CN111434581B - Propeller blade angle adjusting method and device - Google Patents
Propeller blade angle adjusting method and device Download PDFInfo
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- CN111434581B CN111434581B CN201910025646.8A CN201910025646A CN111434581B CN 111434581 B CN111434581 B CN 111434581B CN 201910025646 A CN201910025646 A CN 201910025646A CN 111434581 B CN111434581 B CN 111434581B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
- B64C11/30—Blade pitch-changing mechanisms
- B64C11/44—Blade pitch-changing mechanisms electric
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Abstract
The invention discloses a propeller blade angle adjusting method and device, and relates to the technical field of computers. One embodiment of the method comprises: after receiving a command of adjusting the blade angle to a preset angle, controlling a blade angle motor to rotate, and collecting the driving current of the blade angle motor at fixed time intervals; searching the rotating speed corresponding to the collected driving current according to the corresponding relation between the driving current and the rotating speed of the blade angle motor; inputting the rotating speed corresponding to each collected driving current and the duration of a fixed time interval into a preset blade angle increment operation model, and respectively calculating the blade angle increment in each fixed time interval; and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches a preset angle, controlling the blade angle motor to stop rotating, and finishing the blade angle adjustment. This embodiment allows for precise adjustment of the propeller blade angle without the aid of external devices, and allows for precise setting of the blade angle during aircraft flight.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a propeller blade angle adjusting method and device.
Background
For the electric variable pitch propeller without an angle sensor in the current market, a special tool needs to be designed if the propeller needs to be set to a certain fixed angle before takeoff, and then the propeller angle of the propeller is manually adjusted by the tool and an external angle measuring device.
The electric variable pitch propeller without the angle sensor is simple in structure and high in reliability, but due to the fact that the angle sensor is not arranged, an external tool and an angle measuring device are required to be used for measuring the angle of the blade, the mode can be set only on the ground, and the angle cannot be accurately set when an airplane flies in the air, so that the propeller and an engine cannot be optimally matched under different heights and flight speeds, and the effective power output of the engine is influenced. If the blade angle of the unmanned aerial vehicle is changed in flight, an accurate numerical value of the blade angle cannot be given, so that the analysis of a flight control (namely a flight control program) on a dynamic model is influenced, and the unmanned aerial vehicle cannot work in an optimal state.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
the existing scheme needs to adjust the angle of the propeller blades by means of an external device and cannot accurately set the angle of the propeller blades in the flight process of an airplane.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for adjusting an angle of a propeller blade, which can accurately adjust the angle of the propeller blade without using an external device, and can accurately set the angle of the propeller blade during flight of an aircraft.
To achieve the above object, according to one aspect of an embodiment of the present invention, there is provided a propeller blade angle adjustment method.
A method of propeller blade angle adjustment comprising: after receiving a command of adjusting the blade angle to a preset angle, controlling a blade angle motor to rotate, and collecting the driving current of the blade angle motor at fixed time intervals; searching the rotating speed corresponding to the collected driving current according to the corresponding relation between the driving current and the rotating speed of the paddle angle motor which is prestored; inputting the rotating speed corresponding to each acquired driving current and the duration of the fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval; and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches the preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment.
Optionally, the preset blade angle increment operation model is constructed according to the following items: blade angle increment within a time interval, duration of the time interval, rotational speed of the blade angle motor, model parameters; wherein the values of the model parameters are calculated by: controlling the blade angle motor to reach the maximum limit position from the minimum limit position, and recording the effective duration of the process and the driving current of the blade angle motor; searching the rotating speed corresponding to the recorded driving current according to the corresponding relation between the driving current of the paddle angle motor and the rotating speed which is prestored; reading a corresponding blade angle increment when the blade angle motor reaches a maximum limit position from a minimum limit position; and calculating the value of the model parameter according to the read blade angle increment, the recorded effective duration and the recorded rotating speed corresponding to the driving current.
Optionally, the corresponding relationship between the driving current and the rotation speed of the blade angle motor is established by: applying a plurality of different resistance loads to the propeller blades, and measuring values of driving current and rotating speed of the blade angle motor under the same driving voltage and the different resistance loads; and storing the corresponding relation between the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
According to another aspect of an embodiment of the present invention, a propeller blade angle adjustment apparatus is provided.
A propeller blade angle adjustment device comprising: the device comprises a communication module, a blade angle motor driving module, a motor current collecting module, a clock module and a processing module, wherein the communication module is used for receiving a command for adjusting the blade angle to a preset angle; the paddle angle motor driving module is used for controlling the rotation of the paddle angle motor; the motor current acquisition module is used for acquiring the driving current of the blade angle motor at fixed time intervals; the clock module is used for measuring the duration of the fixed time interval; the processing module is configured to perform the following operations: searching the rotating speed corresponding to the collected driving current according to the corresponding relation between the driving current and the rotating speed of the paddle angle motor which is prestored; inputting the rotating speed corresponding to each acquired driving current and the duration of the fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval; and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches the preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment.
Optionally, the preset blade angle increment operation model is constructed according to the following items: blade angle increment within a time interval, duration of the time interval, rotational speed of the blade angle motor, model parameters; the blade angle motor drive module is further configured to: controlling the blade angle motor to reach a maximum limit position from a minimum limit position; the motor current acquisition module is also used for: collecting the driving current of the paddle angle motor in the process of reaching the maximum limit position from the minimum limit position of the paddle angle motor; the clock module is further configured to: measuring the effective duration of the process of the blade angle motor from the minimum limit position to the maximum limit position; the processing module is further configured to perform the following operations: searching the rotating speed corresponding to the driving current of the blade angle motor in the process that the blade angle motor reaches the maximum limit position from the minimum limit position according to the corresponding relation between the driving current of the blade angle motor and the rotating speed which is prestored; reading the corresponding blade angle increment when the blade angle motor reaches the maximum limit position from the minimum limit position; and calculating the value of the model parameter according to the read blade angle increment, the effective duration of the process of the blade angle motor from the minimum limit position to the maximum limit position and the rotating speed corresponding to the driving current.
Optionally, the system further comprises a storage module, configured to: and storing the corresponding relation between the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load, wherein the corresponding relation between the driving current and the rotating speed is obtained by applying a plurality of different resistance loads to the propeller blade and measuring the values of the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
According to yet another aspect of an embodiment of the present invention, an electronic device is provided.
An electronic device, comprising: one or more processors; a memory for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the propeller blade angle adjustment method provided by the present invention.
According to yet another aspect of an embodiment of the present invention, a computer-readable medium is provided.
A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the method of propeller blade angle adjustment according to the present invention.
One embodiment of the above invention has the following advantages or benefits: after receiving a command of adjusting the blade angle to a preset angle, controlling a blade angle motor to rotate, and collecting the driving current of the blade angle motor at fixed time intervals; searching the rotating speed corresponding to the acquired driving current according to the corresponding relation between the driving current of the paddle angle motor and the rotating speed which is prestored; inputting the rotating speed corresponding to each collected driving current and the duration of a fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval; and under the condition that the sum of the calculated accumulation result of the blade angle increment and the blade angle at the initial moment reaches a preset angle, controlling the blade angle motor to stop rotating so as to finish blade angle adjustment. The angle of the propeller blades can be accurately adjusted without the aid of external devices and can be set accurately during flight of the aircraft.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
FIG. 1 is a schematic diagram of the main steps of a method of adjusting the angle of a propeller blade according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of the main components of a propeller blade angle adjustment apparatus according to an embodiment of the present invention;
FIG. 3 is a hardware block diagram of a propeller blade angle adjustment apparatus according to an embodiment of the present invention;
FIG. 4 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
fig. 5 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
Fig. 1 is a schematic diagram of the main steps of a propeller blade angle adjustment method according to an embodiment of the present invention.
As shown in fig. 1, the method for adjusting the angle of a propeller blade according to the embodiment of the present invention mainly includes steps S101 to S104 as follows.
Step S101: after receiving a command of adjusting the blade angle to a preset angle, controlling the blade angle motor to rotate, and collecting the driving current of the blade angle motor at a fixed time interval.
The fixed time interval is an extremely short time interval, usually in the order of microseconds, and specific numerical values are related to performance of hardware used, for example, a high-precision motor current acquisition circuit is used for acquiring driving current of the blade angle motor, the sampling rate of the high-precision motor current acquisition circuit is 1MHz (megahertz), then the fixed time interval is 1 μ s (1 microsecond), and the driving current of the blade angle motor is acquired at the extremely short fixed time interval, so that the purpose of acquiring the driving current of the blade angle motor in real time is achieved, and the propeller blade can be accurately adjusted to a preset angle in the embodiment of the present invention.
Step S102: and searching the rotating speed corresponding to the acquired driving current according to the corresponding relation between the driving current of the paddle angle motor and the rotating speed which is prestored.
The corresponding relation between the driving current and the rotating speed of the blade angle motor can be established in the following way:
applying a plurality of different resistance loads to the propeller blade, and measuring values of driving current and rotating speed of a blade angle motor under the same driving voltage and the different resistance loads; and storing the corresponding relation between the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
Step S103: and inputting the rotating speed corresponding to each acquired driving current and the duration of the fixed time interval into a preset blade angle increment operation model, and respectively calculating the blade angle increment in each fixed time interval.
The preset blade angle increment operation model can be specifically constructed according to the following items:
blade angle increment within a time interval, duration of the time interval, rotational speed of a blade angle motor, model parameters.
The specific form of the preset blade angle increment operation model can be as follows:
Δθ＝Δt×n×b
wherein, Δ θ is the blade angle increment in a time interval, Δ t is the duration of the time interval, n is the rotation speed of the blade angle motor, and b is a model parameter.
The value of the model parameter b can be calculated as follows:
controlling a paddle angle motor to reach a maximum limit position from a minimum limit position, and recording the effective duration of the process and the driving current of the paddle angle motor;
searching the recorded rotating speed corresponding to the driving current according to the corresponding relationship between the driving current and the rotating speed of the paddle angle motor which is prestored;
reading corresponding blade angle increment when the blade angle motor reaches the maximum limit position from the minimum limit position;
and calculating the value of the model parameter according to the read blade angle increment, the recorded effective time length and the recorded rotating speed corresponding to the driving current.
The effective time length of the process that the blade angle motor reaches the maximum limit position from the minimum limit position is the difference value between the time length that the blade angle motor reaches the maximum limit position from the minimum limit position and the time length of the starting current.
For example, in the process that the blade angle motor reaches the maximum limit position from the minimum limit position, the driving current of the blade angle motor is alpha 1 The duration of this process is t 1 Wherein the duration of the starting current is t 2 Then, the effective duration of the process of the blade angle motor from the minimum limit position to the maximum limit position is t 1 -t 2 . According to the corresponding relation between the driving current and the rotating speed of the paddle angle motor which are prestored, supposing that the driving current alpha is found out 1 Corresponding to a rotational speed of n 1 And reading that the corresponding blade angle increment is delta theta when the blade angle motor reaches the maximum limit position from the minimum limit position 1 Then Δ θ will be 1 、t 1 -t 2 、n 1 Substituting the constructed preset blade angle increment operation model to obtain: delta theta 1 ＝(t 1 -t 2 )×n 1 X b, so that the value of the model parameter b can be calculated.
Step S104: and under the condition that the sum of the calculated accumulation result of the blade angle increment and the blade angle at the initial moment reaches a preset angle, controlling the blade angle motor to stop rotating so as to finish blade angle adjustment.
The initial moment is the moment when a command for adjusting the blade angle to a preset angle is received. The blade angle at the initial moment is the angle of the propeller blade when a command for adjusting the blade angle to a preset angle is received.
For example, the blade angle at the initial time is θ 0 Acquiring the driving current of a blade angle motor in real time at a fixed time interval of delta t =1 mus,assume that the drive current collected at a certain 1 mus is alpha 2 Driving current alpha 2 Corresponding to a rotational speed of n 2 Then the blade angle increment Δ θ within the 1 μ s 2 ＝Δt×n 2 X b, accumulating the obtained blade angle increment within 1 mu s from the initial moment, and obtaining the accumulation result as sigma delta theta i (wherein. DELTA.theta i Representing the blade angle increment in the ith fixed time interval, i being a positive integer), at θ 0 +∑Δθ i ＝θ 2 (θ 2 The preset angle) is set, the blade angle motor is controlled to stop rotating to finish the blade angle adjustment.
The propeller provided by the embodiment of the invention is an electric variable pitch propeller without an angle sensor.
By using the propeller blade angle adjusting method provided by the embodiment of the invention, the blade angle of the electric variable pitch propeller can be accurately set in the flying process of the airplane, and the blade angle can be accurately set on the ground without an external device.
FIG. 2 is a schematic block diagram of the main components of a propeller blade angle adjustment apparatus according to an embodiment of the present invention.
As shown in fig. 2, the propeller blade angle adjustment apparatus 200 of the embodiment of the present invention mainly includes: the system comprises a communication module 201, a blade angle motor driving module 202, a motor current collecting module 203, a clock module 204 and a processing module 205.
A communication module 201, configured to receive a command to adjust the blade angle to a preset angle.
And a blade angle motor driving module 202 for controlling the rotation of the blade angle motor.
And the motor current acquisition module 203 is used for acquiring the driving current of the blade angle motor at fixed time intervals.
And the clock module 204 is used for measuring the duration of the fixed time interval.
A processing module 205 configured to perform the following operations: searching the rotating speed corresponding to the acquired driving current according to the corresponding relation between the driving current of the paddle angle motor and the rotating speed which is prestored; inputting the rotating speed corresponding to each acquired driving current and the duration of a fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval; and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches a preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment.
The preset blade angle increment operation model is constructed according to the following items:
blade angle increment within a time interval, duration of the time interval, rotational speed of a blade angle motor, model parameters.
The blade angle motor drive module 202 may also be used to: and controlling the blade angle motor to reach the maximum limit position from the minimum limit position.
The motor current collection module 203 may also be configured to: and collecting the driving current of the blade angle motor in the process that the blade angle motor reaches the maximum limit position from the minimum limit position.
The clock module 204 may also be configured to: and measuring the effective time of the process of the blade angle motor from the minimum limit position to the maximum limit position.
The processing module 205 may also be configured to perform the following operations: searching the rotating speed corresponding to the driving current of the blade angle motor in the process that the blade angle motor reaches the maximum limit position from the minimum limit position according to the corresponding relation between the driving current of the blade angle motor and the rotating speed which is prestored; reading corresponding blade angle increment when the blade angle motor reaches the maximum limit position from the minimum limit position; and calculating the value of the model parameter according to the read blade angle increment, the effective duration of the process that the blade angle motor reaches the maximum limit position from the minimum limit position and the rotating speed corresponding to the driving current.
The propeller blade angle adjustment apparatus 200 may further include a storage module for:
and storing the corresponding relation between the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
The corresponding relation between the driving current and the rotating speed of the blade angle motor is obtained by applying a plurality of different resistance loads to the propeller blade and measuring the values of the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
FIG. 3 is a hardware block diagram of a propeller blade angle adjustment apparatus according to an embodiment of the present invention.
As shown in fig. 3, the core processor of the propeller blade angle adjustment device according to the embodiment of the present invention is a CPLD (complex programmable logic device), and the CPLD employs a FLASH (non-volatile random access memory) process, and has the characteristics of high speed and high stability, and is particularly suitable for application occasions with high reliability requirements. The paddle angle motor driving circuit can drive the paddle angle motor. The high-precision motor current acquisition circuit acquires and measures the driving current of the blade angle motor at a sampling rate of 1 MHz. The high-precision temperature compensation crystal oscillator is a clock source of the CPLD, so that the CPLD can accurately measure the time of the driving current. The high-reliability power supply module has the functions of surge suppression and peak suppression. The propeller blade angle adjusting device provided by the embodiment of the invention is provided with an isolation RS422 interface, and external equipment can control and read the state of the propeller blade angle adjusting device provided by the embodiment of the invention through the interface.
Firstly, different resistance loads are applied to the external propeller blades, values of driving current and rotating speed of blade angle motors under different resistance loads are measured under the condition of the same motor driving voltage, and the corresponding values are recorded into a table and stored in a large-capacity extended memory. When the propeller blade angle adjusting device is used for setting the blade angle before the unmanned aerial vehicle takes off, the blade angle motor is controlled to the minimum limiting position firstly, then the blade angle motor is controlled to the maximum limiting position, and in the process that the motor is controlled to reach the maximum limiting position from the minimum limiting position, the current alpha in the process is collected 1 And recording the time t 1 Removing the time period t of the starting current 2 Then obtaining the rotating speed n in the process by means of table look-up 1 Reading the blade angle increment from the minimum limit position to the maximum limit position as delta theta 1 Then according to Δ θ 1 ＝(t 1 -t 2 )×n 1 And b, calculating the value of the parameter b. When the propeller blade angle adjusting device receives the state that the blade angle is adjusted to theta 2 After the command, according to the initial value theta of the current angle 0 And controlling the angle motor to rotate and collecting the driving current alpha of the angle motor in real time 2 (namely collecting every 1 mu s), and obtaining the rotating speed n in real time in a table look-up mode 2 And calculating the blade angle increment within the current 1 mu s: delta theta 2 ＝Δt×n 2 X b, delta t is the interval time of two drive current acquisitions, and then the current angle value theta = theta is calculated 0 +Δθ 2 Acquiring the driving current of the angle motor in real time according to the time interval of 1 mu s, calculating the blade angle increment within each 1 mu s according to the method, accumulating the blade angle increment to the calculated current angle value theta, and when the current angle value theta = theta 2 And controlling the blade angle motor to stop rotating, and finishing blade angle adjustment.
The RS422 interface can realize the function of a communication module; the paddle angle motor driving circuit can realize the function of a paddle angle motor driving module; the high-precision motor current acquisition circuit can realize the function of a motor current acquisition module; the high-precision temperature compensation crystal oscillator can realize the function of a clock module; the CPLD may implement the functionality of the processing module. The RS422 interface of the embodiment of the present invention may also be replaced with an RS232 interface, and the same function may also be implemented.
The propeller blade angle adjusting device provided by the embodiment of the invention does not need an angle sensor, but utilizes the relation between the driving current of the angle motor and the rotating speed, calculates more accurate angle increment after subdividing the control time, and controls the target angle value by taking the angle increment as feedback. According to the embodiment of the invention, the blade angle can be adjusted to an accurate value in the flight process of the unmanned aerial vehicle, so that a flight control program can effectively analyze a power model, and the unmanned aerial vehicle is ensured to work in an optimal state. It should be noted that the embodiments of the present invention may also be used to adjust the angle of an electric variable pitch propeller blade without an angle sensor in a manned aircraft.
In addition, in the embodiments of the present invention, the details of the implementation of the propeller blade angle adjustment device have been described in detail in the above-described propeller blade angle adjustment method, and therefore, the details will not be described again here.
FIG. 4 illustrates an exemplary system architecture 400 to which the propeller blade angle adjustment method or propeller blade angle adjustment apparatus of embodiments of the present invention may be applied.
As shown in fig. 4, the system architecture 400 may include terminal devices 401, 402, 403, a network 404, and a server 405. The network 404 serves as a medium for providing communication links between the terminal devices 401, 402, 403 and the server 405. Network 404 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use terminal devices 401, 402, 403 to interact with a server 405 over a network 404 to receive or send messages or the like. The terminal devices 401, 402, 403 may have installed thereon various communication client applications, such as instant messaging tools and the like (for example only).
The terminal devices 401, 402, 403 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 405 may be a server providing various services, such as a background management server (for example only) providing support for websites browsed by users using the terminal devices 401, 402, 403. The backend management server may analyze and perform other processing on the received data such as the information query request, and feed back a processing result (for example, target push information — just an example) to the terminal device.
It should be noted that the method for adjusting the angle of the propeller blades provided by the embodiment of the present invention is generally performed by the server 405, and accordingly, the device for adjusting the angle of the propeller blades is generally disposed in the server 405.
It should be understood that the number of terminal devices, networks, and servers in fig. 4 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for an implementation.
Referring now to FIG. 5, a block diagram of a computer system 500 suitable for use in implementing a terminal device or server of an embodiment of the present application is shown. The terminal device or the server shown in fig. 5 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for the operation of the system 500 are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. A drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted on the storage section 508 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The above-described functions defined in the system of the present application are executed when the computer program is executed by the Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor comprises a communication module, a blade angle motor driving module, a motor current acquisition module, a clock module and a processing module. Where the names of these modules do not in some cases constitute a limitation of the module itself, for example, the communication module may also be described as a "module for receiving a command to adjust the blade angle to a preset angle".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: after receiving a command of adjusting the blade angle to a preset angle, controlling a blade angle motor to rotate, and collecting the driving current of the blade angle motor at fixed time intervals; searching the rotating speed corresponding to the acquired driving current according to the corresponding relation between the driving current and the rotating speed of the paddle angle motor which is prestored; inputting the rotating speed corresponding to each acquired driving current and the duration of the fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval; and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches the preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment.
According to the technical scheme of the embodiment of the invention, after a command of adjusting the angle of the paddle to a preset angle is received, the paddle angle motor is controlled to rotate, and the driving current of the paddle angle motor is collected at fixed time intervals; searching the rotating speed corresponding to the acquired driving current according to the corresponding relation between the driving current of the paddle angle motor and the rotating speed which is prestored; inputting the rotating speed corresponding to each acquired driving current and the duration of a fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval; and under the condition that the sum of the calculated accumulation result of the blade angle increment and the blade angle at the initial moment reaches a preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment. The angle of the propeller blades can be accurately adjusted without the aid of external devices and can be set accurately during flight of the aircraft.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A method of adjusting the angle of a propeller blade, comprising:
after receiving a command of adjusting the blade angle to a preset angle, controlling a blade angle motor to rotate, and collecting the driving current of the blade angle motor at fixed time intervals;
searching the rotating speed corresponding to the acquired driving current according to the corresponding relation between the driving current and the rotating speed of the paddle angle motor which is prestored;
inputting the rotating speed corresponding to each acquired driving current and the duration of the fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval;
and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches the preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment.
2. The method of claim 1, wherein the preset blade angle incremental operation model is constructed according to:
blade angle increment within a time interval, duration of the time interval, rotational speed of the blade angle motor, model parameters;
wherein the values of the model parameters are calculated by:
controlling the paddle angle motor to reach the maximum limit position from the minimum limit position, and recording the effective duration of the process and the driving current of the paddle angle motor;
searching the rotating speed corresponding to the recorded driving current according to the corresponding relation between the driving current of the paddle angle motor and the rotating speed which is prestored;
reading the corresponding blade angle increment when the blade angle motor reaches the maximum limit position from the minimum limit position;
and calculating the value of the model parameter according to the read blade angle increment, the recorded effective duration and the recorded rotating speed corresponding to the driving current.
3. A method according to claim 1 or 2, characterized in that the correspondence of the drive current of the blade angle motor to the rotational speed is established by:
applying a plurality of different resistance loads to the propeller blades, and measuring values of driving current and rotating speed of the blade angle motor under the same driving voltage and the different resistance loads;
and storing the corresponding relation between the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
4. A propeller blade angle adjustment device, comprising: a communication module, a paddle angle motor driving module, a motor current collecting module, a clock module and a processing module, wherein,
the communication module is used for receiving a command for adjusting the blade angle to a preset angle;
the paddle angle motor driving module is used for controlling the rotation of the paddle angle motor;
the motor current acquisition module is used for acquiring the driving current of the blade angle motor at fixed time intervals;
the clock module is used for measuring the duration of the fixed time interval;
the processing module is used for executing the following operations:
searching the rotating speed corresponding to the collected driving current according to the corresponding relation between the driving current and the rotating speed of the paddle angle motor which is prestored;
inputting the rotating speed corresponding to each acquired driving current and the duration of the fixed time interval into a preset blade angle increment operation model, and respectively calculating blade angle increments in each fixed time interval;
and under the condition that the sum of the accumulation result of the blade angle increment and the blade angle at the initial moment reaches the preset angle, controlling the blade angle motor to stop rotating so as to finish the blade angle adjustment.
5. The apparatus of claim 4, wherein the preset blade angle incremental operation model is constructed according to:
a blade angle increment within a time interval, a duration of the time interval, a rotational speed of the blade angle motor, model parameters;
the blade angle motor drive module is further configured to: controlling the blade angle motor to reach a maximum limit position from a minimum limit position;
the motor current acquisition module is also used for: collecting the driving current of the blade angle motor in the process that the blade angle motor reaches the maximum limit position from the minimum limit position;
the clock module is further configured to: measuring the effective duration of the process of the blade angle motor from the minimum limit position to the maximum limit position;
the processing module is further configured to perform the following operations:
searching the rotating speed corresponding to the driving current of the blade angle motor in the process that the blade angle motor reaches the maximum limit position from the minimum limit position according to the corresponding relation between the driving current of the blade angle motor and the rotating speed which is prestored;
reading the corresponding blade angle increment when the blade angle motor reaches the maximum limit position from the minimum limit position;
and calculating the value of the model parameter according to the read blade angle increment, the effective time of the process that the blade angle motor reaches the maximum limit position from the minimum limit position and the rotating speed corresponding to the driving current.
6. The apparatus of claim 4 or 5, further comprising a storage module configured to:
storing the corresponding relation between the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load, wherein,
the corresponding relation between the driving current and the rotating speed is obtained by applying a plurality of different resistance loads to the propeller blades and measuring the values of the driving current and the rotating speed of the blade angle motor under the same driving voltage and each resistance load.
7. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-3.
8. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-3.
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