Multicopter Motor Drive Control via Bidirectional Vector Feedback
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Solution Overview
Problem
Existing motor drive control systems for multicopters face challenges in accurately supplying motor operation state information to the main controller and efficiently controlling motor propulsion, especially under fluctuating flight environments influenced by wind and other factors.
Innovation Solution
A motor drive control device that utilizes bidirectional communication and vector control to generate and manage torque and field current signals, ensuring accurate control of motor operation states through a CAN communication transmission path, with PI control and coordinate transformations to maintain optimal rotor position and reduce noise resistance, and includes a motor driver circuit to control the motor effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If bidirectional communication and vector control are implemented to accurately supply motor operation state information, then control precision is improved, but device complexity increases
Solution Approach 1:
The patent implements bidirectional communication between the ESC and main controller, allowing the ESC to supply motor operation state information (current, voltage, temperature) back to the main controller. This feedback mechanism enables the main controller to adjust control commands based on actual motor conditions, improving control precision while managing complexity through structured data exchange protocols
Solution Approach 2:
The ESC acts as an intermediary device that receives control commands from the main controller, processes them through vector control algorithms, and executes motor control while monitoring operation states. This intermediary role consolidates complex control functions in the ESC, allowing the main controller to maintain simpler architecture while achieving precise control through the ESC's processing capabilities
2Productivity
If vector control with PI control and coordinate transformations is used to maintain optimal rotor position, then motor control efficiency is improved, but computational complexity increases
Solution Approach 1:
The patent implements preliminary calculation of torque current and field current instruction values based on expected motor operation conditions. By pre-calculating these control parameters and preparing coordinate transformation matrices before they are needed, the system reduces real-time computational burden while maintaining optimal rotor position control efficiency
Solution Approach 2:
The control algorithm is segmented into distinct functional blocks: coordinate transformation (ABC to alpha-beta to d-q), PI control for torque and field currents, and position estimation. Each segment processes specific aspects of motor control independently, allowing optimized computation for each function and reducing overall computational complexity while maintaining control efficiency
3Measurement precision
If accurate position estimation is implemented to reduce noise interference, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses feedback from measured current and voltage signals to continuously estimate rotor position through coordinate transformations. The estimated position is fed back to adjust the control commands, creating a closed-loop system that improves position estimation accuracy by using actual motor operation data to correct and refine position calculations in real-time
Solution Approach 2:
The patent replaces physical position sensors with sensorless position estimation based on electrical measurements (current, voltage, frequency). By substituting mechanical sensing with electrical field-based estimation through mathematical transformations, the system achieves accurate position detection without adding physical sensor complexity
Data Source
AI summary
A multicopter includes a body, propellers, each of which is rotated by a motor to generate lift for the body, a main controller configured to supply a speed instruction signal to the motor, a supply circuit configured to supply a torque current signal and a field current signal obtained from the motor, and a motor drive control device. The motor drive control device includes a control signal generation circuit configured to generate a torque current instruction signal and a field current instruction signal in response to the speed instruction signal, a vector control circuit configured to receive the torque current signal, the field current signal, the torque current instruction signal and the field current instruction signal, and output control signals so that the torque current signal and the field current signal from the motor coincide with the torque current instruction signal and the field current instruction signal, respectively, and a motor driver circuit configured to accept the control signals from the vector control circuit to control the motor.