Drone Torque Control via ESC for Stable Sensorless Flight
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Solution Overview
Problem
Conventional drone control systems face challenges in precise control due to reliance on speed command values that do not account for changing flight environments, leading to inefficiencies and instability, especially in drones without rotor position and speed sensors.
Innovation Solution
A drone control system that allows users to directly adjust motor torque using a transmitter, incorporating a flight controller and electronic speed controller to convert stick control values into motor torque values, enabling continuous variation in torque for position and speed control, even in automatic flight modes, and improving control accuracy and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If motor speed control is used to control drone rotational speed, then the motor speed can be controlled, but the drone cannot be effectively controlled when flight environment changes occur
Solution Approach 1:
The patent changes the control parameter from motor speed to motor torque. By controlling the torque output of the motor rather than its rotational speed, the system can adapt to changing flight conditions (wind, weather, payload) more effectively. The torque control allows the motor to maintain optimal performance across varying operational environments, resolving the contradiction between speed control capability and control effectiveness.
2Ease of operation
If estimated speed values are used for control in drones without sensors, then control can be implemented, but precise control becomes difficult
Solution Approach 1:
The patent replaces the mechanical sensing approach (speed sensors, position sensors) with a torque-based control system. Instead of measuring actual speed and position to implement control, the system directly controls motor torque based on flight conditions and control inputs. This substitution eliminates the need for expensive sensors while achieving precise control through torque management rather than speed feedback.
3Measurement precision
If torque control is implemented to improve position control accuracy, then control accuracy improves, but system complexity increases
Solution Approach 1:
The patent makes the electronic speed controller (ESC) multi-functional by enabling it to perform torque control in addition to its traditional speed control function. The ESC receives torque commands from the flight controller and directly controls motor torque output, eliminating the need for separate torque control hardware. This universal approach achieves precise position control while avoiding additional system complexity.
Data Source
AI summary
According to an embodiment of the disclosure, there is provided a drone control system in which the drone user may directly adjust the torque required in the flight environment, that is, the torque required by the drone motor, with the transmitter control when controlling the transmitter stick. According to an embodiment, a drone control system comprises a flight controller receiving a stick control value from a transmitter, converting the stick control value into a motor speed value, and outputting the motor speed value and an electronic speed controller receiving the motor speed value from the flight controller, converting the motor speed value into a motor torque value, converting the motor torque value into a power driving value, and outputting the power driving value to a motor.