CN113037147A - Many rotor unmanned aerial vehicle machine carries circuit - Google Patents
Many rotor unmanned aerial vehicle machine carries circuit Download PDFInfo
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- CN113037147A CN113037147A CN202110281137.9A CN202110281137A CN113037147A CN 113037147 A CN113037147 A CN 113037147A CN 202110281137 A CN202110281137 A CN 202110281137A CN 113037147 A CN113037147 A CN 113037147A
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- motor
- voltage
- unmanned aerial
- motor unit
- aerial vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The application discloses many rotor unmanned aerial vehicle machine carries circuit, the circuit includes a plurality of motor unit, a plurality of motor unit establish ties. Wherein, every motor unit includes two at least motor subunits, every motor subunit includes motor and electronic governor, the motor with electronic governor links to each other, two motor subunits link to each other, every the motor that motor unit includes is located respectively on many rotor unmanned aerial vehicle's the symmetry horn.
Description
Technical Field
The application relates to the design field of airborne circuits of unmanned aerial vehicles, in particular to an airborne circuit of multi-rotor unmanned aerial vehicle.
Background
At present, a multi-rotor unmanned aerial vehicle is widely applied, and relates to many industries such as fire fighting, investigation, plant protection, transportation and the like. Every rotor of many rotor unmanned aerial vehicle all links to have the control rotor to carry out the pivoted motor, connects in parallel between each motor, is supplied power by many rotor unmanned aerial vehicle machine-carried power. It should be noted that, the voltage of the onboard power supply for supplying power to the motor is usually large and may exceed the rated voltage of the rotor motor, so to avoid the motor voltage exceeding its rated voltage and causing the performance of the motor to be damaged, currently, a voltage reducer is usually mounted on the multi-rotor unmanned aerial vehicle, and the voltage of the motor is reduced by the voltage reducer.
However, because the step-down transformer has certain weight, when the mode of carrying the step-down transformer is adopted to reduce the voltage that the motor bears, the load capacity of the multi-rotor unmanned aerial vehicle can be reduced inevitably, and the flight performance of the multi-rotor unmanned aerial vehicle is influenced.
Disclosure of Invention
The technical problem that this application will be solved is, provides a many rotor unmanned aerial vehicle machine carries circuit to solve present, when adopting the mode of carrying on the step-down transformer to reduce the voltage that the motor bore, the step-down transformer can reduce many rotor unmanned aerial vehicle's load carrying capacity, influences many rotor unmanned aerial vehicle's flight performance's problem.
The application provides a multi-rotor unmanned aerial vehicle airborne circuit, which comprises a plurality of motor units which are connected in series,
wherein, every motor unit includes two at least motor subunits, every motor subunit includes motor and electronic governor, the motor with electronic governor links to each other, two motor subunits link to each other, every the motor that motor unit includes is located respectively on many rotor unmanned aerial vehicle's the symmetry horn.
Optionally, each of the motor units is connected in parallel with a capacitor.
Optionally, each of the motor units in a part of the motor units is connected with a capacitor in parallel.
Optionally, when the voltage of the motor unit is lower than the preset voltage, the capacitor connected with the motor unit charges the motor unit; when the voltage of the motor unit is higher than the preset voltage, the motor unit discharges to the capacitor connected with the motor unit.
Optionally, the circuit further comprises a power supply, and the power supply is used for supplying power to the circuit.
Optionally, a withstand voltage value of the capacitor is greater than the power supply voltage.
Optionally, the two motor sub-units in the motor unit are connected in parallel.
Optionally, the two motors in the two motor sub-units are counter-rotating.
Optionally, the number of wings of the multi-rotor unmanned aerial vehicle is 8 or 16.
Compared with the prior art, the embodiment of the application has the following advantages:
the embodiment of the application provides a many rotor unmanned aerial vehicle machine carries circuit, the circuit includes a plurality of motor unit, a plurality of motor unit establish ties. Wherein, every motor unit includes two at least motor subunits, every motor subunit includes motor and electronic governor, the motor with electronic governor links to each other, two motor subunits link to each other, every the motor that motor unit includes is located respectively on many rotor unmanned aerial vehicle's the symmetry horn. Through this kind of connected mode, a plurality of motors obtain mains voltage jointly, when having avoided parallelly connected, the problem that every motor directly obtained mains voltage can exceed rotor motor's rated voltage, simultaneously, does not adopt other devices such as step-down transformer, can not influence many rotor unmanned aerial vehicle's load-carrying capacity.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of an airborne circuit of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic diagram of a physical position of a symmetrical arm of an 8-rotor drone according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an onboard circuit of a multi-rotor unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is an airborne circuit structure schematic diagram of multi-rotor unmanned aerial vehicle in the embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The inventor of this application discovers through the research, at present, carries on a step-down transformer on many rotor unmanned aerial vehicle, when utilizing the step-down transformer to reduce motor voltage, because the step-down transformer has certain weight, when the mode that adopts to carry on the step-down transformer reduces the voltage that the motor bore, must can reduce many rotor unmanned aerial vehicle's load-carrying capacity, influences many rotor unmanned aerial vehicle's flight performance.
In order to solve the problem, the embodiment of the application provides a circuit on-board a multi-rotor unmanned aerial vehicle, the circuit includes a plurality of motor units, and the plurality of motor units are connected in series. Wherein, every motor unit includes two at least motor subunits, every motor subunit includes motor and electronic governor, the motor with electronic governor links to each other, two motor subunits link to each other, every the motor that motor unit includes is located respectively on many rotor unmanned aerial vehicle's the symmetry horn. Through this kind of connected mode, a plurality of motors obtain mains voltage jointly, when having avoided parallelly connected, the problem that every motor directly obtained mains voltage can exceed rotor motor's rated voltage, simultaneously, does not adopt other devices such as step-down transformer, can not influence many rotor unmanned aerial vehicle's load-carrying capacity.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the drawings are described in detail below.
Referring to fig. 1, this figure is a schematic diagram of an airborne circuit structure of a multi-rotor unmanned aerial vehicle provided in an embodiment of the present application. In one example, the number of wings of the multi-rotor drone may be, for example, 8 or 16. As shown in fig. 1, the many rotor unmanned aerial vehicle machine that this application embodiment provided carries circuit includes: motor unit 100, motor unit 200, and motor unit 300. Wherein each of said motor units comprises 2 motor sub-units, such as motor unit 300, comprising motor sub-unit 3001 and motor sub-unit 3002. Each of the motor subunits includes a motor and an electronic governor, taking a motor subunit 3001 as an example, wherein the motor 3001a is connected to the electronic governor 3001 b. It will be appreciated that in one example, the circuit further comprises a power supply for powering the circuit. Through this kind of connected mode, the motor among the multiple motor unit obtains mains voltage jointly, when having avoided parallelly connected, the problem that every motor directly obtains mains voltage can exceed rotor motor's rated voltage, simultaneously, does not adopt other devices such as step-down transformer, can not influence many rotor unmanned aerial vehicle's load-carrying capacity.
It should be noted that, in the embodiment of the present application, each motor unit includes a motor respectively located on the symmetrical arms of the multi-rotor drone. The symmetrical horn can be the horn that the physical position is relative on the unmanned aerial vehicle, see fig. 2, this figure is the 8 rotor unmanned aerial vehicle symmetrical horn physical position schematic diagrams that this application embodiment provided. As shown in the figure, after the horn of the 8-rotor unmanned aerial vehicle is labeled, there are horn nos. 1 and 4 which are symmetric to each other; nos. 2 and 3; numbers 5 and 6; nos. 7 and 8.
It can be appreciated that when the rotational speeds of the motors are the same on the symmetrical arms and the motor turns are opposite, the multi-rotor drone can be made to fly in a balanced state. Thus, in one example, it may be provided that in each motor unit, the two motors in the motor sub-units are turned in opposite directions.
In order to make the motor rotational speed on the symmetrical horn the same to make multi-rotor drone can fly in a balanced state, the voltage of the motor on the symmetrical horn can be set the same. In one example, each of the motor units comprises 2 motor sub-units connected in parallel. Referring to fig. 3, this figure is a schematic diagram of an airborne circuit structure of a multi-rotor unmanned aerial vehicle provided in an embodiment of the present application. As shown in fig. 3, in this example, the motor subunit 3001 in the motor unit 300 is connected in parallel with the motor subunit 3002. It is understood that when the motor subunit 3001 and the motor subunit 3002 are connected in parallel, the voltage of the electric motor 3001a in the motor subunit 3001 is the same as that of the electric motor 3002a in the motor subunit 3002, so that the rotation speeds of the electric motor 3001a and the electric motor 3002a are the same, and when the rotation speeds of the electric motor 3001a and the electric motor 3002a are opposite to each other, the drone can fly in a balanced state.
Considering that the multi-rotor unmanned aerial vehicle sometimes needs to change the flight state when flying, the rotating speed of the motor on the symmetrical arm may change, and at the same time, the voltage of the motor unit where the motor is located may change. In order to enable the voltage of the motor units to be adjusted, a capacitor may be connected in parallel to each of the motor units, or a capacitor may be connected in parallel to each of some of the motor units. Through the electric capacity that links to each other with the motor to the motor discharges, or, through the motor charges rather than the electric capacity that links to each other, realizes the adjustment of motor unit voltage through changing motor unit's voltage makes the voltage at motor both ends in the motor unit changes, thereby makes the rotational speed of motor changes, realizes the change of many rotor unmanned aerial vehicle flight state.
Referring to fig. 4, this figure is a schematic diagram of an airborne circuit structure of a multi-rotor unmanned aerial vehicle provided in an embodiment of the present application. In the many rotor unmanned aerial vehicle machine that this application embodiment provided carries the circuit, every electric motor unit all connects a electric capacity in parallel. In one example, the withstand voltage value of the capacitor may be larger than the power supply voltage. As shown in fig. 4, the motor unit 100 is connected in parallel with the capacitor C1, the motor unit 200 is connected in parallel with the capacitor C2, and the motor unit 300 is connected in parallel with the capacitor C3. It can be understood that, when motor subunit connects in parallel in every motor unit, and two motors are located the symmetry horn respectively, because the voltage at two motor both ends is the same all the time, through the capacitance adjustment the voltage at two motor both ends can realize being located the voltage of the motor on the symmetry horn and produce the change simultaneously, makes many rotor unmanned aerial vehicle can change phase or change speed steadily.
It can be understood that when the capacitor adjusts the voltage of the motor unit, the current voltage of the motor unit can be adjusted by comparing the current voltage with a preset voltage. In one example, the capacitor connected to the motor unit charges the motor unit when the voltage of the motor unit is lower than a preset voltage thereof; when the voltage of the motor unit is higher than the preset voltage, the motor unit discharges to the capacitor connected with the motor unit. As shown in fig. 4, if the current voltage of the motor unit 300 is 15 volts, and if the preset voltage for increasing the rotation speed of the motor 3001a to a certain value is 20 volts, the capacitor C3 discharges electricity to the motor unit 300, so that the voltage of the motor 3001a reaches 20 volts; if the current voltage of the motor unit 300 is 15 volts, and if the preset voltage for reducing the rotation speed of the motor 3001a to a certain value is 10 volts, the motor unit 300 charges the capacitor C3 so that the voltage of the motor 3001a reaches 10 volts.
It should be noted that the voltage of each motor unit may be equalized to facilitate servicing of the circuit. In practical application, when the actual voltage of the motor unit is different from the rated voltage, each motor unit can be electrically connected by adjusting the ratio of the voltage of the motor unit to the voltages of other motor unitsThe pressures are equal. When adjusting, the rated current I can be adjusted by the capacitor0With the actual current I flowing through a certain capacitanceCThe difference between them determines the proportion that needs to be adjusted. To determine the actual current I flowing through a certain capacitanceCThe rotational speed omega of the motor in the motor unit can be measuredi. According to the current I flowing through the motorCiAnd omegaiThe corresponding relationship between:
wherein, KiIs a torque constant, UiFor the capacitor voltage, it is known that by measuring the rotation speed of each motor in the motor unit, from the above correspondence, the current I flowing through the motor can be obtainedCiAnd further according to the formula:
the current I flowing through the capacitor can be obtained by superposing the current flowing through each motorC. In obtaining the current I flowing through the capacitorCThen, can be to ICThe ratio of the voltage to the capacitance C is integrated to obtain the voltage U of the motor unit connected in parallel with the capacitance C at the momentCThrough UCTo rated voltage U0The difference between them determines the proportion that needs to be adjusted.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice in the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the attached claims
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (9)
1. A multi-rotor unmanned aerial vehicle airborne circuit, characterized in that the circuit comprises a plurality of motor units, which are connected in series,
wherein, every motor unit includes two at least motor subunits, every motor subunit includes motor and electronic governor, the motor with electronic governor links to each other, two motor subunits link to each other, every the motor that motor unit includes is located respectively on many rotor unmanned aerial vehicle's the symmetry horn.
2. The circuit of claim 1, wherein each of the motor units is connected in parallel with a capacitor.
3. The circuit of claim 2 wherein each of a portion of said motor units is connected in parallel with a capacitor.
4. A circuit according to claim 2 or 3, wherein the capacitor connected to the motor unit charges the motor unit when the voltage of the motor unit is lower than a preset voltage thereof; when the voltage of the motor unit is higher than the preset voltage, the motor unit discharges to the capacitor connected with the motor unit.
5. A circuit as claimed in claim 2 or 3, further comprising a power supply for powering the circuit.
6. The circuit according to claim 5, wherein a withstand voltage value of the capacitor is larger than the power supply voltage.
7. A circuit according to any of claims 1-3, characterized in that the two motor sub-units in the motor unit are connected in parallel.
8. A circuit according to any of claims 1-3, wherein the motor turns in opposite directions in the two motor subunits.
9. The circuit of any one of claims 1-3, wherein the number of wings of the multi-rotor drone is 8 or 16.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110281137.9A CN113037147B (en) | 2021-03-16 | 2021-03-16 | Multi-rotor unmanned aerial vehicle airborne circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110281137.9A CN113037147B (en) | 2021-03-16 | 2021-03-16 | Multi-rotor unmanned aerial vehicle airborne circuit |
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| Publication Number | Publication Date |
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| CN113037147A true CN113037147A (en) | 2021-06-25 |
| CN113037147B CN113037147B (en) | 2023-08-15 |
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| CN202110281137.9A Active CN113037147B (en) | 2021-03-16 | 2021-03-16 | Multi-rotor unmanned aerial vehicle airborne circuit |
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2021
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Effective date of registration: 20230829 Address after: 365000 Shangjing Town, Datian County, Sanming City, Fujian Province Patentee after: Fujian Qinghang Equipment Technology Co.,Ltd. Address before: 102101 Building 9, courtyard 8, Fenggu 4th Road, Yanqing garden, Zhongguancun, Yanqing District, Beijing Patentee before: BEIJING QINGHANG ZIJIN EQUIPMENT TECHNOLOGY Co.,Ltd. |
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