupling capacitors, realizing electrical isolation between the main control power domain and the peripheral power domain, improving the measurement accuracy and anti-interference capability of the inertial module 112. The third LED3, through the third resistor R3, limits the current and provides an independent status indication for the peripheral power domain. This makes it easy to distinguish the working status of the main control power domain and the peripheral power domain. When a fault occurs in the peripheral power domain, the fault point can be quickly located by observing the off state of the third LED3, thus improving the maintainability of the circuit and the efficiency of fault diagnosis.

[0090] For details, please refer to Figure 4As shown, the input terminal of the DC-DC buck converter module is connected to the power distribution driver circuit board via the second connector to receive the external battery voltage. An input filter capacitor bank, including capacitors C7, C8, C9, C10, and C11, is connected in parallel at the input terminal of the DC-DC buck converter module to filter out low-frequency ripple and high-frequency noise from the input power supply. The VIN pin of the SCT2450STER chip is connected to the positive terminal of the input, the GND pin is connected to system ground, and the EP heat sink is connected to system ground for chip heat dissipation. The SW pin of the SCT2450STER chip is connected to one end of the energy storage inductor L1, and the other end of the energy storage inductor L1 is connected to the output terminal. A bootstrap capacitor C is connected between the BOOT pin and the SW pin of the SCT2450STER chip, forming a bootstrap circuit to provide drive voltage for the internal high-side metal-oxide-semiconductor field-effect transistor. The EN pin of the SCT2450STER chip is connected to a resistor divider network consisting of resistors R6 and R7, forming an undervoltage lockout circuit. This circuit sets the start-up voltage threshold to prevent malfunctions when the battery is over-discharged. The FB pin of the SCT2450STER chip is connected to a feedback voltage divider network consisting of resistors R8 and R9. This network detects the output voltage and adjusts the internal control loop to stabilize the output voltage at a first voltage of 5V. The COMP pin of the SCT2450STER chip is connected to a compensation network consisting of resistor R10, capacitor C12, and capacitor C13. This network optimizes the stability and transient response characteristics of the control loop. An output filter capacitor bank, including capacitors C2, C3, C4, C5, and C6, is connected in parallel at the output of the DC-DC buck converter module to smooth the output voltage.

[0091] In one possible implementation, see [reference] Figure 5 As shown, the motor drive channel includes: a first MOSFET Q1, a second MOSFET, a fourth resistor R4, a fifth resistor R5, and a motor interface module 122;

[0092] The source of the first MOSFET Q1 is connected to an external power supply, the drain of the first MOSFET Q1 is connected to the first terminal of the motor interface module 122, and the gate of the first MOSFET Q1 is connected to the drain of the second MOSFET Q2.

[0093] The source of the second MOSFET Q2 is connected to ground, and the gate of the second MOSFET Q2 is connected to the main control circuit board via the first connector 130.

[0094] The first end of the fourth resistor R4 is connected to the source of the first MOSFET Q1, and the second end of the fourth resistor R4 is connected to the gate of the first MOSFET Q1.

[0095] The first end of the fifth resistor R5 is connected to the gate of the second MOSFET Q2, and the second end of the fifth resistor R5 is connected to the source of the second MOSFET Q2.

[0096] The second end of the motor interface module 122 is connected to the main control circuit board via the first connector 130, and the third end of the motor interface module 122 is connected to the corresponding motor.

[0097] exist Figure 5 In the multi-rotor UAV all-drive control circuit shown, the first MOSFET Q1 is a P-MOS (P-channel Metal-Oxide-Semiconductor Field-Effect Transistor). The source of the first MOSFET Q1 is connected to an external power supply, which is the positive voltage of the UAV's power battery. The drain of the first MOSFET Q1 is connected to the first terminal of the motor interface module 122. The gate of the first MOSFET Q1 is connected to the drain of the second MOSFET Q2. The second MOSFET is an N-MOS (N-channel Metal-Oxide-Semiconductor Field-Effect Transistor). The source of the second MOSFET Q2 is connected to ground. The gate of the second MOSFET Q2 is connected to the control module of the main control circuit board via the first connector 130 to receive power channel control signals from the control module. The drain of the second MOSFET Q2 is connected to the gate of the first MOSFET Q1. The fourth resistor R4 is a pull-up resistor. Its first terminal is connected to the source of the first MOSFET Q1, and its second terminal is connected to the gate of the first MOSFET Q1. R4 pulls the gate voltage of the first MOSFET Q1 up to the source voltage (i.e., the external power supply voltage) when Q1 is turned off. The fifth resistor R5 is a gate current-limiting resistor. Its first terminal is connected to the gate of the second MOSFET Q2, and its second terminal is connected to the source of the second MOSFET Q2. R5 limits the gate current of the second MOSFET and pulls the gate voltage down to ground potential when the second MOSFET is turned off. The second terminal of the motor interface module 122 is connected to the control module of the main control circuit board via the first connector 130, receiving motor drive control signals from the control module. The third terminal of the motor interface module 122 is connected to the corresponding motor, supplying power to the motor and transmitting motor drive control signals.

[0098] In practical applications, the first MOSFET Q1 is connected in series between the positive terminal of the power supply and the motor as a high-side switch, and the second MOSFET Q2 acts as a driver to control the switching of the first MOSFET Q1. When the control module outputs a high-level power channel control signal to the gate of the second MOSFET, the second MOSFET turns on, pulling the gate voltage of the first MOSFET Q1 down to near ground potential. At this time, the gate-source voltage of the first MOSFET Q1 reaches the turn-on threshold, and the first MOSFET Q1 turns on. The external power supply voltage flows through the drain of the first MOSFET Q1 to the motor interface module 122, supplying power to the corresponding motor. When the control module outputs a low-level power channel control signal, the second MOSFET Q2 turns off, and the fourth resistor R4 pulls the gate voltage of the first MOSFET Q1 up to the source voltage, making the gate-source voltage of the first MOSFET Q1 zero. The first MOSFET Q1 turns off, disconnecting the corresponding motor from the external power supply. The fifth resistor R5 limits the gate current to prevent overcurrent damage when the second MOSFET Q2 is turned on, and reliably pulls the gate voltage down to ground potential when the second MOSFET Q2 is turned off to ensure that the second MOSFET Q2 is completely turned off.

[0099] In this way, the configuration of the first MOSFET Q1 and the second MOSFET Q2 enables independent control of the motor power supply path. The control module, through the output power channel control signal, can control the on / off state of the second MOSFET Q2 within microseconds, thereby controlling the on / off state of the first MOSFET Q1, achieving physical disconnection or restoration of the connection between any motor and the external power supply. When the aircraft encounters a single motor stall, overcurrent, or electronic speed controller software deadlock fault, the control module can immediately disconnect the connection of that motor drive channel to the external power supply, preventing the fault from spreading and burning out the motherboard or other motors, achieving active fault isolation. The fourth resistor R4 ensures that the first MOSFET Q1 is reliably turned off when the control signal fails or is low, and the fifth resistor R5 protects the gate of the second MOSFET Q2 and ensures reliable turn-off, improving the reliability and safety of the motor drive channel. This structure can achieve power-off protection or cold restart for a single motor, improving maintainability and fault recovery capabilities.

[0100] In one possible implementation, see [reference] Figure 6 As shown, the motor interface module includes: a composite interface; the composite interface includes power terminals and signal terminals;

[0101] The power terminals are connected to the drain of the first MOSFET and the power input terminal of the corresponding motor, respectively, and are used to supply power to the corresponding motor.

[0102] The signal terminal is connected to the main control circuit board via the first connector. The signal terminal is also connected to the signal input terminal of the corresponding motor. The signal terminal is used to receive motor drive control signals and transmit them to the corresponding motor.

[0103] In practical applications, the power supply terminals include positive and negative terminals. The positive terminal is connected to the drain of the first MOSFET, and the negative terminal is connected to ground. The power supply terminals are also connected to the positive and negative power input terminals of the corresponding motors, respectively. These terminals provide high-current DC power to the corresponding motors. The signal terminals are connected to the control module of the main control circuit board via a first connector. They are also connected to the signal input terminals of the corresponding motors, receiving motor drive control signals and transmitting them to the corresponding motors. These motor drive control signals are either DSHOT (Digital Shot) or PWM (Pulse Width Modulation) signals. The composite interface uses an XT30PW (2+2) composite connector. This connector integrates signal pins on both sides of the standard XT30 power interface, forming a hybrid connector structure that integrates power and signal. The power supply terminals use the standard XT30 power interface, capable of carrying high-current DC power transmission. The signal terminals use additional signal pins for transmitting digital control signals.

[0104] In one possible implementation, see [reference] Figure 6 As shown, the motor drive channel 121 also includes: a first Zener diode D1;

[0105] The cathode of the first Zener diode D1 is connected to the gate of the first MOSFET Q1, and the anode of the first Zener diode D1 is connected to the source of the first MOSFET Q1.

[0106] exist Figure 6 In the multi-rotor UAV all-drive control circuit shown, the first Zener diode D1 is a Zener diode. The cathode of the first Zener diode D1 is connected to the gate of the first MOSFET Q1, and the anode of the first Zener diode D1 is connected to the source of the first MOSFET Q1. The first Zener diode D1 is connected across the gate and source of the first MOSFET Q1, forming a gate overvoltage clamping protection structure. The Zener voltage of the first Zener diode D1 is set below the maximum rated gate-source voltage of the first MOSFET Q1. When the corresponding motor decelerates rapidly and generates a back electromotive force (Back-EMF), or when a battery is inserted into the power distribution drive circuit board and a surge voltage is generated, causing a transient overvoltage at the gate of the first MOSFET Q1, once the gate voltage of the first MOSFET Q1 exceeds the voltage regulation threshold of the first Zener diode D1, the first Zener diode D1 quickly turns on to clamp the gate voltage of the first MOSFET Q1 at the regulated value, preventing the gate-source voltage (Vgs) of the first MOSFET Q1 from exceeding the safe operating area (SOA).

[0107] In this way, by connecting the first Zener diode D1 across the gate and source of the first MOSFET Q1, a voltage hard limiter protection structure is formed. This structure can force the gate-source voltage of the first MOSFET Q1 to be maintained within the safe operating area when encountering extreme conditions such as wide voltage input, reverse electromotive force generated by high dynamic changes of the motor, or insertion and removal surges. This prevents the gate oxide layer of the first MOSFET Q1 from being damaged due to gate-source overvoltage, ensuring the reliability and long-term stability of the core power switching element, improving the hardware robustness of the motor drive channel under extreme conditions, and adapting to the high dynamic and high burst control requirements of multi-rotor UAVs.

[0108] In one possible implementation, see [reference] Figure 7 As shown, the multi-rotor UAV all-drive control circuit 100 also includes: a debugging interface 150;

[0109] The debugging interface 150 is connected to the control module 111 and the external debugging equipment respectively.

[0110] exist Figure 7In the multi-rotor UAV all-drive control circuit 100 shown, the debugging interface 150 uses a 6-pin connector and is connected to the control module 111 and external debugging equipment. The debugging interface 150 includes a serial wire debugging interface (SWD) and a universal asynchronous receiver / transmitter (UART) interface. The SWD interface includes a serial wire clock pin (SWCLK) and a serial wire data input / output pin (SWDIO). The SWCLK and SWDIO pins are connected to the debugging clock and debugging data pins of the control module 111, respectively. The UART interface includes a Universal Synchronous / Asynchronous Receiver / Transmitter 1 (USART1_TX) pin and a Universal Synchronous / Asynchronous Receiver / Transmitter 1 (USART1_RX) pin. The USART1_TX and USART1_RX pins are connected to the serial port transmit and receive pins of the control module 111, respectively. The debug interface 150 also includes a 3.3V power supply pin and a ground pin. The 3.3V power supply pin is connected to the power output of the control module 111 to provide a reference voltage for external debugging devices or to power the main control board 110 from external debugging devices. External debugging devices include ST-Link debuggers, J-Link debuggers, or serial port debugging tools. Through the SWD interface, external debugging devices download program firmware to the control module 111 or perform online debugging operations, including setting breakpoints, single-step execution, and real-time variable monitoring. Through the UART interface, the control module 111 outputs debugging log information to the external debugging devices, including operating status data, raw sensor data, and error codes.

[0111] In this way, by setting up a standardized debugging interface 150, the control module 111's program burning, online debugging, and log output functions are realized. This interface allows developers to perform firmware upgrades and system debugging after the UAV is fully assembled, without disassembling the main control circuit board 110. The SWD interface enables the downloading and real-time debugging of the control module 111's underlying program, while the UART interface enables real-time output of operation logs and remote diagnostics. This significantly improves development efficiency and system maintainability, shortens the product development cycle, and reduces subsequent maintenance costs.

[0112] In one possible implementation, the first connector includes: a first board-end interface, a second board-end interface, and connecting wires; the first board-end interface is fixed to the main control circuit board and is connected to the control module on the main control circuit board; the second board-end interface is fixed to the power distribution drive circuit board and is connected to the second input terminal of each motor drive channel; the first board-end interface and the second board-end interface are correspondingly plugged in by connecting wires.

[0113] The second connector includes: a first power interface, a second power interface, and a power wire; the first power interface is fixed to the main control power module and is connected to the input terminal of the main control power module; the second power interface is fixed to the power distribution driver circuit board and is connected to the power terminal of the power distribution driver circuit board; the first power interface and the second power interface are connected to each other by power wires.

[0114] In practical applications, the first and second board-end interfaces are 1.5 mm pitch wire-to-board connectors, and the first and second power interfaces are XT30 power connectors; both connectors have polarity limiting grooves. Specifically, the first and second board-end interfaces use ZH1.5 series connectors; for details on the specific structure of the board-end interfaces, please refer to [link to relevant documentation]. Figures 8-10 As shown. The first connector is used to connect the main control circuit board and the power distribution driver circuit board. The first and second board-end interfaces adopt a vertical surface mount (SMT) package. Both interfaces have polarity limiting slots, which form a physical anti-reverse connection structure. The specific models of the first and second power interfaces are XT30PW-M. For the detailed structure of the power interfaces, please refer to [reference needed]. Figures 11-13As shown. The second connector is used to connect the main control power module and the power distribution drive circuit board. The power distribution drive circuit board is connected to the UAV's power battery through an external power input interface. The power terminal of the power distribution drive circuit board connected to the second board interface is actually a power distribution node that distributes the main power input from the external power input interface to output power to the main control power module. The first power interface and the second power interface are provided with polarity limiting slots, which constitute a physical anti-reverse connection structure.

[0115] This 1.5mm pin pitch design, compared to the traditional 2.54mm pitch header, reduces the printed circuit board area by approximately 40% for the same number of pins, effectively meeting the miniaturization integration requirements of the main control circuit board. Simultaneously, compared to 1.0mm pitch connectors, it features a larger terminal contact area and a thicker insulating sheath, significantly improving the physical insertion and removal life and mechanical strength of the terminals. The vertical surface mount packaging eliminates the need for through-holes on the printed circuit board, freeing up wiring space on the bottom layer. This allows for the laying of a complete ground plane on the bottom layer, reducing signal loop area and enhancing the system's electromagnetic interference immunity. The second connector, serving as a high-current power interface, uses a polarity limiting groove to forcibly restrict the plug insertion direction, physically eliminating the risk of burning out the main control circuit board, inertial measurement unit, or peripherals due to incorrect power polarity reversal caused by misoperation, thus improving the system's fault tolerance and maintenance safety.

[0116] Based on the same concept, this utility model embodiment also provides a multi-rotor drone, which includes at least: a frame, multiple rotor motors, and the above-mentioned multi-rotor drone all-drive control circuit;

[0117] Multiple rotor motors are mounted on the frame. The motor drive channels of the multi-rotor UAV's all-drive control circuit are connected to the corresponding rotor motors to independently control the power supply and drive of each rotor motor.

[0118] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0119] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this utility model without departing from the spirit and scope of the embodiments of this utility model. Therefore, if these modifications and variations to the embodiments of this utility model fall within the scope of the claims of this utility model and their equivalents, then this utility model also intends to include these modifications and variations.

Claims

1. A multi-rotor unmanned aerial vehicle (UAV) all-drive control circuit, characterized in that, include: Main control circuit board and power distribution driver circuit board; The main control circuit board and the power distribution drive circuit board are physically separated and connected by a first connector; The power distribution drive circuit board is provided with multiple independent motor drive channels; the first input terminal of each motor drive channel is connected to an external power supply, the second input terminal of each motor drive channel is connected to the main control circuit board through the first connector, and the output terminal of each motor drive channel is connected to the corresponding motor. The main control circuit board outputs power channel control signals to each motor drive channel on the power distribution drive circuit board through the first connector; Each motor drive channel on the power distribution drive circuit board, driven by the power channel control signal, connects or disconnects the corresponding motor from the external power supply.

2. The multi-rotor UAV all-drive control circuit according to claim 1, characterized in that, The main control circuit board includes: a control module, an inertial module, a main control power module, and a peripheral power module; The input terminal of the main control power module is connected to the power distribution drive circuit board via a second connector. The first output terminal of the main control power module is connected to the power supply terminal of the control module, and the second output terminal of the main control power module is connected to the input terminal of the peripheral power module. The main control power module is used to step down the power supply voltage from the power distribution drive circuit board to a first voltage, convert the first voltage into a first supply voltage, input the first voltage to the peripheral power module, and input the first supply voltage to the control module. The output terminal of the peripheral power module is connected to the power supply terminal of the inertial module; the peripheral power module is used to convert the first voltage into a second power supply voltage and input the second power supply voltage to the inertial module; The output of the inertial module is connected to the input of the control module; the inertial module is used to measure the attitude of the UAV to obtain attitude data, and send the attitude data to the control module. The output of the control module is connected to each motor drive channel of the power distribution drive circuit board via a first connector; the control module is used to generate the power channel control signal and the motor drive control signal.

3. The multi-rotor UAV all-drive control circuit according to claim 2, characterized in that, The main control power module includes: a DC-DC step-down converter module, a first low-dropout linear regulator chip, a first resistor, a second resistor, a first light-emitting diode, and a second light-emitting diode; The input terminal of the DC-DC buck converter module is connected to the power distribution drive circuit board via the second connector, and the output terminal of the DC-DC buck converter module is connected to the input terminal of the first low dropout linear regulator chip and the input terminal of the peripheral power module, respectively. The output terminal of the first low-dropout linear regulator chip is connected to the power supply terminal of the control module; The positive terminal of the first light-emitting diode is connected to the output terminal of the DC-DC step-down converter module via the first resistor, and the negative terminal of the first light-emitting diode is connected to ground; The positive terminal of the second LED is connected to the output terminal of the first low-dropout linear regulator chip via the second resistor, and the negative terminal of the second LED is connected to ground.

4. The multi-rotor UAV all-drive control circuit according to claim 3, characterized in that, The peripheral power module includes: a second low-dropout linear regulator chip, a third resistor, and a third light-emitting diode; The input terminal of the second low-dropout linear regulator chip is connected to the output terminal of the DC-DC buck converter module, and the output terminal of the second low-dropout linear regulator chip is connected to the power supply terminal of the inertial module. The positive terminal of the third light-emitting diode is connected to the output terminal of the second low-dropout linear regulator chip via the third resistor, and the negative terminal of the third light-emitting diode is connected to ground.

5. The multi-rotor unmanned aerial vehicle (UAV) all-drive control circuit according to any one of claims 1-4, characterized in that, The motor drive channel includes: a first MOSFET, a second MOSFET, a fourth resistor, a fifth resistor, and a motor interface module; The source of the first MOSFET is connected to an external power supply, the drain of the first MOSFET is connected to the first terminal of the motor interface module, and the gate of the first MOSFET is connected to the drain of the second MOSFET. The source of the second MOS transistor is connected to ground, and the gate of the second MOS transistor is connected to the main control circuit board via the first connector; The first end of the fourth resistor is connected to the source of the first MOS transistor, and the second end of the fourth resistor is connected to the gate of the first MOS transistor. The first end of the fifth resistor is connected to the gate of the second MOS transistor, and the second end of the fifth resistor is connected to the source of the second MOS transistor. The second end of the motor interface module is connected to the main control circuit board via the first connector, and the third end of the motor interface module is connected to the corresponding motor.

6. The multi-rotor UAV all-drive control circuit according to claim 5, characterized in that, The motor interface module includes: a composite interface; the composite interface includes power terminals and signal terminals; The power terminals are respectively connected to the drain of the first MOSFET and the power input terminal of the corresponding motor, and the power terminals are used to supply power to the corresponding motor. The signal terminal is connected to the main control circuit board via the first connector. The signal terminal is also connected to the signal input terminal of the corresponding motor. The signal terminal is used to receive the motor drive control signal and transmit it to the corresponding motor.

7. The multi-rotor UAV all-drive control circuit according to claim 5, characterized in that, The motor drive channel further includes: a first Zener diode; The cathode of the first Zener diode is connected to the gate of the first MOSFET, and the anode of the first Zener diode is connected to the source of the first MOSFET.

8. The multi-rotor UAV all-drive control circuit according to claim 2, characterized in that, The main control circuit board also includes: a debugging interface; The debugging interface is connected to the control module and the external debugging equipment, respectively.

9. The multi-rotor UAV all-drive control circuit according to claim 3, characterized in that, The first connector includes: a first board-end interface, a second board-end interface, and connecting wires; the first board-end interface is fixed to the main control circuit board and is connected to the control module on the main control circuit board; the second board-end interface is fixed to the power distribution drive circuit board and is respectively connected to the second input terminal of each of the motor drive channels; the first board-end interface and the second board-end interface are correspondingly plugged in through the connecting wires. The second connector includes: a first power interface, a second power interface, and a power wire; the first power interface is fixed to the main control power module and is connected to the input terminal of the main control power module; the second power interface is fixed to the power distribution drive circuit board and is connected to the power terminal of the power distribution drive circuit board; the first power interface and the second power interface are correspondingly plugged in through the power wire.

10. A multi-rotor unmanned aerial vehicle, characterized in that, include: The frame, multiple rotor motors, and the multi-rotor unmanned aerial vehicle (UAV) all-drive control circuit as described in any one of claims 1-9; Multiple rotor motors are mounted on the frame; The motor drive channels of the multi-rotor UAV's all-drive control circuit are respectively connected to the corresponding rotor motors; the multi-rotor UAV's all-drive control circuit is used to independently control the power supply and drive of each rotor motor.

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