UAV Motor Control Signal Compensation for Battery Voltage Drop
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Solution Overview
Problem
Conventional unmanned aerial vehicle (UAV) systems experience slow response and power degradation during high-mobility actions due to the continuous decrease in battery voltage, which affects motor rotation speed and overall flight performance.
Innovation Solution
A method and apparatus for controlling a motor that involves obtaining present electrical parameters of the battery, calculating a compensation amount for the control signal, and modifying it to maintain stable output voltage, thereby compensating for voltage drops and ensuring consistent motor performance despite battery discharge.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the ESC outputs voltage to the motor based on a fixed throttle signal, then the motor control is simple, but the motor rotation speed decreases as battery voltage decreases
Solution Approach 1:
The system continuously monitors battery voltage and uses this feedback to dynamically adjust the control signal sent to the motor. The ESC reads the battery voltage and modifies the PWM pulse width accordingly, ensuring the motor receives appropriate voltage compensation as the battery discharges, thereby maintaining consistent motor rotation speed throughout the flight.
Solution Approach 2:
The control system changes the parameter of the control signal (pulse width duration) based on the battery voltage state. When battery voltage drops, the system increases the pulse width to compensate, effectively adjusting the motor voltage to maintain constant rotation speed despite varying battery conditions.
2Device complexity
If the ESC uses a fixed control signal, then the control logic is simple, but the UAV response becomes slow during high-mobility actions
Solution Approach 1:
The system implements real-time feedback by continuously reading battery voltage and immediately adjusting the control signal parameters. This dynamic adjustment eliminates delays caused by voltage drops during high-mobility actions, ensuring the UAV responds promptly to pilot inputs throughout the entire flight duration.
Solution Approach 2:
The system proactively compensates for voltage drops before they significantly impact performance. By monitoring battery voltage continuously and preemptively adjusting control signals, the system prevents the slow response issue from occurring in the first place, rather than reacting after performance degradation is detected.
3Duration of action of stationary object
If the battery discharges normally, then the battery operates continuously, but the output voltage continuously decreases
Solution Approach 1:
The ESC continuously monitors battery voltage and uses this feedback to dynamically adjust control signals. This feedback mechanism allows the system to maintain effective power delivery to the motor throughout the entire battery discharge cycle by compensating for voltage drops through adjusted pulse width modulation.
Solution Approach 2:
The system changes the control signal parameter (pulse width) in response to battery voltage changes. By increasing the pulse width as battery voltage decreases, the system maintains consistent power delivery to the motor, effectively extending the usable power output throughout the battery's discharge duration.
Data Source
AI summary
An unmanned aerial vehicle includes a fuselage, a motor mounted at the fuselage, and a control apparatus configured to control the motor. The control apparatus includes one or more processors configured to obtain a present electrical parameter of a battery configured to power the motor, calculate a compensation amount of a control signal of the motor according to the present electrical parameter, and modify the control signal according to the compensation amount.