CN113767350A

CN113767350A - Power output detection method and equipment for unmanned aerial vehicle

Info

Publication number: CN113767350A
Application number: CN202080030414.2A
Authority: CN
Inventors: 王晓亮; 吕熙敏; 商志猛
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-05-07
Filing date: 2020-05-07
Publication date: 2021-12-07
Also published as: WO2021223169A1

Abstract

Method and apparatus for power output detection of a drone (110, 201, 1400, 1601), the method comprising: acquiring a control instruction of the motor (152, 1412), wherein the control instruction of the motor (152, 1412) is used for indicating a desired rotating speed (S301, S801, S1201) of the motor (152, 1412); obtaining a power output condition (S302, S803) of a power system (150, 1410) of the unmanned aerial vehicle (110, 201, 1400, 1601) according to a desired rotation speed of the motor (152, 1412), an angular velocity and a linear acceleration of the unmanned aerial vehicle (110, 201, 1400, 1601). The power output condition of the power system (150, 1410) can be obtained without the measured rotating speed of the motor (152, 1412), the power output condition of the power system (150, 1410) can be detected when the electric speed regulator (151, 1411) breaks down, so that control measures for the unmanned aerial vehicle (110, 201, 1400, 1601) are made when power failure occurs, and the unmanned aerial vehicle (110, 201, 1400, 1601) is prevented from falling down.

Description

Power output detection method and equipment for unmanned aerial vehicle

Technical Field

The embodiment of the application relates to the technical field of unmanned aerial vehicles, in particular to a power output detection method and power output detection equipment for an unmanned aerial vehicle.

Background

The flight of unmanned aerial vehicle relies on the power that driving system provided to realize, and wherein, unmanned aerial vehicle's driving system includes motor, electricity accent, screw. Unmanned aerial vehicle can include a plurality of screws, and every screw is connected with the electricity that corresponds with it and transfers with the motor, and electricity is transferred, motor, screw three's synergism is used for providing power for unmanned aerial vehicle, drives unmanned aerial vehicle flight. At unmanned aerial vehicle's flight in-process, if any breaks down among the above-mentioned three, then lead to unmanned aerial vehicle's driving system to become invalid to can't provide normal power for unmanned aerial vehicle, influence unmanned aerial vehicle's normal flight, lead to the unmanned aerial vehicle air crash even.

The existing detection method needs to ensure that the state information such as the rotating speed, the current and the like of the motor is continuously obtained, cannot generate good detection effect aiming at all fault types, and is low in detection speed and poor in precision, so that the detection effect is greatly reduced.

Disclosure of Invention

The embodiment of the application provides a power output detection method and equipment of an unmanned aerial vehicle, which are used for detecting the power output condition of a power system of the unmanned aerial vehicle when an electric regulation fails.

In a first aspect, an embodiment of the present application provides a method for detecting power output of an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power system, the power system includes an electric controller, a motor, and a propeller, and the method includes:

acquiring a control instruction of the motor, wherein the control instruction of the motor is used for indicating the expected rotating speed of the motor;

and obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.

In a second aspect, an embodiment of the present application provides a method for detecting power output of an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power system, the power system includes an electric controller, a motor, and a propeller, and the method includes:

obtaining a first power output condition according to the measured rotating speed of the motor and the expected rotating speed of the motor, which are obtained from the electric regulation; and

obtaining a second power output condition according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle;

determining a power output condition of the power system based on the first power output condition and the second power output condition.

In a third aspect, an embodiment of the present application provides a method for detecting power output of an unmanned aerial vehicle, where the unmanned aerial vehicle includes a power system, the power system includes an electric regulator, a motor, and a propeller, and the method is applied to a control terminal, and the method includes:

receiving power output prompt information sent by the unmanned aerial vehicle, wherein the power output prompt information comprises a power output condition of the power system;

and outputting the power output prompt information.

In a fourth aspect, an embodiment of the present application provides an unmanned aerial vehicle, unmanned aerial vehicle includes driving system and processor, driving system includes electricity accent, motor and screw, the processor is used for:

In a fifth aspect, an embodiment of the present application provides an unmanned aerial vehicle, unmanned aerial vehicle includes driving system and processor, driving system includes electricity accent, motor and screw, the processor is used for:

In a sixth aspect, an embodiment of the present application provides a control terminal, control terminal is used for controlling unmanned aerial vehicle, unmanned aerial vehicle includes driving system, driving system includes electricity accent, motor and screw, control terminal includes:

the communication device is used for receiving power output prompt information sent by the unmanned aerial vehicle, and the power output prompt information comprises the power output condition of the power system;

and the processor is used for outputting the power output prompt information.

In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, where program instructions are stored on the computer-readable storage medium; the program instructions, when executed, implement a method of power output detection for a drone as described in the first or second or third aspects.

In an eighth aspect, the present application provides a program product, which includes a computer program stored in a computer-readable storage medium, from which the computer program can be read by at least one processor, which executes the computer program to implement the power output detection method of the drone according to the first aspect, the second aspect, or the third aspect.

In summary, according to the method and the device for detecting the power output of the unmanned aerial vehicle provided by the embodiment of the application, the control instruction of the motor is obtained and used for indicating the expected rotating speed of the motor; and then obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle. Therefore, this embodiment need not the measuring rotational speed of motor and also can obtain driving system's power take off situation, ensures also can detect driving system's power take off situation when the electricity modulation breaks down to when power became invalid, make the control measure to unmanned aerial vehicle, avoid unmanned aerial vehicle to crash.

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, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application;

fig. 2 is a schematic view of an application scenario provided in an embodiment of the present application;

fig. 3 is a flowchart of a power output detection method of an unmanned aerial vehicle according to an embodiment of the present application;

FIG. 4 is a schematic diagram of obtaining a power gain value of a motor according to an embodiment of the present application;

FIG. 5 is another schematic diagram of obtaining a power gain value of a motor according to an embodiment of the present disclosure;

FIG. 6 is another schematic diagram of obtaining a power gain value of a motor according to an embodiment of the present disclosure;

FIG. 7 is another schematic diagram of obtaining a power gain value of a motor according to an embodiment of the present disclosure;

fig. 8 is a flowchart of a power output detection method of an unmanned aerial vehicle according to another embodiment of the present application;

FIG. 9 is a schematic diagram for obtaining a speed response coefficient of an electric machine according to an embodiment of the present disclosure;

FIG. 10 is another schematic diagram for obtaining a speed response coefficient of a motor according to an embodiment of the present disclosure;

FIG. 11 is another schematic diagram for obtaining a speed response coefficient of a motor according to an embodiment of the present disclosure;

fig. 12 is a flowchart of a power output detection method of an unmanned aerial vehicle according to another embodiment of the present application;

fig. 13 is a flowchart of a method for detecting a power output of an unmanned aerial vehicle according to another embodiment of the present application;

fig. 14 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 15 is a schematic structural diagram of a control terminal according to an embodiment of the present application;

fig. 16 is a schematic structural diagram of a control system of a drone provided in an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all 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.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The embodiment of the application provides a power output detection method and equipment of an unmanned aerial vehicle. Wherein, the embodiment of this application can be applied to various types of unmanned aerial vehicle. For example, the drone may be a small or large drone. In certain embodiments, the drone may be a rotorcraft (rotorcraft), for example, a multi-rotor drone propelled through the air by a plurality of propulsion devices, embodiments of the present application are not so limited, and it will be apparent to those skilled in the art that other types of drones may be used without limitation.

Fig. 1 is a schematic architecture diagram of an unmanned flight system according to an embodiment of the present application. The present embodiment is described by taking a rotor unmanned aerial vehicle as an example.

The unmanned flight system 100 can include a drone 110, a display device 130, and a control terminal 140. The drone 110 may include, among other things, a power system 150, a flight control system 160, a frame, and a pan-tilt 120 carried on the frame. The drone 110 may be in wireless communication with the control terminal 140 and the display device 130. Wherein, the drone 110 further includes a battery (not shown in the figures) that provides electrical energy to the power system 150. The drone 110 may be an agricultural drone or an industrial application drone, with the need for cyclic operation. Accordingly, the battery also has a demand for a cycle operation.

The airframe may include a fuselage and a foot rest (also referred to as a landing gear). The fuselage may include a central frame and one or more arms connected to the central frame, the one or more arms extending radially from the central frame. The foot rest is connected with the fuselage for play the supporting role when unmanned aerial vehicle 110 lands.

The power system 150 may include one or more electronic governors (abbreviated as electric governors) 151, one or more propellers 153, and one or more motors 152 corresponding to the one or more propellers 153, wherein the motors 152 are connected between the electronic governors 151 and the propellers 153, the motors 152 and the propellers 153 are disposed on the horn of the drone 110; the electronic governor 151 is configured to receive a drive signal generated by the flight control system 160 and provide a drive current to the motor 152 based on the drive signal to control the rotational speed of the motor 152. The motor 152 is used to drive the propeller in rotation, thereby providing power for the flight of the drone 110, which power enables the drone 110 to achieve one or more degrees of freedom of motion. In certain embodiments, the drone 110 may rotate about one or more axes of rotation. For example, the above-mentioned rotation axes may include a Roll axis (Roll), a Yaw axis (Yaw) and a pitch axis (pitch). It should be understood that the motor 152 may be a dc motor or an ac motor. The motor 152 may be a brushless motor or a brush motor.

Flight control system 160 may include a flight controller 161 and a sensing system 162. The sensing system 162 is used to measure attitude information of the drone, i.e., position information and status information of the drone 110 in space, such as three-dimensional position, three-dimensional angle, three-dimensional velocity, three-dimensional acceleration, three-dimensional angular velocity, and the like. The sensing system 162 may include, for example, at least one of a gyroscope, an ultrasonic sensor, an electronic compass, an Inertial Measurement Unit (IMU), a vision sensor, a global navigation satellite system, and a barometer. For example, the Global navigation satellite System may be a Global Positioning System (GPS). The flight controller 161 is used to control the flight of the drone 110, for example, the flight of the drone 110 may be controlled according to attitude information measured by the sensing system 162. It should be understood that the flight controller 161 may control the drone 110 according to preprogrammed instructions, or may control the drone 110 in response to one or more remote control signals from the control terminal 140.

The pan/tilt head 120 may include a motor 122. The pan/tilt head is used to carry a load, which may be, for example, the camera 123. Flight controller 161 may control the movement of pan/tilt head 120 via motor 122. Optionally, as another embodiment, the pan/tilt head 120 may further include a controller for controlling the movement of the pan/tilt head 120 by controlling the motor 122. It should be understood that the pan/tilt head 120 may be separate from the drone 110, or may be part of the drone 110. It should be understood that the motor 122 may be a dc motor or an ac motor. The motor 122 may be a brushless motor or a brush motor. It should also be understood that the pan/tilt head may be located at the top of the drone, as well as at the bottom of the drone.

The photographing device 123 may be, for example, a device for capturing an image such as a camera or a video camera, and the photographing device 123 may communicate with the flight controller and perform photographing under the control of the flight controller. The image capturing Device 123 of this embodiment at least includes a photosensitive element, such as a Complementary Metal Oxide Semiconductor (CMOS) sensor or a Charge-coupled Device (CCD) sensor. It can be understood that the camera 123 may also be directly fixed to the drone 110, such that the pan/tilt head 120 may be omitted.

The display device 130 is located at the ground end of the unmanned aerial vehicle system 100, can communicate with the unmanned aerial vehicle 110 in a wireless manner, and can be used for displaying attitude information of the unmanned aerial vehicle 110. In addition, an image photographed by the photographing device 123 may also be displayed on the display apparatus 130. It should be understood that the display device 130 may be a stand-alone device or may be integrated into the control terminal 140.

The control terminal 140 is located at the ground end of the unmanned aerial vehicle system 100, and can communicate with the unmanned aerial vehicle 110 in a wireless manner, so as to remotely control the unmanned aerial vehicle 110.

It should be understood that the above-mentioned nomenclature for the components of the unmanned flight system is for identification purposes only, and should not be construed as limiting the embodiments of the present application.

Fig. 2 is a schematic view of an application scenario provided in the embodiment of the present application, and as shown in fig. 2, fig. 2 shows an unmanned aerial vehicle 201 and a control terminal 202 of the unmanned aerial vehicle. The control terminal 202 of the drone 201 may be one or more of a remote control, a smartphone, a desktop computer, a laptop computer, a wearable device (watch, bracelet). The embodiment of the present application takes the control terminal 202 as the remote controller 2021 and the terminal device 2022 as an example for schematic explanation. The terminal device 2022 is, for example, a smart phone, a wearable device, a tablet computer, and the like, but the embodiment of the present application is not limited thereto. When the drone 201 is flying, such as performing a work task, if the power output of the drone fails, it may result in the drone crashing. Therefore, whether power output of the power system of the unmanned aerial vehicle is invalid or not needs to be detected, for example, the rotating speed of the motor is obtained through electric regulation, and then whether the power system is invalid or not is detected according to the rotating speed of the motor. However, if the electric regulation has a fault, the rotating speed of the motor cannot be acquired, so that whether the power system fails or not cannot be detected. Therefore this application is through the rotational speed of the expectation of obtaining the motor, and this rotational speed of expectation is the rotational speed of the motor that instructs in the control command of the motor that unmanned aerial vehicle's flight controller sent. And the rotation of the motor is controlled by a control instruction of the motor, and the actual rotating speed of the motor is related to the expected rotating speed of the motor, so that when the electric regulation fails and the measured rotating speed of the motor (namely the measured rotating speed of the motor during actual rotation) cannot be obtained, whether the power system fails or not can be detected according to the expected rotating speed of the motor. If the power system fails, the unmanned aerial vehicle is controlled to fly backwards in time, and the unmanned aerial vehicle is prevented from crashing.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Fig. 3 is a flowchart of a power output detection method for an unmanned aerial vehicle according to an embodiment of the present application, where the method according to this embodiment may be applied to an unmanned aerial vehicle, and as shown in fig. 3, the method according to this embodiment may include:

s301, a control instruction of the motor is obtained, and the control instruction of the motor is used for indicating the expected rotating speed of the motor.

In this embodiment, unmanned aerial vehicle includes driving system, and driving system includes electricity accent, motor and screw moreover. The control command of the motor is used for indicating the expected rotating speed of the motor, and the control command of the motor can be output to the electric controller by a flight controller of the unmanned aerial vehicle. After receiving the control instruction of the motor, the electric controller controls the rotating speed of the motor to reach the expected rotating speed as much as possible or even equal to the expected rotating speed according to the control instruction of the motor. Therefore, the present embodiment can acquire the control command of the motor from the flight controller, and can also analyze the indicated desired rotation speed of the motor from the control command of the motor.

S302, obtaining the power output condition of the power system of the unmanned aerial vehicle according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.

In this embodiment, can also acquire unmanned aerial vehicle's angular velocity and linear acceleration, unmanned aerial vehicle's angular velocity can be regarded as unmanned aerial vehicle's actual angular velocity, can obtain through measuring. The linear acceleration of the unmanned aerial vehicle can also be regarded as the actual linear acceleration of the unmanned aerial vehicle, and can be obtained through measurement. And then obtaining the power output condition of the power system of the unmanned aerial vehicle according to the expected rotating speed of the motor, the angular velocity of the unmanned aerial vehicle and the linear acceleration of the unmanned aerial vehicle.

Wherein, the power take off situation of unmanned aerial vehicle's driving system can include: the power output is normal, or the power output fails. Or, the power output failure may be further divided into a power output partial failure and a power output complete failure, so the power output condition of the power system of the unmanned aerial vehicle may include: the power output is normal, or the power output is partially failed, or the power output is completely failed.

In the embodiment, the control instruction of the motor is obtained and used for indicating the expected rotating speed of the motor; and then obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle. Therefore, this embodiment need not the measuring rotational speed of motor and also can obtain driving system's power take off situation, ensures also can detect driving system's power take off situation when the electricity modulation breaks down to when power became invalid, make the control measure to unmanned aerial vehicle, avoid unmanned aerial vehicle to crash.

In some embodiments, the number of the power systems of the drone is N, and N may be equal to 1, or may be an integer greater than 1. Every driving system all includes motor, electricity under this driving system and transfers, the screw, correspondingly, unmanned aerial vehicle includes N motor, N electricity and transfers, N screw. If unmanned aerial vehicle is rotor type unmanned aerial vehicle, then this unmanned aerial vehicle is N axle rotor type unmanned aerial vehicle, and every axle rotor includes a driving system, and N axle rotor type unmanned aerial vehicle includes N driving system. The power output condition of each power system can be seen in the implementation scheme of the power output condition of the power system in each embodiment of the application.

In some embodiments, one possible implementation manner of the foregoing S302 is: obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle; and then the power output condition of the power system is obtained according to the power gain value of the motor.

In the embodiment, after the expected rotating speed of the motor and the angular velocity and the linear acceleration of the unmanned aerial vehicle are obtained, the power gain value of the motor is obtained according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle; the power gain value may represent a power gain magnitude of the motor. And then obtaining the power output condition of the power system according to the power gain value of the motor.

Alternatively, the power output condition is taken as normal power output or partial failure of power output or complete failure of power output as an example. The power gain value of the motor can be respectively compared with a first preset gain value and/or a second preset gain value in magnitude; wherein the second predetermined gain value is greater than the first predetermined gain value. And if the power gain value of the motor is smaller than the first preset gain value, determining that the power output condition of the power system is complete failure of power output. And if the power gain value of the motor is larger than the second preset gain value, determining that the power output condition of the power system is normal. And if the power gain value of the motor is greater than or equal to the first preset gain value and less than or equal to the second preset gain value, determining that the power output condition of the power system is the failure of the power output part. For example: the first predetermined gain value is 0.15, and the second predetermined gain value is 0.85, but the embodiment is not limited thereto.

Optionally, after the power gain value of the motor is obtained, the power output failure proportion of the power system can be determined according to the power gain value of the motor. Accordingly, the power take off condition may also include a percentage of power take off failures of the powertrain. For example, the power output failure ratio corresponding to a complete power output failure is greater than the power output failure ratio corresponding to a partial power output failure. For example, the larger the power gain value, the smaller the proportion of the power output failure.

If the power output condition of the power system is determined to be that the power output is normal, the power output failure ratio of the power system can be determined without the power gain value of the motor.

Several possible implementations of obtaining the power gain value of the motor according to the desired rotation speed of the motor, the angular velocity and the linear acceleration of the drone are exemplified below:

in one possible implementation, the power gain value of the motor is obtained from the desired rotation speed of the motor, the angular velocity and linear acceleration of the drone, and an inverse module of the aircraft dynamics (such as a kalman estimator), as shown in fig. 4. For example, the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle are input to the Kalman estimator, the result output by the Kalman estimator is obtained, and the power gain value of the motor is determined according to the result output by the Kalman estimator.

In another possible implementation: firstly, according to the angular velocity of the unmanned aerial vehicle, the estimated angular acceleration of the unmanned aerial vehicle is obtained. For example, the angular velocity of the drone is subjected to a differentiation-filtering process to obtain an estimated angular acceleration of the drone, and for example, the angular velocity of the drone is input to a differentiation-filter, and the differentiation-filter outputs an angular acceleration corresponding to the angular velocity, which is referred to as an estimated angular acceleration of the drone. And then obtaining a power gain value of the motor according to the expected rotating speed of the motor, the linear acceleration of the unmanned aerial vehicle and the estimated angular acceleration of the unmanned aerial vehicle. For example, a kalman estimator may be used to obtain a power gain value of the motor, as shown in fig. 5, according to the desired rotation speed of the motor, the estimated angular acceleration and linear acceleration of the drone, and an inverse model of the dynamics of the aircraft (such as the kalman estimator). In the embodiment, the estimated angular acceleration of the unmanned aerial vehicle is adopted, and the obtained estimated angular acceleration filters out noise information in the angular velocity, so that the obtained value is more accurate, and the obtained power gain value is more accurate.

In another possible implementation, if the number of power systems of the drone is N, where N may be equal to 1, or may be an integer greater than 1, the drone includes N motors. And obtaining power gain values of the N motors according to the expected rotating speeds of the N motors, the angular speed and the linear acceleration of the unmanned aerial vehicle. For example, the N × N diagonal matrix is obtained according to the expected rotation speeds of the N motors, the angular velocity of the drone, and the linear acceleration, for example, the expected rotation speeds of the N motors, the angular velocity of the drone, and the linear acceleration are input to the kalman estimator, and the N × N diagonal matrix output by the kalman estimator is obtained. Then, the power gain values of the N motors are obtained according to the diagonal matrix of N × N, for example, N element values on the diagonal line in the diagonal matrix of N × N are respectively determined as the power gain values of the N motors. Optionally, the estimated angular acceleration of the unmanned aerial vehicle may be obtained according to the angular velocity of the unmanned aerial vehicle, and then the diagonal matrix of N × N may be obtained according to the expected rotation speeds of the N motors, the estimated angular acceleration of the unmanned aerial vehicle, and the linear acceleration. The power gain values of all the motors can be uniformly obtained in the implementation mode, and the efficiency of obtaining the power gain values of all the motors is improved.

Taking N equal to 4 as an example, one implementation manner of obtaining the power gain values of the 4 motors according to the expected rotation speeds of the 4 motors, the angular velocities and the linear accelerations of the unmanned aerial vehicle is as follows:

the power gain values of the 4 motors are obtained according to the following formula:

wherein the content of the first and second substances,

the angular velocity of the x axis of the unmanned aerial vehicle;

the angular velocity of the y axis of the unmanned aerial vehicle;

the linear acceleration of the unmanned aerial vehicle; m(s) is a known model matrix; pwm1 is the desired speed of motor 1, pwm2 is the desired speed of motor 2, pwm3 is the desired speed of motor 3, and pwm4 is the desired speed of motor 4.

D is an unknown quantity in the above formula, so it can be obtained from the above formula:

where D is a diagonalized matrix. k is a radical of₁Is the power gain value, k, of the motor 1₂Is the power gain value, k, of the motor 2₃Is the power gain value, k, of the motor 3₄Is the power gain value of the motor 4.

In some embodiments, one possible implementation manner of the foregoing S302 is: according to the expected rotating speed, obtaining the estimated rotating speed of the motor rotating according to the control instruction; and obtaining the power output condition of the power system according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.

Since the rotation of the motor is controlled by the electronic regulation and the rotation of the motor is controlled by the electronic regulation based on the received control command of the motor, the actual rotation speed of the motor is related to the expected rotation speed indicated in the control command. In this embodiment, according to the expected rotation speed, the rotation speed of the motor is controlled after the control command of the motor is received by the pre-estimated electric tuning, and the rotation speed is referred to as the estimated rotation speed of the motor.

For example, the estimated rotating speed of the motor can be obtained according to the expected rotating speed of the motor and the motor-electric regulation dynamic model; the motor-electric tuning dynamic model can be described in the related art, and is not described in detail here. For example, assuming that the desired rotation speed is 1000 rpm, the estimated rotation speed is determined to be 0 according to the desired rotation speed 0 seconds after the control command of the motor is generated, the estimated rotation speed is determined to be, for example, 300 rpm at 0.1 seconds after the control command of the motor is generated, and so on, and the estimated rotation speed is determined to be 1000 rpm according to the desired rotation speed after the control command of the motor is generated for a certain period of time.

Optionally, inputting the expected rotating speed of the motor to the motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model; and performing low-pass filtering processing on the intermediate rotating speed (for example, inputting the intermediate rotating speed into a low-pass filter) to obtain the estimated rotating speed of the motor so as to filter high-frequency noise information, so that the obtained estimated rotating speed of the motor is closer to the actual rotating speed of the motor rotating under the control command.

And after the estimated rotating speed of the motor is obtained, obtaining the power output condition of the power system according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle. One possible implementation is: and obtaining a power gain value of the motor according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle, and obtaining a power output condition of the power system according to the power gain value of the motor. For how to obtain the power output condition of the power system according to the power gain value of the motor, reference may be made to the relevant description in the above embodiments, and details are not repeated here.

Because the estimated rotating speed of the motor of the embodiment can be closer to the actual rotating speed of the motor, the power output condition of the power system obtained by adopting the estimated rotating speed of the motor is more accurate.

Several implementations of obtaining the power gain value of the motor according to the estimated rotational speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle are exemplified below:

in one possible implementation, the power gain value of the motor is obtained from an estimated rotation speed of the motor, an angular velocity and a linear acceleration of the drone, and an inverse model of the aircraft dynamics (such as a kalman estimator), as shown in fig. 6. For example, the estimated rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle are input to the Kalman estimator, the result output by the Kalman estimator is obtained, and the power gain value of the motor is determined according to the result output by the Kalman estimator. In one embodiment, the above formula may be used to obtain the power gain value of the motor, except that the desired speed in the above formula may be replaced by the estimated speed in this embodiment.

In another possible implementation manner, the estimated angular acceleration of the unmanned aerial vehicle is obtained according to the angular velocity of the unmanned aerial vehicle, and the specific implementation process may refer to the description in the above embodiments, which is not described herein again. And then, obtaining a power gain value of the motor according to the estimated rotating speed of the motor, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle. For example, a kalman estimator may be used to obtain a power gain value of the motor, as shown in fig. 7, according to the estimated rotation speed of the motor, the estimated angular acceleration and linear acceleration of the drone, and an inverse model of the aircraft dynamics (e.g., the kalman estimator).

In another possible implementation, if the number of power systems of the drone is N, where N may be equal to 1, or may be an integer greater than 1, the drone includes N motors. And obtaining power gain values of the N motors according to the estimated rotating speeds of the N motors, the angular speed and the linear acceleration of the unmanned aerial vehicle. For example, the N × N diagonal matrix is obtained according to the expected rotation speeds of the N motors, the angular velocity of the drone, and the linear acceleration, for example, the estimated rotation speeds of the N motors, the angular velocity of the drone, and the linear acceleration are input to the kalman estimator, and the N × N diagonal matrix output by the kalman estimator is obtained. Then, the power gain values of the N motors are obtained according to the diagonal matrix of N × N, for example, N element values on the diagonal line in the diagonal matrix of N × N are respectively determined as the power gain values of the N motors. Optionally, the estimated angular acceleration of the unmanned aerial vehicle may be obtained according to the angular velocity of the unmanned aerial vehicle, and then the diagonal matrix of N × N may be obtained according to the estimated rotation speeds of the N motors, the estimated angular acceleration of the unmanned aerial vehicle, and the linear acceleration.

Fig. 8 is a flowchart of a power output detection method of an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 8, the method of this embodiment may include:

s801, acquiring a control instruction of the motor, wherein the control instruction of the motor is used for indicating the expected rotating speed of the motor.

In this embodiment, the specific implementation process of S801 may refer to the related description in the embodiment shown in fig. 3, and is not described herein again.

S802, determining whether the electric regulation connected with the motor has a fault. If so, S803 is executed, otherwise, S804 is executed.

In this embodiment, the actual rotational speed of the motor is obtained through the electrical tuning connected with the motor, and if the electrical tuning connected with the motor fails, the measured value of the actual rotational speed of the motor cannot be obtained, so that the power output condition of the power system cannot be obtained according to the actual rotational speed of the motor. In this case, in order to obtain the power output condition of the power system, it may be obtained based on the desired rotation speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle, so the following S803 is executed.

If the electrical regulation connected with the motor is not failed, a measured value of the actual rotating speed of the motor (hereinafter referred to as the measured rotating speed of the motor) can be obtained, and the power output condition of the power system can be obtained based on the measured rotating speed of the motor, specifically see S804 below.

Optionally, in another possible implementation manner, if the electric regulation connected to the motor fails, the power output condition of the power system of the unmanned aerial vehicle may also be obtained according to the expected rotation speed of the motor, the angular velocity of the unmanned aerial vehicle, and the linear acceleration.

One possible implementation manner for determining whether the electrical tuning connected with the motor fails may be: and determining whether the electric regulation external communication fails, and if the electric regulation external communication fails, determining that the electric regulation fails if the measured rotating speed of the motor from the electric regulation cannot be obtained. If the external communication of the electric tilt is not failed, the measured rotating speed of the motor from the electric tilt can be obtained, and the electric tilt is determined not to be failed. It should be understood that the failure of an electrical tilt also includes other possible situations and is not limited to the case where an electrical tilt fails for external communication.

And S803, obtaining the power output condition of the power system of the unmanned aerial vehicle according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.

In this embodiment, the specific implementation process of S803 may refer to the related description in each embodiment, and is not described herein again.

S804, obtaining the power output condition of the power system according to the measured rotating speed of the motor and the expected rotating speed of the motor, which are obtained from the electric regulation.

In this embodiment, the electric controller controls the motor to rotate according to a control instruction of the motor, and the control instruction of the motor indicates an expected rotation speed of the motor, so that the electric controller controls the motor to rotate according to the expected rotation speed of the motor, and a measured rotation speed of the motor during rotation is related to the expected rotation speed of the motor. If the electric regulation does not have a fault, the measured rotating speed of the motor can be obtained from the electric regulation. And because the measured rotating speed when the motor rotates is related to the expected rotating speed of the motor, the power output condition of the power system is obtained according to the measured rotating speed of the motor and the expected rotating speed of the motor.

According to the power output detection method of the unmanned aerial vehicle, if the electric regulation fails, the power output condition of the power system is obtained according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle. And if the electric regulation does not have a fault, obtaining the power output condition of the power system according to the expected rotating speed of the motor and the measured rotating speed of the motor. Therefore, the power output condition of the power system can be obtained no matter whether the electric regulation is in failure or not. And obtain driving system's power take off situation when the electricity is not out of order more fast to when power became invalid, make the control measure to unmanned aerial vehicle more rapidly, avoid the unmanned aerial vehicle crash.

In some embodiments, one possible implementation manner of the foregoing S804 is: obtaining a rotating speed response coefficient of the motor according to the measured rotating speed of the motor and the expected rotating speed of the motor; and obtaining the power output condition of the power system according to the rotating speed response coefficient of the motor.

In the embodiment, after the expected rotating speed of the motor and the measured rotating speed of the motor are obtained, the rotating speed response coefficient of the motor is obtained according to the expected rotating speed of the motor and the measured rotating speed of the motor; the rotating speed response coefficient can represent the health degree of the electrically-adjusted rotating speed response. And then obtaining the power output condition of the power system according to the rotating speed response coefficient of the motor.

Alternatively, the power output condition is taken as normal power output or partial failure of power output or complete failure of power output as an example. The rotating speed response coefficient of the motor can be respectively compared with a first preset coefficient and/or a second preset coefficient in size; wherein the second predetermined coefficient is greater than the first predetermined coefficient. And if the rotating speed response coefficient of the motor is smaller than a first preset coefficient, determining that the power output condition of the power system is complete failure of power output. And if the rotating speed response coefficient of the motor is greater than a second preset coefficient, determining that the power output condition of the power system is normal. And if the rotating speed response coefficient of the motor is greater than or equal to a first preset coefficient value and less than or equal to a second preset coefficient, determining that the power output condition of the power system is that the power output part is failed. For example: the value range of the first predetermined coefficient is 0.1 to 0.2, and the value range of the second predetermined coefficient is 0.2 to 0.5, but the embodiment is not limited thereto.

Optionally, after the speed response coefficient of the motor is obtained, the power output failure ratio of the power system can be determined according to the speed response coefficient of the motor. Accordingly, the power take off condition may also include a percentage of power take off failures of the powertrain. For example, the power output failure ratio corresponding to a complete power output failure is greater than the power output failure ratio corresponding to a partial power output failure. For example, the larger the speed response coefficient, the smaller the proportion of the failed power output.

If the power output condition of the power system is determined to be that the power output is normal, the power output failure ratio of the power system can be determined without the rotating speed response coefficient of the motor.

Several possible implementations of obtaining a rotational speed response coefficient of the motor based on the measured rotational speed of the motor and the desired rotational speed of the motor are exemplified below:

in one possible implementation, the rotational speed response coefficient of the motor is obtained according to the measured rotational speed of the motor, the expected rotational speed of the motor, and a unit dynamic response model of the motor, as shown in fig. 9. For example, the measured rotating speed of the motor and the expected rotating speed of the motor are input into the unit dynamic response model of the motor, the output result of the unit dynamic response model of the motor is obtained, and the rotating speed response coefficient of the motor is determined according to the output result of the unit dynamic response model of the motor.

In another possible implementation manner, according to the expected rotating speed of the motor, obtaining the estimated rotating speed of the motor rotating according to the control instruction; then, the rotational speed response coefficient of the motor is obtained from the measured rotational speed of the motor and the estimated rotational speed of the motor, as shown in fig. 10.

For example, the estimated rotating speed of the motor can be obtained according to the expected rotating speed of the motor and the motor-electric regulation dynamic model; the motor-electric tuning dynamic model can be described in the related art, and is not described in detail here. For example, assuming that the desired rotation speed is 1000 rpm, the estimated rotation speed is determined to be 0 according to the desired rotation speed 0 seconds after the control command of the motor is generated, the estimated rotation speed is determined to be 300 rpm, for example, according to the desired rotation speed 0.1 seconds after the control command of the motor is generated, and so on, and the estimated rotation speed is determined to be 1000 rpm according to the desired rotation speed after the control command of the motor is generated for a certain period of time.

Optionally, inputting the expected rotating speed of the motor to the motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model; and performing low-pass filtering processing on the intermediate rotating speed (for example, inputting the intermediate rotating speed into a low-pass filter) to obtain the estimated rotating speed of the motor so as to filter high-frequency noise information, so that the obtained estimated rotating speed of the motor is closer to the actual rotating speed of the motor rotating at the expected rotating speed.

And after the estimated rotating speed of the motor is obtained, the rotating speed response coefficient of the power system is obtained according to the estimated rotating speed of the motor and the measured rotating speed of the motor.

In another possible implementation: and inputting the measured rotating speed of the motor to the electric-tuning dynamic inverse model to obtain the output rotating speed of the electric-tuning dynamic inverse model. And obtaining a rotating speed response coefficient of the motor according to the output rotating speed and the expected rotating speed of the motor. Optionally, according to the expected rotation speed of the motor, obtaining an estimated rotation speed of the motor rotating according to the control instruction of the motor; then, from the output rotation speed and the estimated rotation speed, a rotation speed response coefficient of the motor is obtained, as shown in fig. 11.

In another possible implementation manner, the expected rotation speed of the motor is subjected to low-pass filtering processing (for example, the expected rotation speed is input to a low-pass filter), so as to obtain the estimated rotation speed of the motor, so as to filter out high-frequency noise information, and thus the obtained estimated rotation speed of the motor is closer to the actual rotation speed of the motor rotating under the control command. And after the estimated rotating speed of the motor is obtained, the rotating speed response coefficient of the power system is obtained according to the estimated rotating speed of the motor and the measured rotating speed of the motor. For how to obtain the rotation speed response coefficient, reference may be made to the related description in the above embodiments, and details are not described herein again.

Fig. 12 is a flowchart of a power output detection method of an unmanned aerial vehicle according to another embodiment of the present application, where the method of this embodiment may be applied to an unmanned aerial vehicle, as shown in fig. 12, the method of this embodiment may include:

s1201, a control instruction of the motor is obtained, and the control instruction of the motor is used for indicating the expected rotating speed of the motor.

In this embodiment, a specific implementation process of S1201 may refer to a related description in the embodiment shown in fig. 3, and is not described herein again.

S1202, obtaining a first power output condition according to the measured rotating speed of the motor and the expected rotating speed of the motor, wherein the measured rotating speed is obtained from the electric regulation.

In this embodiment, for how to obtain the power output condition according to the measured rotating speed of the motor and the expected rotating speed of the motor obtained from the electrical regulation, reference may be made to the related description in the embodiment shown in fig. 3, and details are not described here again. Here, the power output condition obtained in S1202 is referred to as a first power output condition.

S1203, obtaining a second power output condition according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.

In this embodiment, for how to obtain the power output condition according to the expected rotation speed of the motor, the angular velocity of the unmanned aerial vehicle, and the linear acceleration, reference may be made to the related description in the embodiment shown in fig. 3, which is not described herein again. Here, the power output condition obtained at S1203 is referred to as a second power output condition.

And S1204, determining the power output condition of the power system according to the first power output condition and the second power output condition.

In this embodiment, after the desired rotation speed of the motor is analyzed from the control command of the motor, the power output conditions, i.e., the first power output condition and the second power output condition, can be obtained in two different ways of S1202 and S1203. And then determining the power output condition of the power system of the unmanned aerial vehicle according to the first power output condition and the second power output condition.

According to the power output detection method of the unmanned aerial vehicle, after the expected rotating speed of the motor is obtained, a first power output condition is obtained according to the measured rotating speed of the motor and the expected rotating speed of the motor, which are obtained through electric regulation, a second power output condition is obtained according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle, and the power output condition of the power system is determined according to the first power output condition and the second power output condition. This embodiment obtains two kinds of power take off situations through two kinds of modes, then finally confirms the power take off situation of unmanned aerial vehicle's driving system. The reliability of the finally determined power output condition is ensured. And need not the measuring rotational speed of motor and also can obtain the power take off situation, guarantee also can detect driving system's power take off situation when the electricity modulation breaks down to when power became invalid, make the control measure to unmanned aerial vehicle, avoid unmanned aerial vehicle to crash.

Alternatively, the first power output condition may include: the power output is normal, or the power output fails. Alternatively, the first power output condition may include: the power output is normal, or the power output is partially failed, or the power output is completely failed.

Alternatively, the second power output condition may include: the power output is normal, or the power output fails. Alternatively, the second power output condition may include: the power output is normal, or the power output is partially failed, or the power output is completely failed.

In some embodiments, one possible implementation manner of the foregoing S1204 is: and determining whether the electric speed regulation fails, if the electric speed regulation fails, determining the measured rotating speed of the motor to be available, and determining the first power output condition as the power output condition of the power system. In this embodiment, when the electricity is not out of order, can obtain first power output situation also can obtain second power output situation, and the speed that obtains first power output situation according to the measuring rotational speed of motor and the expectation rotational speed of motor is faster than the speed that obtains second power output situation according to the expectation rotational speed of motor, unmanned aerial vehicle's angular velocity and linear acceleration. Therefore, the first power output condition is determined as the power output condition of the power system, the speed of obtaining the power output condition of the power system can be improved, the response corresponding to the power output condition can be made more quickly, and the unmanned aerial vehicle is prevented from falling.

If the electric regulation is failed, the measured rotating speed of the motor cannot be obtained, and therefore even if the first power output condition is obtained in S1202, the first power output condition is inaccurate, the second power output condition is determined as the power output condition of the power system. Guarantee when the electricity is transferred and breaks down, also can obtain driving system's power take off situation, in time make the response that corresponds with the power take off situation, avoid unmanned aerial vehicle to crash.

Wherein, the above-mentioned determining whether the electric regulation has a fault is, for example: and determining whether the electric regulation external communication fails, and if the electric regulation external communication fails, determining that the electric regulation fails if the measured rotating speed of the motor from the electric regulation cannot be obtained. If the external communication of the electric tilt is not failed, the measured rotating speed of the motor from the electric tilt can be obtained, and the electric tilt is determined not to be failed. It should be understood that the failure of an electrical tilt also includes other possible situations and is not limited to the case where an electrical tilt fails for external communication.

In some embodiments, another possible implementation manner of the foregoing S1204 is: if the first power output condition includes a complete failure of power output, then the first power output condition is determined to be a power output condition of the powertrain. In the present embodiment, the response speed of the first power output condition is faster, and after the first power output condition is obtained, if the first power output condition includes: and determining the first power output condition as the power output condition of the power system, regardless of the second power output condition, that is, the power output condition of the power system includes a complete power output failure.

In some embodiments, one possible implementation manner of the foregoing S1202 is: obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the expected rotating speed; and obtaining a first power output condition according to the rotating speed response coefficient of the motor. Optionally, if the rotational speed response coefficient is smaller than the first preset coefficient, it is determined that the first power output condition is that the power output is completely failed. And if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the power output condition is that the power output part is invalid. If the rotating speed response coefficient is larger than a second preset coefficient, determining that the first power output condition is normal power output; the second predetermined coefficient is greater than the first predetermined coefficient.

Optionally, after the speed response coefficient of the motor is obtained, the power output failure ratio of the power system is determined according to the speed response coefficient of the motor. Wherein the first power output condition further comprises a power output failure fraction of the powertrain.

For the above implementation processes, reference may be made to the relevant description in the above embodiments, and details are not described here.

in one possible implementation, the rotational speed response coefficient of the motor is obtained according to a measured rotational speed of the motor, a desired rotational speed of the motor, and a unit dynamic response model of the motor.

In one possible implementation manner, according to the expected rotating speed of the motor, obtaining the estimated rotating speed of the motor rotating according to the control instruction; and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed of the motor and the estimated rotating speed of the motor.

In one possible implementation mode, the measured rotating speed of the motor is input into the electric regulation dynamic inverse model, and the output rotating speed of the electric regulation dynamic inverse model is obtained; and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the expected rotation speed of the motor. Optionally, obtaining an estimated rotation speed of the motor according to the control instruction according to the expected rotation speed of the motor; and then obtaining a rotating speed response coefficient of the motor according to the output rotating speed and the estimated rotating speed.

For the system for obtaining the rotational speed response of the motor in each implementation manner, reference may be made to relevant descriptions in the above embodiments for obtaining the rotational speed response coefficient, and details are not described here again.

In some embodiments, one possible implementation manner of S1203 is: obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle; and obtaining a second power output condition according to the power gain value of the motor. Optionally, if the power gain value is smaller than the first preset gain value, it is determined that the second power output condition is that the power output is completely failed. And if the power gain value is greater than or equal to the first preset gain value and less than or equal to the second preset gain value, determining that the second power output condition is that the power output part is failed. And if the power gain value is larger than the second preset gain value, determining that the second power output condition is normal power output. The second preset gain value is greater than the first preset gain value.

Optionally, after the power gain value of the motor is obtained, the power output failure proportion of the power system is determined according to the power gain value. Wherein the power output condition further comprises a power output failure proportion of the power system.

in one possible implementation, the power gain value of the motor is obtained according to the expected rotating speed of the motor, the angular velocity and linear acceleration of the unmanned aerial vehicle and a Kalman estimator.

In one possible implementation, the estimated angular acceleration of the drone is obtained from the angular velocity of the drone. Optionally, the angular velocity of the unmanned aerial vehicle is subjected to differentiation-filtering processing to obtain an estimated angular acceleration of the unmanned aerial vehicle. And then, obtaining a power gain value of the motor according to the expected rotating speed of the motor, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle.

In one possible implementation, the number of the power systems is N, wherein N is an integer greater than or equal to 1; and obtaining power gain values of the N motors according to the expected rotating speeds of the N motors of the N power systems, the angular speed and the linear acceleration of the unmanned aerial vehicle. Optionally, obtaining an N × N diagonal matrix according to the expected rotation speeds of the N motors, the angular velocity and the linear acceleration of the unmanned aerial vehicle; and acquiring N element values on the diagonal line in the diagonal matrix, wherein the N element values are respectively power gain values of N motors.

In some embodiments, one possible implementation manner of S1203 is: according to the expected rotating speed, obtaining the estimated rotating speed of the motor rotating according to the control instruction; and obtaining a second power output condition according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.

For example, the estimated rotating speed of the motor can be obtained according to the expected rotating speed of the motor and the motor-electric regulation dynamic model; the motor-electric tuning dynamic model can be described in the related art, and is not described in detail here. For example, assuming that the desired rotation speed is 1000 rpm, the estimated rotation speed is determined to be 0 according to the desired rotation speed 0 seconds after the control command of the motor is generated, the estimated rotation speed is determined to be, for example, 300 rpm according to the desired rotation speed 0.1 seconds after the control command of the motor is generated, and so on, and the estimated rotation speed is determined to be 1000 rpm according to the desired rotation speed after the control command of the motor is generated for a certain period of time.

In this embodiment, for the implementation process of the foregoing embodiments, reference may be made to relevant descriptions in the foregoing embodiments, and details are not described here again.

On the basis of any one of the above embodiments, after the power output condition of the power system of the unmanned aerial vehicle is obtained, power output prompt information is sent to the control terminal of the unmanned aerial vehicle, and the power output prompt information includes the power output condition of the power system. Correspondingly, as shown in fig. 13, fig. 13 is a flowchart of a power output detection method of an unmanned aerial vehicle according to another embodiment of the present application, and as shown in fig. 13, the method of this embodiment is applied to a control terminal, and the method of this embodiment may include:

s1301, power output prompt information sent by the unmanned aerial vehicle is received, and the power output prompt information comprises a power output condition of the power system.

And S1302, outputting power output prompt information.

In this embodiment, control terminal receives the power output prompt message of the driving system that unmanned aerial vehicle sent, then outputs power output prompt message. The user can learn the power output situation of the power system of the unmanned aerial vehicle according to the power output prompt information output by the control terminal, so that the user can make corresponding control operation on the unmanned aerial vehicle according to the power output situation.

Optionally, the power take off condition comprises: the power output is normal, or the power output fails. Alternatively, the power output condition includes: the power output is normal, or the power output is partially failed, or the power output is completely failed.

Optionally, the power output prompt further includes: identification information of the powered system. The unmanned aerial vehicle may include a plurality of power systems, and therefore, the power output prompt information further includes identification information of the power systems, so that a user can know the power systems corresponding to the power output conditions, and further determine which power system is abnormal. Use unmanned aerial vehicle as multiaxis rotor unmanned aerial vehicle as an example, every axle rotor corresponds a driving system, and control terminal can export following information: the power output of a certain shaft is normal, the power output of a certain shaft is partially failed (for example, partial power is lost), and the power output of a certain shaft is completely failed (for example, full power is lost).

Alternatively, the power output condition includes a power output portion failure, and the power output condition further includes a power output failure ratio. For example, the control terminal outputs the following information "XX-axis power output portion is abnormal, and about XX% is lost". For example, the threshold of the duty ratio may be set to 25%, and when the duty ratio is less than 25%, an abnormal alert may not be made.

One possible implementation manner of the foregoing S1302 is: and displaying power output prompt information. For example, the power output prompt message may be displayed by text on a display device of the control terminal, such as a display screen of a terminal device in the control terminal or a display screen of a remote control device in the control terminal.

One possible implementation manner of the foregoing S1302 is: and playing power output prompt information by voice. Such as playing a power output prompt via a speaker.

Alternatively, if the power take off condition of the powertrain described above includes a complete power take off failure, or a partial power take off failure. The control terminal can also control the vibration of the remote control device, and a user can generally hold the remote control device by hands, so that the user can timely feel that the power output of the power system is abnormal. Optionally, the remote control device may be controlled to stop vibrating after the unmanned aerial vehicle has fallen.

Optionally, the control terminal of this embodiment further determines a processing strategy according to a power output condition of the power system, and outputs the processing strategy. The processing strategy may be displayed or played by voice.

For example, if the power output condition is failure of the power output part, the processing strategy is to prompt the user to perform maintenance, for example, the control terminal outputs the following information "please pay attention to the maintenance". For example, if the power output condition is that the power output is completely failed, the processing strategy is to prompt the user to control the unmanned aerial vehicle to land, for example, the control terminal outputs the following information "please land immediately". The user can make corresponding control operation in a targeted manner based on the output processing strategy, and the user experience is improved.

The embodiment of the present application further provides a computer storage medium, where the computer storage medium stores program instructions, and the program instructions, when executed, may implement part or all of the steps of the power output detection method for a drone according to any one of the above embodiments.

Fig. 14 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 14, an unmanned aerial vehicle 1400 according to this embodiment includes a power system 1410 and a processor 1420, where the power system 1410 includes an electric tilt 1411, a motor 1412 and a propeller 1413. Optionally, the drone 1400 of this embodiment may further include a communication device 1430, where the communication device 1430 is configured to communicate with an external device.

The processor 1420, configured to:

and obtaining the power output condition of the power system 1410 according to the expected rotating speed of the motor 1412, the angular speed and the linear acceleration of the unmanned aerial vehicle 1400.

Optionally, the processor 1420 is specifically configured to:

obtaining a power gain value of the motor 1412 according to the expected rotating speed of the motor 1412, the angular velocity and the linear acceleration of the unmanned aerial vehicle 1400;

and obtaining the power output condition of the power system 1410 according to the power gain value of the motor 1412.

Optionally, the processor 1420 is specifically configured to:

and obtaining a power gain value of the motor 1412 according to the expected rotating speed of the motor 1412, the angular velocity and the linear acceleration of the unmanned aerial vehicle 1400 and a Kalman estimator.

Optionally, the processor 1420 is specifically configured to:

obtaining an estimated angular acceleration of the unmanned aerial vehicle 1400 according to the angular velocity of the unmanned aerial vehicle 1400;

and obtaining a power gain value of the motor 1412 according to the expected rotating speed of the motor 1412, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle 1400.

Optionally, the processor 1420 is specifically configured to: and performing differentiation-filtering processing on the angular velocity of the unmanned aerial vehicle 1400 to obtain the estimated angular acceleration of the unmanned aerial vehicle 1400.

Optionally, the number of the power systems 1410 is N, where N is an integer greater than or equal to 1;

the processor 1420 is specifically configured to: and obtaining power gain values of the N motors 1412 according to the expected rotating speeds of the N motors 1412, the angular speed and the linear acceleration of the unmanned aerial vehicle 1400.

Optionally, the processor 1420 is specifically configured to:

obtaining an N x N diagonal matrix according to the expected rotation speed of the N motors 1412, the angular velocity and the linear acceleration of the unmanned aerial vehicle 1400;

and acquiring N element values on the diagonal line in the diagonal matrix, wherein the N element values are respectively the power gain values of the N motors 1412.

Optionally, the processor 1420 is specifically configured to:

obtaining an estimated rotation speed of the motor 1412 rotating according to the control instruction according to the expected rotation speed;

and obtaining the power output condition of the power system 1410 according to the estimated rotating speed of the motor 1412, the angular speed and the linear acceleration of the unmanned aerial vehicle 1400.

Optionally, the processor 1420 is specifically configured to:

and obtaining the estimated rotating speed according to the expected rotating speed and the motor-electric regulation dynamic model.

Optionally, the processor 1420 is specifically configured to:

inputting the expected rotating speed to a motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model;

and carrying out low-pass filtering processing on the intermediate rotating speed to obtain the estimated rotating speed.

Optionally, the processor 1420 is specifically configured to:

if it is determined that the electric tilt 1411 connected with the motor 1412 has a fault, the power output condition of the power system 1410 is obtained according to the expected rotating speed of the motor 1412, the angular velocity and the linear acceleration of the unmanned aerial vehicle 1400.

Optionally, the processor 1420 is specifically configured to: if the electric tilt 1411 is determined to have a fault with respect to external communication, it is determined that the electric tilt 1411 has a fault.

Optionally, the processor 1420 is further configured to, if it is determined that the electrical governor 1411 connected to the motor 1412 is not faulty, obtain a power output condition of the power system 1410 according to the measured rotation speed of the motor 1412 obtained from the electrical governor 1411 and the expected rotation speed of the motor 1412.

Optionally, the processor 1420 is specifically configured to:

obtaining a rotation speed response coefficient of the motor 1412 according to the measured rotation speed and the expected rotation speed;

and obtaining the power output condition of the power system 1410 according to the rotating speed response coefficient of the motor 1412.

Optionally, the processor 1420 is specifically configured to: and obtaining a rotation speed response coefficient of the motor 1412 according to the measured rotation speed, the expected rotation speed and a unit dynamic response model of the motor 1412.

Optionally, the processor 1420 is specifically configured to:

and obtaining a rotation speed response coefficient of the motor 1412 according to the measured rotation speed and the estimated rotation speed of the motor 1412.

Optionally, the processor 1420 is specifically configured to:

inputting the measured rotating speed of the motor 1412 to an electric regulation dynamic inverse model to obtain the output rotating speed of the electric regulation 1411 dynamic inverse model;

and obtaining a rotation speed response coefficient of the motor 1412 according to the output rotation speed and the expected rotation speed.

Optionally, the processor 1420 is specifically configured to:

and obtaining a rotation speed response coefficient of the motor 1412 according to the output rotation speed and the estimated rotation speed.

Optionally, the processor 1420 is specifically configured to:

if the power gain value is smaller than a first preset gain value, determining that the power output condition of the power system is that the power output is completely failed;

if the power gain value is greater than or equal to a first preset gain value and less than or equal to a second preset gain value, determining that the power output condition of the power system is that a power output part is failed;

if the power gain value is larger than a second preset gain value, determining that the power output condition of the power system is normal;

the second preset gain value is greater than the first preset gain value.

Optionally, the processor 1420 is further configured to: determining the power output failure proportion of the power system 1410 according to the power gain value;

wherein the power output condition further comprises a power output failure rate of the powertrain 1410.

Optionally, the processor 1420 is specifically configured to:

if the rotating speed response coefficient is smaller than a first preset coefficient, determining that the power output condition of the power system 1410 is that the power output is completely failed;

if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the power output condition of the power system 1410 is that a power output part is failed;

if the rotating speed response coefficient is larger than a second preset coefficient, determining that the power output condition of the power system 1410 is normal power output;

the second preset coefficient is greater than the first preset coefficient.

Optionally, the processor 1420 is further configured to: determining the power output failure proportion of the power system 1410 according to the rotating speed response coefficient;

Optionally, the power output condition comprises: the power output is normal, or the power output is partially failed, or the power output is completely failed.

Optionally, the communication device 1430 is configured to send power output prompt information to the control terminal, where the power output display information includes a power output status of the power system 1410.

In another possible embodiment, the processor 1420 is configured to:

acquiring a control instruction of the motor 1412, wherein the control instruction of the motor 1412 is used for indicating the expected rotating speed of the motor 1412;

obtaining a first power output condition according to the measured rotating speed of the motor 1412 obtained from the electric governor 1411 and the expected rotating speed of the motor 1412; and

obtaining a second power output condition according to the expected rotating speed of the motor 1412, the angular speed and the linear acceleration of the unmanned aerial vehicle 1400;

determining a power output condition of the powertrain 1410 based on the first power output condition and the second power output condition.

Optionally, the processor 1420 is specifically configured to:

if the electronic governor 1411 is not malfunctioning, determining the first power output condition as a power output condition of the power system 1410;

if the electric governor 1411 fails, determining the second power output condition as a power output condition of the power system.

Optionally, the failure of electrical tilt 1411 includes a failure of external communication by electrical tilt 1411.

Optionally, the processor 1420 is specifically configured to: if the first power output condition includes a complete power output failure, then the first power output condition is determined to be a power output condition of the powertrain 1410.

Optionally, the processor 1420 is specifically configured to:

and obtaining the first power output condition according to the rotating speed response coefficient of the motor 1412.

Optionally, the processor 1420 is specifically configured to:

inputting the measured rotating speed of the motor 1412 to an electric regulation dynamic inverse model to obtain the output rotating speed of the electric regulation dynamic inverse model;

Optionally, the processor 1420 is specifically configured to:

if the rotating speed response coefficient is smaller than a first preset coefficient, determining that the first power output condition is that the power output is completely failed;

if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the first power output condition is that a power output part is failed;

if the rotating speed response coefficient is larger than a second preset coefficient, determining that the first power output condition is normal power output;

the second preset coefficient is greater than the first preset coefficient.

wherein the first power output condition further comprises a power output failure rate of the powertrain.

Optionally, the processor 1420 is specifically configured to:

and obtaining the second power output condition according to the power gain value of the motor 1412.

Optionally, the processor 1420 is specifically configured to: and obtaining a power gain value of the motor 1412 according to the expected rotating speed of the motor 1412, the angular velocity and the linear acceleration of the unmanned aerial vehicle 1400 and a Kalman estimator.

Optionally, the processor 1420 is specifically configured to:

if the power gain value is smaller than a first preset gain value, determining that the second power output condition is that the power output is completely failed;

if the power gain value is greater than or equal to a first preset gain value and less than or equal to a second preset gain value, determining that the second power output condition is that a power output part is failed;

if the power gain value is larger than a second preset gain value, determining that the second power output condition is normal power output;

the second preset gain value is greater than the first preset gain value.

Optionally, the processor 1420 is specifically configured to:

and obtaining the second power output condition according to the estimated rotating speed of the motor 1412, the angular speed and the linear acceleration of the unmanned aerial vehicle 1400.

Optionally, the processor 1420 is specifically configured to: and obtaining the estimated rotating speed according to the expected rotating speed and the motor-electric regulation dynamic model.

Optionally, the processor 1420 is specifically configured to:

Optionally, the communication device 1430 is configured to send power output prompt information to the control terminal, where the power output prompt information includes a power output condition of the power system 1410.

Optionally, the drone of this embodiment further includes a memory (not shown in the figure) for storing program codes, and when the program codes are called, the drone is caused to implement the above solutions.

The unmanned aerial vehicle of this embodiment can be used for carrying out the technical scheme of unmanned aerial vehicle in above-mentioned each method embodiment of this application, and its realization principle and technological effect are similar, and it is no longer repeated here.

Fig. 15 is a control terminal's that this application embodiment provided structure schematic diagram, as shown in fig. 15, the control terminal 1500 of this embodiment is used for controlling unmanned aerial vehicle, unmanned aerial vehicle includes driving system, driving system includes electricity accent, motor and screw, control terminal 1500 includes: a communication device 1501 and a processor 1502.

The communication device 1501 is used for receiving power output prompt information sent by the unmanned aerial vehicle, wherein the power output prompt information comprises a power output condition of the power system;

a processor 1502 for outputting the power output prompt message.

Optionally, the power output prompt message further includes: identification information of the powered system.

Optionally, if the power output condition includes: the power output portion fails, the power output condition further includes a power output failure ratio.

Optionally, the control terminal 1500 of this embodiment further includes a display device 1503. The processor 1502 is specifically configured to: the control display device 1503 displays the power output prompt information.

Optionally, the control terminal 1500 of this embodiment further includes a speaker 1504. The processor 1502 is specifically configured to: and controlling the loudspeaker 1504 to play the power output prompt message in a voice mode.

Optionally, if the power output condition includes: the power output is completely failed, or the power output is partially failed;

the processor 1502 is further configured to control a remote control device of the drone to vibrate.

Optionally, the processor 1502 is further configured to: determining a processing strategy according to the power output condition; and outputting the processing strategy.

Optionally, the control terminal of this embodiment further includes a memory (not shown in the figure) for storing a program code, and when the program code is called, the control terminal implements the above solutions.

The control terminal of this embodiment may be configured to execute the technical solution of the control terminal in each of the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.

Fig. 16 is a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present application, and as shown in fig. 16, the control system 1600 of the unmanned aerial vehicle according to this embodiment may include: unmanned aerial vehicle 1601 and control terminal 1602.

The unmanned aerial vehicle 1601 may execute the technical solution of the unmanned aerial vehicle provided in any of the above embodiments, which is not described herein again. The control terminal 1602 may execute the technical solution of the control terminal provided in any of the above embodiments, and is not described herein again.

Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, which may be stored in a computer-readable storage medium, that when executed implement the steps comprising the above method embodiments; and the aforementioned storage medium includes: various media capable of storing program codes, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, and an optical disk.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A power output detection method of an unmanned aerial vehicle is characterized in that the unmanned aerial vehicle comprises a power system, the power system comprises an electric speed regulator, a motor and a propeller, and the method comprises the following steps:

acquiring a control instruction of the motor, wherein the control instruction of the motor is used for indicating the expected rotating speed of the motor;

and obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
The method of claim 1, wherein obtaining the power output condition of the power system based on the desired speed of the motor, the angular velocity of the drone, and the linear acceleration comprises:

obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle;

and obtaining the power output condition of the power system according to the power gain value of the motor.
The method of claim 2, wherein obtaining the power gain value of the motor based on the desired speed of rotation of the motor, the angular velocity of the drone, and the linear acceleration comprises:

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle and a Kalman estimator.
The method of claim 2, wherein obtaining the power gain value of the motor based on the desired speed of rotation of the motor, the angular velocity of the drone, and the linear acceleration comprises:

obtaining an estimated angular acceleration of the unmanned aerial vehicle according to the angular velocity of the unmanned aerial vehicle;

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle.
The method of claim 4, wherein obtaining the estimated angular acceleration of the drone as a function of the angular velocity of the drone comprises:

and carrying out differentiation-filtering processing on the angular velocity of the unmanned aerial vehicle to obtain the estimated angular acceleration of the unmanned aerial vehicle.
The method of claim 2, wherein the number of power systems is N, wherein N is an integer greater than or equal to 1;

the power gain value of the motor is obtained according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle, and the method comprises the following steps:

and obtaining power gain values of the N motors according to the expected rotating speeds of the N motors, the angular speed and the linear acceleration of the unmanned aerial vehicle.
The method of claim 6, wherein obtaining power gain values for the N motors based on the desired rotational speeds of the N motors, the angular velocities and the linear accelerations of the drone comprises:

obtaining an N x N diagonal matrix according to the expected rotating speeds of the N motors and the angular speed and the linear acceleration of the unmanned aerial vehicle;

and acquiring N element values on the diagonal line in the diagonal matrix, wherein the N element values are respectively the power gain values of the N motors.
The method of any one of claims 1-7, wherein obtaining the power output condition of the power system based on the desired rotational speed of the motor, the angular velocity of the drone, and the linear acceleration comprises:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining the power output condition of the power system according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
The method of claim 8, wherein said deriving an estimated rotational speed of the motor based on the control command based on the desired rotational speed comprises:

and obtaining the estimated rotating speed according to the expected rotating speed and the motor-electric regulation dynamic model.
The method of claim 9, wherein obtaining the estimated rotational speed based on the desired rotational speed and a motor-electrical modulation dynamic model comprises:

inputting the expected rotating speed to a motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model;

and carrying out low-pass filtering processing on the intermediate rotating speed to obtain the estimated rotating speed.
The method of any one of claims 1-10, wherein obtaining the power output condition of the power system based on the desired rotational speed of the motor, the angular velocity of the drone, and the linear acceleration comprises:

and if the electric regulation connected with the motor is determined to have a fault, obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
The method of claim 11, wherein the determining that the electrical regulation of the motor connection is faulty comprises:

and if the electric regulation fails to communicate externally, determining that the electric regulation fails.
The method of claim 11 or 12, further comprising:

and if the fact that the electric regulation connected with the motor fails is determined, obtaining the power output condition of the power system according to the measured rotating speed of the motor and the expected rotating speed of the motor, which are obtained from the electric regulation.
The method of claim 13, wherein obtaining the power output condition of the power system based on the measured speed of the electric machine obtained from the electrical trim and the desired speed of the electric machine comprises:

obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the expected rotating speed;

and obtaining the power output condition of the power system according to the rotating speed response coefficient of the motor.
The method of claim 14, wherein said deriving a speed response coefficient for the motor based on the measured speed and the desired speed comprises:

and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed, the expected rotating speed and a unit dynamic response model of the motor.
The method of claim 14, wherein obtaining a speed response coefficient for the motor based on the measured speed and the desired speed comprises:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the estimated rotating speed of the motor.
The method of claim 14, wherein obtaining a speed response coefficient for the motor based on the measured speed and a desired speed of the motor comprises:

inputting the measured rotating speed of the motor to the electric regulation dynamic inverse model to obtain the output rotating speed of the electric regulation dynamic inverse model;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the expected rotation speed.
The method of claim 17, wherein obtaining a speed response coefficient for the motor based on the output speed and the desired speed comprises:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the estimated rotation speed.
The method of any of claims 2-10, wherein obtaining the power output condition of the powertrain based on the power gain value of the electric machine comprises:

if the power gain value is smaller than a first preset gain value, determining that the power output condition of the power system is complete failure of power output;

if the power gain value is greater than or equal to a first preset gain value and less than or equal to a second preset gain value, determining that the power output condition of the power system is that a power output part is failed;

if the power gain value is larger than a second preset gain value, determining that the power output condition of the power system is normal;

the second preset gain value is greater than the first preset gain value.
The method of claim 19, further comprising:

determining the power output failure ratio of the power system according to the power gain value;

wherein the power take off condition further comprises a power take off failure fraction of the powertrain.
The method of any of claims 14-18, wherein deriving the power output condition of the powertrain from the rotational speed response coefficient of the electric machine comprises:

if the rotating speed response coefficient is smaller than a first preset coefficient, determining that the power output condition of the power system is that the power output is completely failed;

if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the power output condition of the power system is that a power output part is failed;

if the rotating speed response coefficient is larger than a second preset coefficient, determining that the power output condition of the power system is normal;

the second preset coefficient is greater than the first preset coefficient.
The method of claim 20, further comprising:

determining the power output failure ratio of the power system according to the rotating speed response coefficient;

wherein the power take off condition further comprises a power take off failure fraction of the powertrain.
The method of any of claims 1-22, wherein the power take off condition comprises: the power output is normal, or the power output is partially failed, or the power output is completely failed.
The method of any one of claims 1-23, further comprising:

and sending power output prompt information to a control terminal, wherein the power output display information comprises the power output condition of the power system.
A power output detection method of an unmanned aerial vehicle is characterized in that the unmanned aerial vehicle comprises a power system, the power system comprises an electric speed regulator, a motor and a propeller, and the method comprises the following steps:

acquiring a control instruction of the motor, wherein the control instruction of the motor is used for indicating the expected rotating speed of the motor;

obtaining a first power output condition according to the measured rotating speed of the motor and the expected rotating speed of the motor, which are obtained from the electric regulation; and

obtaining a second power output condition according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle;

determining a power output condition of the power system based on the first power output condition and the second power output condition.
The method of claim 25, wherein said determining a power output condition of the powertrain system based upon the first power output condition and the second power output condition comprises:

if the electric regulation does not have a fault, determining the first power output condition as the power output condition of the power system;

and if the electric regulation has a fault, determining the second power output condition as the power output condition of the power system.
The method of claim 26, wherein the power tilt failing comprises the power tilt out-of-focus communication failing.
The method of claim 25, wherein said determining a power output condition of the powertrain system based upon the first power output condition and the second power output condition comprises:

and if the first power output condition comprises complete power output failure, determining that the first power output condition is the power output condition of the power system.
The method of any of claims 25-28, wherein said deriving a first power output condition based on the measured speed of the electric machine and the desired speed of the electric machine obtained from the electrical regulation comprises:

obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the expected rotating speed;

and obtaining the first power output condition according to the rotating speed response coefficient of the motor.
The method of claim 29, wherein said deriving a speed response coefficient for the motor based on the measured speed and the desired speed comprises:

and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed, the expected rotating speed and a unit dynamic response model of the motor.
The method of claim 29, wherein obtaining a speed response coefficient for the motor based on the measured speed and the desired speed comprises:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the estimated rotating speed of the motor.
The method of claim 29, wherein obtaining a speed response coefficient for the motor based on the measured speed and a desired speed of the motor comprises:

inputting the measured rotating speed of the motor to the electric regulation dynamic inverse model to obtain the output rotating speed of the electric regulation dynamic inverse model;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the expected rotation speed.
The method of claim 32, wherein said deriving a speed response coefficient for the motor based on the output speed and the desired speed comprises:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the estimated rotation speed.
The method of any of claims 29-33, wherein said deriving the first power output condition based on a speed response factor of the electric machine comprises:

if the rotating speed response coefficient is smaller than a first preset coefficient, determining that the first power output condition is that the power output is completely failed;

if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the first power output condition is that a power output part is failed;

if the rotating speed response coefficient is larger than a second preset coefficient, determining that the first power output condition is normal power output;

the second preset coefficient is greater than the first preset coefficient.
The method of claim 34, further comprising:

determining the power output failure ratio of the power system according to the rotating speed response coefficient;

wherein the first power output condition further comprises a power output failure rate of the powertrain.
The method of any of claims 25-35, wherein obtaining a second power output condition based on a desired rotational speed of the motor, an angular velocity of the drone, and a linear acceleration comprises:

obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle;

and obtaining the second power output condition according to the power gain value of the motor.
The method of claim 36, wherein obtaining the power gain value of the motor based on the desired speed of rotation of the motor, the angular velocity of the drone, and the linear acceleration comprises:

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle and a Kalman estimator.
The method of claim 37, wherein obtaining a power gain value for the motor based on a desired speed of rotation of the motor, an angular velocity of the drone, and a linear acceleration comprises:

obtaining an estimated angular acceleration of the unmanned aerial vehicle according to the angular velocity of the unmanned aerial vehicle;

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle.
The method of claim 38, wherein obtaining an estimated angular acceleration of the drone based on the angular velocity of the drone comprises:

and carrying out differentiation-filtering processing on the angular velocity of the unmanned aerial vehicle to obtain the estimated angular acceleration of the unmanned aerial vehicle.
The method of claim 36, wherein the number of power systems is N, wherein N is an integer greater than or equal to 1;

the power gain value of the motor is obtained according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle, and the method comprises the following steps:

and obtaining power gain values of the N motors according to the expected rotating speeds of the N motors, the angular speed and the linear acceleration of the unmanned aerial vehicle.
The method of claim 40, wherein obtaining power gain values for the N motors based on desired rotational speeds of the N motors, angular velocities and linear accelerations of the drone comprises:

obtaining an N x N diagonal matrix according to the expected rotating speeds of the N motors and the angular speed and the linear acceleration of the unmanned aerial vehicle;

and acquiring N element values on the diagonal line in the diagonal matrix, wherein the N element values are respectively the power gain values of the N motors.
The method of any of claims 36-41, wherein said deriving the second power output condition based on the power gain value of the electric machine comprises:

if the power gain value is smaller than a first preset gain value, determining that the second power output condition is that the power output is completely failed;

if the power gain value is greater than or equal to a first preset gain value and less than or equal to a second preset gain value, determining that the second power output condition is that a power output part is failed;

if the power gain value is larger than a second preset gain value, determining that the second power output condition is normal power output;

the second preset gain value is greater than the first preset gain value.
The method of claim 42, further comprising:

determining the power output failure ratio of the power system according to the power gain value;

wherein the power take off condition further comprises a power take off failure fraction of the powertrain.
The method of any of claims 25-35, wherein said deriving a second power output condition from said desired speed, angular velocity and linear acceleration of said drone comprises:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining the second power output condition according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
The method of claim 33 or 44, wherein said obtaining an estimated rotational speed of the motor in accordance with the control command based on the desired rotational speed comprises:

and obtaining the estimated rotating speed according to the expected rotating speed and the motor-electric regulation dynamic model.
The method of claim 45, wherein the obtaining the estimated rotation speed according to the desired rotation speed and a motor-electric regulation dynamic model |, comprises:

inputting the expected rotating speed to a motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model;

and carrying out low-pass filtering processing on the intermediate rotating speed to obtain the estimated rotating speed.
The method of any of claims 25-46, wherein the power take off condition comprises: the power output is normal, or the power output is partially failed, or the power output is completely failed.
The method of any one of claims 25-47, further comprising:

and sending power output prompt information to a control terminal, wherein the power output prompt information comprises the power output condition of the power system.
The power output detection method of the unmanned aerial vehicle is characterized in that the unmanned aerial vehicle comprises a power system, the power system comprises an electric speed regulator, a motor and a propeller, the method is applied to a control terminal, and the method comprises the following steps:

receiving power output prompt information sent by the unmanned aerial vehicle, wherein the power output prompt information comprises a power output condition of the power system;

and outputting the power output prompt information.
The method of claim 49, wherein the power take off condition comprises: the power output is normal, or the power output is partially failed, or the power output is completely failed.
The method of claim 49 or 50, wherein the power output prompt further comprises: identification information of the powered system.
The method of any of claims 49-51, wherein if the power take off condition comprises: the power output portion fails, the power output condition further includes a power output failure ratio.
The method of any of claims 49-52, wherein said outputting the power output condition comprises:

displaying the power output prompt information; alternatively, the first and second electrodes may be,

and playing the power output prompt message in voice.
The method of any of claims 49-53, wherein if the power take off condition comprises: the power output is completely failed, or the power output is partially failed;

the method further comprises the following steps:

and controlling the vibration of the remote control device of the unmanned aerial vehicle.
The method of any one of claims 49-54, further comprising:

determining a processing strategy according to the power output condition;

and outputting the processing strategy.
The utility model provides an unmanned aerial vehicle, its characterized in that, unmanned aerial vehicle includes driving system and treater, driving system is including electricity accent, motor and screw, the treater for:

acquiring a control instruction of the motor, wherein the control instruction of the motor is used for indicating the expected rotating speed of the motor;

and obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
A drone according to claim 56, wherein the processor is specifically configured to:

obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle;

and obtaining the power output condition of the power system according to the power gain value of the motor.
An unmanned aerial vehicle as defined in claim 57, wherein the processor is specifically configured to:

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle and a Kalman estimator.
An unmanned aerial vehicle as defined in claim 57, wherein the processor is specifically configured to:

obtaining an estimated angular acceleration of the unmanned aerial vehicle according to the angular velocity of the unmanned aerial vehicle;

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle.
A drone according to claim 59, wherein the processor is specifically configured to: and carrying out differentiation-filtering processing on the angular velocity of the unmanned aerial vehicle to obtain the estimated angular acceleration of the unmanned aerial vehicle.
A drone according to claim 57, wherein the power systems are N, N being an integer greater than or equal to 1;

the processor is specifically configured to: and obtaining power gain values of the N motors according to the expected rotating speeds of the N motors, the angular speed and the linear acceleration of the unmanned aerial vehicle.
A drone according to claim 61, wherein the processor is specifically configured to:

obtaining an N x N diagonal matrix according to the expected rotating speeds of the N motors and the angular speed and the linear acceleration of the unmanned aerial vehicle;

and acquiring N element values on the diagonal line in the diagonal matrix, wherein the N element values are respectively the power gain values of the N motors.
A drone as claimed in any one of claims 56-62, wherein the processor is specifically configured to:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining the power output condition of the power system according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
A drone according to claim 63, wherein the processor is specifically configured to:

and obtaining the estimated rotating speed according to the expected rotating speed and the motor-electric regulation dynamic model.
A drone according to claim 64, wherein the processor is specifically configured to:

inputting the expected rotating speed to a motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model;

and carrying out low-pass filtering processing on the intermediate rotating speed to obtain the estimated rotating speed.
A drone as claimed in any one of claims 56-65, wherein the processor is specifically configured to:

and if the electric regulation connected with the motor is determined to have a fault, obtaining the power output condition of the power system according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
A drone according to claim 66, wherein the processor is specifically configured to: and if the electric regulation fails to communicate externally, determining that the electric regulation fails.
An unmanned aerial vehicle according to claim 66 or 67, wherein the processor is further configured to obtain a power output condition of the power system based on a measured speed of the motor obtained from the electrical regulation and a desired speed of the motor if it is determined that the electrical regulation to which the motor is connected is not faulty.
An unmanned aerial vehicle as defined in claim 68, wherein the processor is specifically configured to:

obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the expected rotating speed;

and obtaining the power output condition of the power system according to the rotating speed response coefficient of the motor.
An unmanned aerial vehicle as defined in claim 69, wherein the processor is specifically configured to: and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed, the expected rotating speed and a unit dynamic response model of the motor.
An unmanned aerial vehicle as defined in claim 69, wherein the processor is specifically configured to:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the estimated rotating speed of the motor.
An unmanned aerial vehicle as defined in claim 69, wherein the processor is specifically configured to:

inputting the measured rotating speed of the motor to the electric regulation dynamic inverse model to obtain the output rotating speed of the electric regulation dynamic inverse model;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the expected rotation speed.
A drone according to claim 72, wherein the processor is specifically configured to:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the estimated rotation speed.
A drone as claimed in any one of claims 57-65, wherein the processor is specifically configured to:

if the power gain value is smaller than a first preset gain value, determining that the power output condition of the power system is that the power output is completely failed;

if the power gain value is greater than or equal to a first preset gain value and less than or equal to a second preset gain value, determining that the power output condition of the power system is that a power output part is failed;

if the power gain value is larger than a second preset gain value, determining that the power output condition of the power system is normal;

the second preset gain value is greater than the first preset gain value.
A drone according to claim 74, wherein the processor is further configured to: determining the power output failure ratio of the power system according to the power gain value;

wherein the power take off condition further comprises a power take off failure fraction of the powertrain.
A drone as claimed in any one of claims 69-73, wherein the processor is specifically configured to:

if the rotating speed response coefficient is smaller than a first preset coefficient, determining that the power output condition of the power system is that the power output is completely failed;

if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the power output condition of the power system is that a power output part is failed;

if the rotating speed response coefficient is larger than a second preset coefficient, determining that the power output condition of the power system is normal;

the second preset coefficient is greater than the first preset coefficient.
The drone of claim 76, wherein the processor is further configured to: determining the power output failure ratio of the power system according to the rotating speed response coefficient;

wherein the power take off condition further comprises a power take off failure fraction of the powertrain.
A drone as claimed in any one of claims 56-77, wherein the power take off conditions include: the power output is normal, or the power output is partially failed, or the power output is completely failed.
A drone as claimed in any one of claims 56-78, further including:

and the communication device is used for sending power output prompt information to the control terminal, and the power output display information comprises the power output condition of the power system.
The utility model provides an unmanned aerial vehicle, its characterized in that, unmanned aerial vehicle includes driving system and treater, driving system is including electricity accent, motor and screw, the treater for:

acquiring a control instruction of the motor, wherein the control instruction of the motor is used for indicating the expected rotating speed of the motor;

obtaining a first power output condition according to the measured rotating speed of the motor and the expected rotating speed of the motor, which are obtained from the electric regulation; and

obtaining a second power output condition according to the expected rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle;

determining a power output condition of the power system based on the first power output condition and the second power output condition.
The drone of claim 80, wherein the processor is specifically configured to:

if the electric regulation does not have a fault, determining the first power output condition as the power output condition of the power system;

and if the electric regulation has a fault, determining the second power output condition as the power output condition of the power system.
A drone as claimed in claim 81, wherein the malfunctioning of the electrical tilt includes the malfunctioning of the electrical tilt out-of-pair communication.
The drone of claim 80, wherein the processor is specifically configured to: and if the first power output condition comprises complete power output failure, determining that the first power output condition is the power output condition of the power system.
A drone as claimed in any one of claims 80-83, wherein the processor is specifically configured to:

obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the expected rotating speed;

and obtaining the first power output condition according to the rotating speed response coefficient of the motor.
A drone according to claim 84, wherein the processor is specifically configured to: and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed, the expected rotating speed and a unit dynamic response model of the motor.
A drone according to claim 84, wherein the processor is specifically configured to:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotating speed response coefficient of the motor according to the measured rotating speed and the estimated rotating speed of the motor.
A drone according to claim 84, wherein the processor is specifically configured to:

inputting the measured rotating speed of the motor to the electric regulation dynamic inverse model to obtain the output rotating speed of the electric regulation dynamic inverse model;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the expected rotation speed.
An unmanned aerial vehicle as claimed in claim 87, wherein the processor is specifically configured to:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining a rotation speed response coefficient of the motor according to the output rotation speed and the estimated rotation speed.
A drone as claimed in any one of claims 84-88, wherein the processor is specifically configured to:

if the rotating speed response coefficient is smaller than a first preset coefficient, determining that the first power output condition is that the power output is completely failed;

if the rotating speed response coefficient is greater than or equal to a first preset coefficient and less than or equal to a second preset coefficient, determining that the first power output condition is that a power output part is failed;

if the rotating speed response coefficient is larger than a second preset coefficient, determining that the first power output condition is normal power output;

the second preset coefficient is greater than the first preset coefficient.
A drone according to claim 89, wherein the processor is further configured to: determining the power output failure ratio of the power system according to the rotating speed response coefficient;

wherein the first power output condition further comprises a power output failure rate of the powertrain.
An unmanned aerial vehicle as claimed in any of claims 80-90, wherein the processor is specifically configured to:

obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle;

and obtaining the second power output condition according to the power gain value of the motor.
An unmanned aerial vehicle as defined in claim 91, wherein the processor is specifically configured to: and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the angular velocity and the linear acceleration of the unmanned aerial vehicle and a Kalman estimator.
An unmanned aerial vehicle as defined in claim 92, wherein the processor is specifically configured to:

obtaining an estimated angular acceleration of the unmanned aerial vehicle according to the angular velocity of the unmanned aerial vehicle;

and obtaining a power gain value of the motor according to the expected rotating speed of the motor, the linear acceleration and the estimated angular acceleration of the unmanned aerial vehicle.
An unmanned aerial vehicle as defined in claim 93, wherein the processor is specifically configured to: and carrying out differentiation-filtering processing on the angular velocity of the unmanned aerial vehicle to obtain the estimated angular acceleration of the unmanned aerial vehicle.
A drone according to claim 91, wherein the number of power systems is N, N being an integer greater than or equal to 1;

the processor is specifically configured to: and obtaining power gain values of the N motors according to the expected rotating speeds of the N motors, the angular speed and the linear acceleration of the unmanned aerial vehicle.
An unmanned aerial vehicle as defined in claim 95, wherein the processor is specifically configured to:

obtaining an N x N diagonal matrix according to the expected rotating speeds of the N motors and the angular speed and the linear acceleration of the unmanned aerial vehicle;

and acquiring N element values on the diagonal line in the diagonal matrix, wherein the N element values are respectively the power gain values of the N motors.
A drone as claimed in any of claims 91-96, wherein the processor is specifically configured to:

if the power gain value is smaller than a first preset gain value, determining that the second power output condition is that the power output is completely failed;

if the power gain value is greater than or equal to a first preset gain value and less than or equal to a second preset gain value, determining that the second power output condition is that a power output part is failed;

if the power gain value is larger than a second preset gain value, determining that the second power output condition is normal power output;

the second preset gain value is greater than the first preset gain value.
A drone according to claim 97, wherein the processor is further configured to: determining the power output failure ratio of the power system according to the power gain value;

wherein the power take off condition further comprises a power take off failure fraction of the powertrain.
An unmanned aerial vehicle as claimed in any of claims 80-90, wherein the processor is specifically configured to:

according to the expected rotating speed, obtaining an estimated rotating speed of the motor rotating according to the control instruction;

and obtaining the second power output condition according to the estimated rotating speed of the motor, the angular speed and the linear acceleration of the unmanned aerial vehicle.
A drone as claimed in claim 88 or 99, wherein the processor is specifically configured to: and obtaining the estimated rotating speed according to the expected rotating speed and the motor-electric regulation dynamic model.
A drone according to claim 100, wherein the processor is specifically configured to:

inputting the expected rotating speed to a motor-electric regulation dynamic model to obtain an intermediate rotating speed output by the motor-electric regulation dynamic model;

and carrying out low-pass filtering processing on the intermediate rotating speed to obtain the estimated rotating speed.
A drone as claimed in any of claims 80-101, wherein the power output conditions include: the power output is normal, or the power output is partially failed, or the power output is completely failed.
A drone as claimed in any one of claims 80-102, further including:

and the communication device is used for sending power output prompt information to the control terminal, and the power output prompt information comprises the power output condition of the power system.
The utility model provides a control terminal, its characterized in that, control terminal is used for controlling unmanned aerial vehicle, unmanned aerial vehicle includes driving system, driving system includes electricity accent, motor and screw, control terminal includes:

the communication device is used for receiving power output prompt information sent by the unmanned aerial vehicle, and the power output prompt information comprises the power output condition of the power system;

and the processor is used for outputting the power output prompt information.
The control terminal of claim 104, wherein the power take off condition comprises: the power output is normal, or the power output is partially failed, or the power output is completely failed.
The control terminal of claim 104 or 105, wherein the power output prompt further comprises: identification information of the powered system.
The control terminal as recited in any one of claims 104-106, wherein if the power output condition comprises: the power output portion fails, the power output condition further includes a power output failure ratio.
The control terminal as recited in any one of claims 104-107, wherein the processor is specifically configured to:

controlling a display device of the control terminal to display the power output prompt information; alternatively, the first and second electrodes may be,

and controlling a loudspeaker of the control terminal to play the power output prompt message in a voice mode.
The control terminal as claimed in any one of claims 104-108, wherein if the power output condition comprises: the power output is completely failed, or the power output is partially failed;

the processor is also used for controlling the vibration of the remote control device of the unmanned aerial vehicle.
The control terminal as recited in any one of claims 104-109, wherein the processor is further configured to:

determining a processing strategy according to the power output condition;

and outputting the processing strategy.
A computer-readable storage medium having program instructions stored thereon; the program instructions, when executed, implement a method of power output detection for a drone as claimed in any one of claims 1-24 or any one of claims 25-48 or any one of claims 49-55.