WO2019042095A1 - 给定转速计算方法、装置、电调、动力***及无人飞行器 - Google Patents

给定转速计算方法、装置、电调、动力***及无人飞行器 Download PDF

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Publication number
WO2019042095A1
WO2019042095A1 PCT/CN2018/099215 CN2018099215W WO2019042095A1 WO 2019042095 A1 WO2019042095 A1 WO 2019042095A1 CN 2018099215 W CN2018099215 W CN 2018099215W WO 2019042095 A1 WO2019042095 A1 WO 2019042095A1
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Prior art keywords
maximum
minimum
throttle
throttle value
value
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PCT/CN2018/099215
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English (en)
French (fr)
Inventor
陈毅东
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深圳市道通智能航空技术有限公司
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Publication of WO2019042095A1 publication Critical patent/WO2019042095A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D31/00—Power plant control systems; Arrangement of power plant control systems in aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the embodiments of the present invention relate to the field of aircraft technologies, and in particular, to a method, a device, an ESC, a power system, and an unmanned aerial vehicle.
  • unmanned aerial vehicles such as drones
  • the various actions (or attitudes) of unmanned aerial vehicles are achieved by controlling the different speeds of multiple motors.
  • the unmanned aerial vehicle's ESC also known as the electronic governor, is necessary to accurately control the throttle signal. Analysis.
  • the commonly used analytical method for the throttle signal is a given speed calculated directly from a fixed maximum throttle value, a fixed minimum throttle value, and a given speed, as an ESC speed reference signal.
  • the inventors have found that at least the following problems exist in the related art: when calculating a given rotational speed, it depends on a fixed maximum throttle value and a fixed minimum throttle value, and a fixed maximum throttle value and a fixed minimum throttle value. Both are specific, constant single values. Due to problems such as chip accuracy and differences in different circuits, the final calculated nominal speed error will be large. At the same time, many protection functions in the operation of the ESC-controlled UAV rely on the throttle signal. If the calculated error of a given speed is large, it will affect the accuracy of the flight system control and even bring the risk of misjudgment to the flight system. .
  • the main purpose of the present application is to provide a method, a device, a power system and an unmanned aerial vehicle for calculating a given rotational speed, which can effectively reduce the dependence on a fixed maximum throttle value and a fixed maximum throttle value in the process of calculating a given rotational speed. Improve the control accuracy of the ESC.
  • the embodiment of the present application provides a method for calculating a given rotational speed, which is applied to an electrical tone, and the method includes:
  • the given rotational speed is calculated based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values.
  • the obtaining the at least one maximum throttle value and the at least one minimum throttle value comprises:
  • the maximum throttle value is obtained every same first preset time in a first time interval of the given maximum throttle; and the minimum throttle value is acquired every second identical preset time in the second time interval of the given minimum throttle.
  • the maximum throttle value is acquired every same first preset time in a first time interval of a given maximum throttle; every second and second within a second time interval of a given minimum throttle Get the minimum throttle value at preset time, including:
  • a maximum throttle value is acquired every same first first preset time t 1 and n maximum throttle values are obtained; within a second time interval T 2 of a given minimum throttle Obtaining a minimum throttle value every second identical preset time t 2 and acquiring n minimum throttle values;
  • n is a natural number, n ⁇ 1, and T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 .
  • the average value is calculated as:
  • x max_1 , x max_2 , . . . , x max — n represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time
  • x min_1 , x min_2 , . . . , x min — n represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time
  • n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value
  • the calculating the given rotational speed according to the average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values comprises:
  • the given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:
  • the embodiment of the present application further provides a given rotational speed computing device, which is applied to an electrical tone, and the device includes:
  • a first obtaining unit configured to acquire a maximum speed, a minimum speed, and a current throttle value
  • a second acquiring unit configured to acquire at least one maximum throttle value and at least one minimum throttle value
  • a determining unit configured to determine an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula
  • a calculating unit configured to calculate the given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.
  • the second obtaining unit comprises:
  • a maximum throttle value obtaining module configured to acquire a maximum throttle value every same first preset time in a first time interval of a given maximum throttle
  • the minimum throttle value acquisition module is configured to acquire a minimum throttle value every second same preset time within a second time interval of the given minimum throttle.
  • the maximum throttle value acquisition module is specifically configured to: obtain a maximum throttle value every same first first preset time t 1 within a first time interval T 1 of a given maximum throttle, and acquire n a maximum throttle value acquisition module is configured to: obtain a minimum throttle value every second identical preset time t 2 within a second time interval T 2 of a given minimum throttle, and acquire n minimum throttles value;
  • n is a natural number, n ⁇ 1, and T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 .
  • the average value calculation formula of the determining unit is:
  • x max_1 , x max_2 , . . . , x max — n represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time
  • x min_1 , x min_2 , . . . , x min — n represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time
  • n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value
  • the computing unit is specifically configured to:
  • the given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:
  • an ESC including:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform a given rotational speed calculation method as described above.
  • the embodiment of the present application further provides a power system, including:
  • the ESC is electrically coupled to the motor for controlling the motor.
  • an unmanned aerial vehicle including:
  • a power system as described above is mounted on the fuselage for providing flight power to the unmanned aerial vehicle.
  • an unmanned aerial vehicle including:
  • a propeller coupled to the electric machine, the propeller generating a force that causes the unmanned aerial vehicle to move under the drive of the electric machine;
  • the electrical tuning being used to:
  • the given rotational speed is calculated based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average of the minimum throttle values.
  • the embodiment of the present application further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when When the program command is electronically executed as described above, the ESC is caused to perform a given rotational speed calculation method as described above.
  • the embodiment of the present application further provides a non-transitory computer readable storage medium, where the computer readable storage medium stores computer executable instructions for enabling the above
  • the ESC performs a given speed calculation method as described above.
  • the embodiment of the present application provides a method and device for calculating a given rotational speed, an ESC, and an unmanned aerial vehicle.
  • the method includes: obtaining a maximum speed, a minimum speed, and a current throttle value; acquiring at least one maximum throttle value and at least one minimum throttle value; determining an average value of the at least one maximum throttle value by using an average value calculation formula Determining an average value of the at least one minimum throttle value; calculating the given rotational speed based on an average of the maximum rotational speed, the minimum rotational speed, the current throttle value, the average of the maximum throttle value, and the average of the minimum throttle values.
  • FIG. 1 is a schematic flow chart of a method for calculating a given rotational speed according to an embodiment of the present application
  • FIG. 2 is a schematic flow chart of a method for calculating a given rotational speed according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a given rotational speed calculation device according to an embodiment of the present application.
  • FIG. 4 is a schematic diagram of a given rotational speed calculation device according to an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an ESC hardware provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of an aircraft provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a power system provided by an embodiment of the present application.
  • FIG. 8 is a schematic diagram of an unmanned aerial vehicle provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of another UAV provided by an embodiment of the present application.
  • Embodiments of the present application can be applied to various motor-driven movable objects including, but not limited to, unmanned aerial vehicles (UAVs), ships, and robots.
  • UAVs unmanned aerial vehicles
  • the structure of the UAV includes a center housing, a boom and a power system.
  • the arm is integrally or fixedly connected to the center housing, and the power system is mounted on the arm.
  • Typical power systems include ESCs, motors and propellers.
  • the ESC is located in a cavity formed by the arm or the center housing.
  • the ESC is electrically connected to the motor.
  • the motor is mounted on the arm and the rotating shaft of the motor is connected to the propeller.
  • the propeller generates a force that causes the UAV to move under the drive of the motor, for example, a lift or thrust that causes the UAV to move.
  • the unmanned aerial vehicle completes each specified speed, motion (or attitude) usually by electrically controlling the motor of the unmanned aerial vehicle.
  • the electronically controlled full name electronic governor adjusts the speed of the motor of the unmanned aerial vehicle according to the control signal.
  • the principle of the ESC control motor is roughly as follows:
  • the motor is an open-loop control element motor that converts an electrical pulse signal into an angular displacement or a line displacement.
  • the speed and stop position of the motor depend only on the frequency of the pulse signal and the number of pulses, and are not affected by the load change.
  • the driver receives a pulse signal, it drives the motor in the set direction. Rotate at a fixed angle and its rotation is at a fixed angle. Therefore, the ESC can control the angular displacement by controlling the number of pulses to achieve the purpose of accurate positioning.
  • the speed and acceleration of the motor rotation can be controlled by controlling the pulse frequency, thereby achieving the purpose of speed regulation.
  • the ESC control system In the ESC control system, it generally includes: throttle generator, battery, ESC and motor.
  • the input line of the ESC is connected to the battery, and the output line of the ESC (two brushes and three brushes) is connected to the motor of the UAV, and the signal line of the ESC is connected to the throttle generator.
  • the throttle generator sends the throttle signal to the ESC, and the ESC controls the speed of the motor of the UAV. Therefore, in order to more accurately control the state of the UAV (front, rear, left, right, up, down, etc.), it is necessary for the ESC to accurately analyze the throttle signal to obtain the given speed of the ESC. signal.
  • the embodiment of the present application provides a method and device for calculating a given rotational speed, an ESC and an unmanned aerial vehicle to improve the control precision of the ESC.
  • the idea of the present application is: first, obtaining the maximum speed, the minimum speed, and the current throttle value; secondly, acquiring at least one maximum throttle value and at least one minimum throttle value; again, determining the at least one maximum by using an average value calculation formula An average of the throttle value and an average of the at least one minimum throttle value; and finally, an average of the maximum speed, the minimum speed, the current throttle value, the maximum throttle value, and the minimum throttle value
  • the average value is calculated for a given speed.
  • Determining the given rotational speed by a relationship between the maximum rotational speed, the minimum rotational speed, the current throttle value, an average of the maximum throttle value, an average of the minimum throttle value, and the given rotational speed, To solve the problem of relying on the fixed maximum throttle value and the fixed minimum throttle value when calculating the given speed of the ESC in the prior art, thereby effectively reducing the fixed maximum throttle value and the fixed minimum throttle value to calculate the given speed.
  • the influence of accuracy improves the control accuracy of the ESC.
  • FIG. 1 is a schematic flowchart of a method for calculating a given rotational speed according to an embodiment of the present application.
  • a given rotational speed calculation method of the embodiment of the present application is applied to an electrical tone, which can be performed by an electrical adjustment device.
  • the ESC can be applied to an aircraft, for example, to an unmanned aerial vehicle.
  • the method includes:
  • the ESC can obtain a fixed maximum speed and a minimum speed. And, during the flight of the aircraft, the ESC can obtain the current throttle value in real time.
  • the ESC may acquire at least one maximum throttle value and at least one minimum throttle value.
  • the at least one maximum throttle value is distinguished from the at least one minimum throttle value by a fixed maximum throttle value and a fixed minimum throttle value that are typically calculated at a given rotational speed.
  • the at least one maximum throttle value is a maximum throttle value acquired at the same time in a time interval in which the throttle generator is given a maximum throttle; the at least one minimum throttle value is within a time interval of a given minimum throttle, each time The minimum throttle value obtained at the same time.
  • the number of the at least one maximum throttle value and the at least one minimum throttle value may be 1, 2, or more, and the number of the at least one maximum throttle value and the at least one minimum throttle value may be According to the actual needs, the number is not limited.
  • the fixed maximum throttle value and the fixed minimum throttle value for a given rotational speed are both a specific, constant single value.
  • the average value of the at least one maximum throttle value may be determined by the method of averaging, that is, the average value calculation formula, and the at least The average of a minimum throttle value.
  • the predetermined rotational speed may be calculated in the case where the maximum rotational speed, the minimum rotational speed, the current throttle value, the average of the maximum throttle values, and the average of the minimum throttle values are determined.
  • the given rotational speed calculation method is applied to an ESC, and the method includes: acquiring a maximum rotational speed, a minimum rotational speed, and a current throttle value; acquiring at least one maximum throttle value and at least one minimum throttle value; Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value; determining an average of the maximum speed, the minimum speed, the current throttle value, and the maximum throttle value The average of the minimum throttle values is calculated for a given speed.
  • the embodiment of the present application is an embodiment of a method for calculating a given rotational speed provided by the present application.
  • FIG. 2 is a schematic flowchart of a method for calculating a given rotational speed according to an embodiment of the present application.
  • a given rotational speed calculation method of the embodiment of the present application is applied to an electrical tone, which can be performed by an electrical adjustment device.
  • the ESC can be applied to an aircraft, for example, to an unmanned aerial vehicle.
  • the method includes:
  • the ESC can obtain a fixed maximum speed and a minimum speed. And, during the flight of the aircraft, the ESC can obtain the current throttle value in real time.
  • the ESC may acquire at least one maximum throttle value and at least one minimum throttle value.
  • the obtaining the at least one maximum throttle value and the at least one minimum throttle value comprising: obtaining a maximum throttle value every same first preset time in a first time interval of a given maximum throttle; and a second at a given minimum throttle During the time interval, the minimum throttle value is obtained every second identical preset time.
  • Obtaining a maximum throttle value every same first preset time in a first time interval of a given maximum throttle; obtaining a minimum throttle every second same preset time in a second time interval of a given minimum throttle The value includes: obtaining, within the first time interval T 1 of the maximum throttle, the maximum throttle value every same first preset time t 1 and acquiring n maximum throttle values; at the second time of the given minimum throttle In the interval T 2 , the minimum throttle value is acquired every second identical preset time t 2 and n minimum throttle values are acquired; the n is a natural number, n ⁇ 1, and T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 .
  • the maximum throttle value is obtained every same first preset time (eg, 10s), and n maximum throttles are obtained.
  • the value is the maximum throttle value of 10; in the second time interval (such as 100s) of the given minimum throttle sent by the throttle generator to the ESC, the minimum throttle is acquired every second identical preset time (such as 10s). Value, get n minimum throttle values, which is 10 minimum throttle values. Since it is necessary to obtain n maximum throttle values and n minimum throttle values, t 1 is the interval time for obtaining the maximum throttle value, and t 2 is the interval time for obtaining the minimum throttle value.
  • T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 it is necessary to satisfy T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 .
  • the first time interval T 1 needs to be greater than or equal to 90 s, such as 91 s.
  • the first time interval T 1 and the second time interval T 2 may be equal or not equal; the first preset time t 1 and the second preset The times t 2 may or may not be equal.
  • the first time interval T 1 is 100 s
  • the second time interval T 2 is 200 s
  • the first preset time t 1 is 10 s
  • the second preset time t 2 is 20 s.
  • the at least one maximum throttle value and the at least one minimum throttle value are different from a fixed maximum throttle value and a fixed minimum throttle value that are typically calculated at a given rotational speed.
  • the fixed maximum throttle value and the fixed minimum throttle value are both specific, constant single values.
  • the average value of the at least one maximum throttle value may be determined by the method of averaging, that is, the average value calculation formula, and the at least The average of a minimum throttle value.
  • the average value is calculated as:
  • x max_1 , x max_2 , . . . , x max — n represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time
  • x min_1 , x min_2 , . . . , x min — n represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time
  • n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value
  • the correspondence between the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, the average value of the minimum throttle value, and a given speed is
  • the predetermined rotational speed may be calculated in the case where the maximum rotational speed, the minimum rotational speed, the current throttle value, the average of the maximum throttle values, and the average of the minimum throttle values are determined. Calculating the given rotational speed according to the average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and the average value of the minimum throttle value, including: calculating a formula by using a given rotational speed, Determining a given rotational speed; wherein the given rotational speed is calculated as:
  • the steps 201-204 may have different execution sequences, such as performing the step 202 and then performing the step 201, or the step 201 and the step 202 are performed simultaneously.
  • the given rotational speed calculation method is applied to an ESC, and the method includes: acquiring a maximum rotational speed, a minimum rotational speed, and a current throttle value; acquiring at least one maximum throttle value and at least one minimum throttle value; Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value; determining an average of the maximum speed, the minimum speed, the current throttle value, and the maximum throttle value The average of the minimum throttle values is calculated for a given speed.
  • FIG. 3 is a schematic diagram of a device for calculating a given rotational speed according to an embodiment of the present application. Wherein the device is applied to an electrical tone.
  • the apparatus 30 includes:
  • the first obtaining unit 301 is configured to acquire a maximum speed, a minimum speed, and a current throttle value.
  • the first acquiring unit 301 can acquire a fixed maximum speed and a minimum speed. And, the first acquisition unit 301 can acquire the current throttle value in real time while the aircraft is in flight.
  • the second obtaining unit 302 is configured to acquire at least one maximum throttle value and at least one minimum throttle value.
  • the second acquiring unit 302 may acquire at least one maximum throttle value and at least one minimum throttle value.
  • the at least one maximum throttle value is distinguished from the at least one minimum throttle value by a fixed maximum throttle value and a fixed minimum throttle value that are typically calculated at a given rotational speed.
  • the at least one maximum throttle value is a maximum throttle value acquired at the same time in a time interval in which the throttle generator is given a maximum throttle; the at least one minimum throttle value is within a time interval of a given minimum throttle, each time The minimum throttle value obtained at the same time.
  • the number of the at least one maximum throttle value and the at least one minimum throttle value may be 1, 2, or more, and the number of the at least one maximum throttle value and the at least one minimum throttle value may be According to the actual needs, the number is not limited.
  • the fixed maximum throttle value and the fixed minimum throttle value for a given rotational speed are both a specific, constant single value.
  • the determining unit 303 is configured to determine an average value of the at least one maximum throttle value and an average of the at least one minimum throttle value by using an average value calculation formula.
  • the determining unit 303 may determine the method by using an average value calculation method, that is, an average value calculation formula. An average of the at least one maximum throttle value and an average of the at least one minimum throttle value.
  • the calculating unit 304 is configured to calculate a given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.
  • the calculating unit 304 passes the maximum rotation speed, the minimum rotation speed, the current throttle value, the average value of the maximum throttle value, the average value of the minimum throttle value, and a given rotation speed. Corresponding relationship, in the case that the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, and the average value of the minimum throttle value are determined, the Given the speed.
  • the first obtaining unit 301 acquires a maximum speed, a minimum speed, and a current throttle value
  • the second acquiring unit 302 acquires at least one maximum throttle value and at least one minimum throttle value
  • the determining unit 303 Determining, by an average value calculation formula, an average of the at least one maximum throttle value and an average of the at least one minimum throttle value
  • the calculating unit 304 according to the maximum rotational speed, the minimum rotational speed, the current throttle value And calculating, by the average value of the maximum throttle value and the average value of the minimum throttle value, a given rotational speed.
  • the given rotational speed calculation device 30 can perform the given rotational speed calculation method provided by Embodiment 1 of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the given rotational speed calculation method provided by Embodiment 1 of the present application.
  • FIG. 4 is a schematic diagram of a device for calculating a given rotational speed according to an embodiment of the present application. Wherein the device is applied to an electrical tone.
  • the apparatus 40 includes:
  • the first obtaining unit 401 is configured to acquire a maximum speed, a minimum speed, and a current throttle value.
  • the first acquiring unit 401 can acquire a fixed maximum speed and a minimum speed. And, the first acquisition unit 401 can acquire the current throttle value in real time while the aircraft is in flight.
  • the second obtaining unit 402 is configured to acquire at least one maximum throttle value and at least one minimum throttle value.
  • the second obtaining unit 402 may acquire at least one maximum throttle value and at least one minimum throttle value.
  • the second acquisition unit includes: a maximum throttle value acquisition module 4021, configured to acquire a maximum throttle value every same first preset time in a first time interval of a given maximum throttle; a minimum throttle value acquisition module 4022, The minimum throttle value is acquired every second identical preset time within a second time interval given a minimum throttle.
  • the maximum throttle value obtaining module 4021 is specifically configured to: obtain a maximum throttle value every same first preset time t 1 in a first time interval T 1 of a given maximum throttle, and acquire n maximum throttle values;
  • the minimum throttle value obtaining module 4022 is specifically configured to: obtain a minimum throttle value every second identical preset time t 2 within a second time interval T 2 of a given minimum throttle, and acquire n minimum throttle values; n is a natural number, n ⁇ 1, and T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 .
  • the maximum throttle value acquisition module 4021 acquires the maximum throttle every same first predetermined time (eg, 10 s).
  • the value obtains n maximum throttle values, that is, 10 maximum throttle values;
  • the minimum throttle value acquisition module 4022 is within a second time interval (eg, 100 s) of a given minimum throttle sent by the throttle generator to the ESC.
  • the minimum throttle value is obtained every second identical preset time (such as 10s), and n minimum throttle values are obtained, that is, 10 minimum throttle values.
  • t 1 is the interval time for obtaining the maximum throttle value
  • t 2 is the interval time for obtaining the minimum throttle value. Therefore, it is necessary to satisfy T 1 ⁇ n*t 1 , T 2 ⁇ n*t 2 .
  • the maximum throttle value acquisition module 4021 needs to acquire the maximum throttle value 9 times, and obtain the maximum throttle value every 10 s.
  • the first time interval T 1 is required to be greater than or equal to 90 s, such as 91 s.
  • the determining unit 403 is configured to determine an average value of the at least one maximum throttle value and an average of the at least one minimum throttle value by using an average value calculation formula.
  • the determining unit 403 may determine the method by using an average value calculation method, that is, an average value calculation formula. An average of the at least one maximum throttle value and an average of the at least one minimum throttle value.
  • the average value calculation formula of the determining unit 403 is:
  • x max_1 , x max_2 , . . . , x max — n represent the maximum throttle value acquired for the first time, the maximum throttle value acquired for the second time, ..., the maximum throttle value obtained for the nth time
  • x min_1 , x min_2 , . . . , x min — n represent the minimum throttle value acquired for the first time, the minimum throttle value acquired for the second time, ..., the minimum throttle value acquired for the nth time
  • n represents the acquisition of the at least one maximum a throttle value or a quantity of the at least one minimum throttle value
  • the calculating unit 404 is configured to calculate a given rotational speed according to an average value of the maximum rotational speed, the minimum rotational speed, the current throttle value, the maximum throttle value, and an average value of the minimum throttle value.
  • the calculating unit 404 passes the maximum rotation speed, the minimum rotation speed, the current throttle value, the average value of the maximum throttle value, the average value of the minimum throttle value, and a given rotation speed. Corresponding relationship, in the case that the maximum speed, the minimum speed, the current throttle value, the average of the maximum throttle value, and the average value of the minimum throttle value are determined, the Given the speed.
  • the calculating unit 404 is specifically configured to:
  • the given rotational speed is determined by a given rotational speed calculation formula; wherein the given rotational speed is calculated as:
  • the first obtaining unit 401 acquires a maximum speed, a minimum speed, and a current throttle value; the second acquiring unit 402 acquires at least one maximum throttle value and at least one minimum throttle value; the determining unit 403 Determining an average of the at least one maximum throttle value and an average of the at least one minimum throttle value by an average calculation formula; the calculating unit 404 is configured to determine the maximum rotational speed, the minimum rotational speed, and the current throttle value And calculating, by the average value of the maximum throttle value and the average value of the minimum throttle value, a given rotational speed.
  • the given rotational speed calculation device 40 can perform the given rotational speed calculation method provided in Embodiment 2 of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • the given rotational speed calculation method provided by Embodiment 2 of the present application.
  • FIG. 5 is a schematic structural diagram of an ESC hardware provided by an embodiment of the present application. As shown in FIG. 5, the ESC 50 includes:
  • One or more processors 501 and memory 502, one processor 501 is taken as an example in FIG.
  • the processor 501 and the memory 502 can be connected by a bus or other means, as exemplified by the bus connection in Fig. 5.
  • the memory 502 is a non-volatile computer readable storage medium and can be used for storing a non-volatile software program, a non-volatile computer executable program, and a module, as in a given rotational speed calculation method in the embodiment of the present application.
  • Program instructions/units for example, the first acquisition unit 401, the second acquisition unit 402, the determination unit 403, and the calculation unit 404 shown in FIG. 4).
  • the processor 501 performs various functional applications of the ESC and data processing by executing non-volatile software programs, instructions, and units stored in the memory 502, i.e., implements a given rotational speed calculation method of the method embodiments.
  • the memory 502 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the ESC, and the like.
  • memory 502 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.
  • memory 502 can optionally include memory remotely located relative to processor 501, which can be connected to the ESC via a network.
  • Embodiments of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more units are stored in the memory 502, and when executed by the one or more processors 501, perform a given speed calculation method in any of the method embodiments 1 and/or 2. For example, performing the method steps 201 through 204 of FIG. 2 described above, the functions of the units 401-404 in FIG. 4 are implemented.
  • the ESC can perform the given rotational speed calculation method provided by Embodiment 1 and/or Embodiment 2 of the present application, and has the corresponding functional modules and beneficial effects of the execution method.
  • Embodiment 1 and/or Embodiment 2 of the present application For a technical detail that is not described in detail in the ESC embodiment, reference is made to the given rotational speed calculation method provided by Embodiment 1 and/or Embodiment 2 of the present application.
  • the embodiment of the present application provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, when the program instruction is When the ESC is executed, the ESC is caused to perform a given rotational speed calculation method as described above. For example, performing the method steps 201 through 204 of FIG. 2 described above implements the functions of the units 401-404 in FIG.
  • Embodiments of the present application provide a non-transitory computer readable storage medium storing computer-executable instructions that are executed by one or more processors, for example, to perform the above
  • the method steps 201 through 204 of FIG. 2 are described to implement the functions of units 401-404 in FIG.
  • an aircraft provided by an embodiment of the present application includes: a motor and an ESC as described above, wherein the ESC is used to control the rotational speed of the motor.
  • the aircraft 60 may also include a throttle generator that sends a throttle signal to the ESC that electrically controls the speed of the motor of the aircraft 60.
  • the aircraft 60 can be a variety of flying instruments, such as unmanned aerial vehicles, spacecraft, and the like.
  • the powertrain 70 includes a motor and an ESC as described above, wherein an ESC is electrically coupled to the motor for controlling the motor.
  • an embodiment of the present application further provides an unmanned aerial vehicle.
  • the UAV 80 includes a fuselage and the power system 70 described above that is mounted to the fuselage for providing flight power to the UAV 80.
  • the UAV 90 includes:
  • a propeller coupled to the motor, the propeller generating a force that causes the UAV 90 to move under the drive of the motor;
  • the ESC is electrically coupled to the motor for performing all or part of the steps of the given rotational speed calculation method illustrated in Figures 1-2.
  • the ESC includes:
  • At least one processor and,
  • the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform as illustrated in any of the above-described exemplary embodiments The calculation method for a given speed.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical. Units can be located in one place or distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the embodiments can be implemented by means of software plus a general hardware platform, and of course, by hardware.
  • One of ordinary skill in the art can understand that all or part of the process of implementing the embodiment method can be completed by computer program related hardware, the program can be stored in a computer readable storage medium, and the program is executed.
  • the flow of an embodiment of the methods as described may be included.
  • the storage medium may be a read-only memory (ROM) or a random access memory (RAM).

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Abstract

一种给定转速计算方法、装置、电调、动力***及无人飞行器。其中给定转速计算方法包括：获取最大转速、最小转速及当前油门值；获取至少一个最大油门值与至少一个最小油门值；通过平均值计算公式，确定该至少一个最大油门值的平均值与该至少一个最小油门值的平均值；根据最大转速、最小转速、当前油门值、最大油门值的平均值与最小油门值的平均值计算给定转速。从而实现在计算给定转速的过程中有效地降低对固定的最大油门值、固定的最小油门值的依赖，提高电调的控制精度。

Description

给定转速计算方法、装置、电调、动力***及无人飞行器
本申请要求于2017年08月29日提交中国专利局、申请号为201710757480X、申请名称为“给定转速计算方法、装置、电调、动力***及无人飞行器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及飞行器技术领域，尤其涉及一种给定转速计算方法、装置、电调、动力***及无人飞行器。
背景技术
无人飞行器(如无人机)的各个动作(或姿态)是通过控制多个电机不同转速实现的。为了更加精准的对无人飞行器的状态(如前、后、左、右、上、下等飞行)进行控制，无人飞行器的电调，又称电子调速器，有必要对油门信号进行精准的解析。
在现用技术中，对于油门信号常用的解析方法是直接通过固定的最大油门值、固定的最小油门值与给定转速的关系式计算得到的给定转速，作为电调转速给定信号。
实现本申请过程中，发明人发现相关技术中至少存在如下问题：计算给定转速时，要依赖于固定的最大油门值和固定的最小油门值，而固定的最大油门值和固定的最小油门值均为特定的、不变的单个值，由于芯片精度和不同电路的差异等问题，将导致最终算出的给定转速误差较大。同时，电调控制无人飞行器的运行过程中很多保护功能都依赖于油门信号，如果计算得到的给定转速误差较大将会影响飞行***控制的精度，甚至会给飞行***带来误判的风险。
发明内容
本申请的主要目的在于提供一种给定转速计算方法、装置、动力***及无人飞行器，能够在计算给定转速的过程中有效的降低对固定的最大油门值、固定的最大油门值的依赖，提高电调的控制精度。
本申请实施例公开了如下技术方案：
为解决上述技术问题，本申请实施例提供了一种给定转速计算方法，应用于电调，所述方法包括：
获取最大转速、最小转速及当前油门值；
获取至少一个最大油门值与至少一个最小油门值；
通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；
根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
在一些实施例中，所述获取至少一个最大油门值与至少一个最小油门值，包括：
在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。
在一些实施例中，所述在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值，包括：
在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大 油门值，并获取n个最大油门值；在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；
所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。
在一些实施例中，所述平均值计算公式为：
Figure PCTCN2018099215-appb-000001
其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；
Figure PCTCN2018099215-appb-000002
表示所述最大油门值的平均值；
Figure PCTCN2018099215-appb-000003
表示所述最小油门值的平均值。
在一些实施例中，所述根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速，包括：
通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
Figure PCTCN2018099215-appb-000004
其中，
Figure PCTCN2018099215-appb-000005
表示所述最大转速；
Figure PCTCN2018099215-appb-000006
表示所述最小转速；x表示所述当前油门值；
Figure PCTCN2018099215-appb-000007
表示所述给定转速。
为解决上述技术问题，本申请实施例还提供了一种给定转速计算装置， 应用于电调，所述装置包括：
第一获取单元，用于获取最大转速、最小转速及当前油门值；
第二获取单元，用于获取至少一个最大油门值与至少一个最小油门值；
确定单元，用于通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；
计算单元，用于根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
在一些实施例中，所述第二获取单元包括：
最大油门值获取模块，用于在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；
最小油门值获取模块，用于在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。
在一些实施例中，所述最大油门值获取模块具体用于：在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大油门值，并获取n个最大油门值；所述最小油门值获取模块具体用于：在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；
所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。
在一些实施例中，所述确定单元的所述平均值计算公式为：
Figure PCTCN2018099215-appb-000008
其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第 二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；
Figure PCTCN2018099215-appb-000009
表示所述最大油门值的平均值；
Figure PCTCN2018099215-appb-000010
表示所述最小油门值的平均值。
在一些实施例中，所述计算单元具体用于：
通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
Figure PCTCN2018099215-appb-000011
其中，
Figure PCTCN2018099215-appb-000012
表示所述最大转速；
Figure PCTCN2018099215-appb-000013
表示所述最小转速；x表示所述当前油门值；
Figure PCTCN2018099215-appb-000014
表示所述给定转速。
为解决上述技术问题，本申请实施例还提供了一种电调，包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上所述的给定转速计算方法。
为解决上述技术问题，本申请实施例还提供一种动力***，包括：
电机；以及
如上所述的电调，所述电调与所述电机电连接，用于控制所述电机。
为解决上述技术问题，本申请实施例还提供一种无人飞行器，包括：
机身；以及
如上所述的动力***，安装在所述机身上，用于为所述无人飞行器提供飞行动力。
为解决上述技术问题，本申请实施例还提供一种无人飞行器，包括：
中心壳体；
机臂，所述机臂与所述中心壳体连接；
电机，所述电机与所述机臂连接；
螺旋桨，与所述电机连接，所述螺旋桨在所述电机的驱动下产生使得所述无人飞行器移动的力；以及
电调，与所述电机电连接，所述电调用于：
获取最大转速、最小转速及当前油门值；
获取至少一个最大油门值与至少一个最小油门值；
通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；
根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
为解决上述技术问题，本申请实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被如上所述电调执行时，使所述电调执行如上所述的给定转速计算方法。
为解决上述技术问题，本申请实施例还提供了一种非易失性计算机可读 存储介质，所述计算机可读存储介质存储有计算机可执行指令，所述计算机可执行指令用于使如上所述电调执行如上所述的给定转速计算方法。
本申请实施例的有益效果是：区别于现有技术的情况，本申请实施例提供了一种给定转速计算方法和装置、电调及无人飞行器。其中，所述方法包括：获取最大转速、最小转速及当前油门值；获取至少一个最大油门值与至少一个最小油门值；通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。从而实现在计算给定转速的过程中有效地降低对固定的最大油门值、固定的最小油门值的依赖，提高电调的控制精度。
。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本申请实施例提供的一种给定转速计算方法的流程示意图；
图2是本申请实施例提供的一种给定转速计算方法的流程示意图；
图3是本申请实施例提供的一种给定转速计算装置示意图；
图4是本申请实施例提供的一种给定转速计算装置示意图；
图5是本申请实施例提供的电调硬件结构示意图；
图6是本申请实施例提供的一种飞行器的示意图；
图7是本申请实施例提供的一种动力***的示意图；
图8是本申请实施例提供的一种无人飞行器的示意图；
图9是本申请实施例提供的另一种无人飞行器的示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
此外，下面所描述的本申请各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
本申请实施例可以应用到各种电机驱动的可移动物体上，包括但不限于无人飞行器(unmanned aerial vehicle，UAV)，轮船，机器人。现以无人飞行器为例进行说明。无人飞行器的结构包括中心壳体、机臂和动力***。机臂与中心壳体一体连接或者固定连接，动力***安装于机臂上。典型的动力***包括电调，电机和螺旋桨。电调位于机臂或中心壳体所形成的空腔内。电调与电机电连接，电机安装在机臂上，电机的转动轴连接螺旋桨。螺旋桨在所述电机的驱动下产生使得所述无人飞行器移动的力，例如，使得无人飞行器移动的升力或者推力。
目前，无人飞行器完成各个规定速度、动作(或姿态)通常是通过电调控制无人飞行器的电机以实现的。电调全称电子调速器，根据控制信号调节无人飞行器的电机的转速。电调控制电机的原理大致为：电机是将电脉冲信 号转变为角位移或线位移的开环控制元电机件。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当驱动器接收到一个脉冲信号，它就驱动电机按设定的方向转动一个固定的角度，它的旋转是以固定的角度运行的。因此，电调可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。
在电调控制***中，一般包括：油门发生器、电池、电调及电机。其中，电调的输入线与电池连接，电调的输出线(有刷两根、无刷三根)与无人飞行器的电机连接，电调的信号线与油门发生器连接。在无人飞行器飞行过程中，无人飞行器上电(不带桨)，油门发生器发送油门信号给电调，电调控制无人飞行器的电机的转速。因此，为了更加精准的对无人飞行器的状态进行控制(前、后、左、右、上、下等飞行)，电调有必要对油门信号进行精准的解析，以得到电调的给定转速信号。
本申请实施例提供了一种给定转速计算方法和装置、电调及无人飞行器，以提高电调的控制精度。
其中，本申请的思路是：首先，获取最大转速、最小转速及当前油门值；其次，获取至少一个最大油门值与至少一个最小油门值；再次，通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；最后，根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与所述给定转速的关系，确定所述给定 转速，以解决现有技术中计算电调的给定转速时对固定的最大油门值、固定的最小油门值的依赖的问题，从而有效降低固定的最大油门值、固定的最小油门值对计算给定转速精度的影响，提高电调的控制精度。
下面结合附图，对本申请实施例作进一步阐述。
实施例1：
本申请实施例为本申请提供的一种给定转速计算方法的实施例。如图1为本申请实施例提供的一种给定转速计算方法的流程示意图。本申请实施例的一种给定转速计算方法应用于电调，可由电调设备执行。所述电调可以应用于飞行器上，例如，应用于无人飞行器。
参照图1，所述方法包括：
101：获取最大转速、最小转速及当前油门值。
在本申请实施例中，电调可以获取固定的最大转速及最小转速。并且，在飞行器在飞行过程中，所述电调可以实时获取当前油门值。
102：获取至少一个最大油门值与至少一个最小油门值。
在本申请实施例中，电调可以获取至少一个最大油门值与至少一个最小油门值。所述至少一个最大油门值与至少一个最小油门值区别于通常在计算给定转速的固定的最大油门值与固定的最小油门值。所述至少一个最大油门值为在油门发生器给定最大油门的时间区间内，每隔相同时间获取的最大油门值；所述至少一个最小油门值为在给定最小油门的时间区间内，每隔相同时间获取的最小油门值。所述至少一个最大油门值与所述至少一个最小油门值的个数可以是1个、2个、或更多个，所述至少一个最大油门值与所述至少一个最小油门值的个数可以根据实际需要设置，其个数不受限制。而通常在 计算给定转速的所述固定的最大油门值与所述固定的最小油门值均为特定的、不变的单个值。
103：通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。
在本申请实施例中，获取到多个最大油门值与多个最小油门值后，可以通过求平均值的方法，即平均值计算公式确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。
104：根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
在本申请实施例中，通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与给定转速的对应关系式，在所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值确定的情况下，便可计算得到所述给定转速。
本申请实施例提供的给定转速计算方法应用于电调，所述方法包括：获取最大转速、最小转速及当前油门值；获取至少一个最大油门值与至少一个最小油门值；通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与所述给定转速的对应关系式，确定所述给定转速，从而有效降低固定的最大油门值、固定的最小油门值对 计算给定转速精度的影响，提高电调的控制精度。
实施例2：
本申请实施例为本申请提供的一种给定转速计算方法的实施例。如图2为本申请实施例提供的一种给定转速计算方法的流程示意图。本申请实施例的一种给定转速计算方法应用于电调，可由电调设备执行。所述电调可以应用于飞行器上，例如，应用于无人飞行器。
参照图2，所述方法包括：
201：获取最大转速、最小转速及当前油门值。
在本申请实施例中，电调可以获取固定的最大转速及最小转速。并且，在飞行器在飞行过程中，所述电调可以实时获取当前油门值。
202：获取至少一个最大油门值与至少一个最小油门值。
在本申请实施例中，电调可以获取至少一个最大油门值与至少一个最小油门值。所述获取至少一个最大油门值与至少一个最小油门值，包括：在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。所述在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值，包括：在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大油门值，并获取n个最大油门值；在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。例如，在油门发生器向电调发送的给定最大油门的第一时间区间(如100s)内，每隔相同第一预设时间(如 10s)获取一次最大油门值，获取得到n个最大油门值，即为10个最大油门值；在油门发生器向电调发送的给定最小油门的第二时间区间(如100s)内，每隔相同第二预设时间(如10s)获取一次最小油门值，获取得到n个最小油门值，即为10个最小油门值。由于需要获取n个最大油门值与n个最小油门值，t 1是获取一次最大油门值的间隔时间，t 2是获取一次最小油门值的间隔时间，因此，需要满足T 1≥n*t 1，T 2≥n*t 2。例如，需要获取9次最大油门值，每隔10s获取一次最大油门值，则需要所述第一时间区间T 1大于或者等于90s，如91s。
需要说明的是，在本申请实施例中，所述第一时间区间T 1与第二时间区间T 2可以相等也可以不相等；所述第一预设时间t 1与所述第二预设时间t 2可以相等也可以不相等。例如，所述第一时间区间T 1为100s，所述第二时间区间T 2为200s；第一预设时间t 1为10s，所述第二预设时间t 2为20s。
还需要说明的是，在本申请实施例中，所述至少一个最大油门值与至少一个最小油门值区别于通常在计算给定转速的固定的最大油门值与固定的最小油门值。所述固定的最大油门值与所述固定的最小油门值均为特定的、不变的单个值。
203：通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。
在本申请实施例中，获取到多个最大油门值与多个最小油门值后，可以通过求平均值的方法，即平均值计算公式确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。所述平均值计算公式为：
Figure PCTCN2018099215-appb-000015
其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；
Figure PCTCN2018099215-appb-000016
表示所述最大油门值的平均值；
Figure PCTCN2018099215-appb-000017
表示所述最小油门值的平均值。
204：根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
在本申请实施例中，通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与给定转速的对应关系式，在所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值确定的情况下，便可计算得到所述给定转速。所述根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速，包括：通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
Figure PCTCN2018099215-appb-000018
其中，
Figure PCTCN2018099215-appb-000019
表示所述最大转速；
Figure PCTCN2018099215-appb-000020
表示所述最小转速；x表示所述当前油门值；
Figure PCTCN2018099215-appb-000021
表示所述给定转速。
可以理解的是，在一些实施例中，本申请实施例中所述步骤201-204之 间并不必然存在一定的先后顺序，本领域普通技术人员，根据本申请实施例的描述可以理解，在不同实施例中，所述步骤201-204可以有不同的执行顺序，如先执行所述步骤202再执行所述步骤201，或者所述步骤201与所述步骤202同时进行。
还需要说明的是，本申请实施例中所述步骤201-204中未详尽描述的技术细节，可参考上述实施例的具体描述。
本申请实施例提供的给定转速计算方法应用于电调，所述方法包括：获取最大转速、最小转速及当前油门值；获取至少一个最大油门值与至少一个最小油门值；通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与所述给定转速的对应关系式，即给定转速计算公式，确定所述给定转速，从而有效降低固定的最大油门值、固定的最小油门值对计算给定转速精度的影响，提高电调的控制精度。
实施例3：
本申请实施例为本申请提供的一种给定转速计算装置的实施例。如图3为本申请实施例提供的一种给定转速计算装置示意图。其中，所述装置应用于电调。
参照图3，所述装置30包括：
第一获取单元301，用于获取最大转速、最小转速及当前油门值。
在本申请实施例中，所述第一获取单元301可以获取固定的最大转速及 最小转速。并且，在飞行器在飞行过程中，所述第一获取单元301可以实时获取当前油门值。
第二获取单元302，用于获取至少一个最大油门值与至少一个最小油门值。
在本申请实施例中，所述第二获取单元302可以获取至少一个最大油门值与至少一个最小油门值。所述至少一个最大油门值与至少一个最小油门值区别于通常在计算给定转速的固定的最大油门值与固定的最小油门值。所述至少一个最大油门值为在油门发生器给定最大油门的时间区间内，每隔相同时间获取的最大油门值；所述至少一个最小油门值为在给定最小油门的时间区间内，每隔相同时间获取的最小油门值。所述至少一个最大油门值与所述至少一个最小油门值的个数可以是1个、2个、或更多个，所述至少一个最大油门值与所述至少一个最小油门值的个数可以根据实际需要设置，其个数不受限制。而通常在计算给定转速的所述固定的最大油门值与所述固定的最小油门值均为特定的、不变的单个值。
确定单元303，用于通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。
在本申请实施例中，所述第二获取单元302获取到多个最大油门值与多个最小油门值后，所述确定单元303可以通过求平均值的方法，即平均值计算公式确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。
计算单元304，用于根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
在本申请实施例中，所述计算单元304通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与给定转速的对应关系式，在所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值确定的情况下，便可计算得到所述给定转速。
在本申请实施例中，所述第一获取单元301获取最大转速、最小转速及当前油门值；所述第二获取单元302获取至少一个最大油门值与至少一个最小油门值；所述确定单元303通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；所述计算单元304根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
需要说明的是，在本申请实施例中，所述给定转速计算装置30可执行本申请实施例1所提供的给定转速计算方法，具备执行方法相应的功能模块和有益效果。未在给定转速计算装置30的实施例中详尽描述的技术细节，可参见本申请实施例1所提供的给定转速计算方法。
实施例4：
本申请实施例为本申请提供的一种给定转速计算装置的实施例。如图4为本申请实施例提供的一种给定转速计算装置示意图。其中，所述装置应用于电调。
参照图4，所述装置40包括：
第一获取单元401，用于获取最大转速、最小转速及当前油门值。
在本申请实施例中，所述第一获取单元401可以获取固定的最大转速及 最小转速。并且，在飞行器在飞行过程中，所述第一获取单元401可以实时获取当前油门值。
第二获取单元402，用于获取至少一个最大油门值与至少一个最小油门值。
在本申请实施例中，所述第二获取单元402可以获取至少一个最大油门值与至少一个最小油门值。所述第二获取单元包括：最大油门值获取模块4021，用于在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；最小油门值获取模块4022，用于在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。
所述最大油门值获取模块4021具体用于：在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大油门值，并获取n个最大油门值；所述最小油门值获取模块4022具体用于：在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。
例如，在油门发生器向电调发送的给定最大油门的第一时间区间(如100s)内，所述最大油门值获取模块4021每隔相同第一预设时间(如10s)获取一次最大油门值，获取得到n个最大油门值，即为10个最大油门值；在油门发生器向电调发送的给定最小油门的第二时间区间(如100s)内，所述最小油门值获取模块4022每隔相同第二预设时间(如10s)获取一次最小油门值，获取得到n个最小油门值，即为10个最小油门值。由于需要获取n个最大油门值与n个最小油门值，t 1是获取一次最大油门值的间隔时间，t 2是获取一次最小油门值的间隔时间，因此，需要满足T 1≥n*t 1，T 2≥n*t 2。例如，所 述最大油门值获取模块4021需要获取9次最大油门值，每隔10s获取一次最大油门值，则需要所述第一时间区间T 1大于或者等于90s，如91s。
确定单元403，用于通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。
在本申请实施例中，所述第二获取单元402获取到多个最大油门值与多个最小油门值后，所述确定单元403可以通过求平均值的方法，即平均值计算公式确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值。所述确定单元403的所述平均值计算公式为：
Figure PCTCN2018099215-appb-000022
其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；
Figure PCTCN2018099215-appb-000023
表示所述最大油门值的平均值；
Figure PCTCN2018099215-appb-000024
表示所述最小油门值的平均值。
计算单元404，用于根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
在本申请实施例中，所述计算单元404通过所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值与给定转速的对应关系式，在所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值、所述最小油门值的平均值确定的情况下，便 可计算得到所述给定转速。所述计算单元404具体用于：
通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
Figure PCTCN2018099215-appb-000025
其中，
Figure PCTCN2018099215-appb-000026
表示所述最大转速；
Figure PCTCN2018099215-appb-000027
表示所述最小转速；x表示所述当前油门值；
Figure PCTCN2018099215-appb-000028
表示所述给定转速。
在本申请实施例中，所述第一获取单元401获取最大转速、最小转速及当前油门值；所述第二获取单元402获取至少一个最大油门值与至少一个最小油门值；所述确定单元403通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；所述计算单元404根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
需要说明的是，在本申请实施例中，所述给定转速计算装置40可执行本申请实施例2所提供的给定转速计算方法，具备执行方法相应的功能模块和有益效果。未在给定转速计算装置40的实施例中详尽描述的技术细节，可参见本申请实施例2所提供的给定转速计算方法。
实施例5：
图5是本申请实施例提供的电调硬件结构示意图，如图5所示，所述电调50包括：
一个或多个处理器501以及存储器502，图5中以一个处理器501为例。
处理器501和存储器502可以通过总线或者其他方式连接，图5中以通 过总线连接为例。
存储器502作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块，如本申请实施例中的给定转速计算方法对应的程序指令/单元(例如，附图4所示的第一获取单元401、第二获取单元402、确定单元403以及计算单元404)。处理器501通过运行存储在存储器502中的非易失性软件程序、指令以及单元，从而执行电调的各种功能应用以及数据处理，即实现所述方法实施例的给定转速计算方法。
存储器502可以包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需要的应用程序；存储数据区可存储根据电调使用所创建的数据等。此外，存储器502可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实施例中，存储器502可选包括相对于处理器501远程设置的存储器，这些远程存储器可以通过网络连接至电调。所述网络的实施例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述一个或者多个单元存储在所述存储器502中，当被所述一个或者多个处理器501执行时，执行所述任意方法实施例1和/或实施例2中的给定转速计算方法，例如，执行以上描述的图2中的方法步骤201至步骤204，实现图4中的单元401-404的功能。
所述电调可执行本申请实施例1和/或实施例2所提供的给定转速计算方法，具备执行方法相应的功能模块和有益效果。未在电调实施例中详尽描述的技术细节，可参见本申请实施例1和/或实施例2所提供的给定转速计算方 法。
本申请实施例提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被所述电调执行时，使所述电调执行如上所述的给定转速计算方法。例如，执行以上描述的图2中的方法步骤201至步骤204，实现图4中的单元401-404的功能。
本申请实施例提供了一种非易失性计算机可读存储介质，所述计算机可读存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如，执行以上描述的图2中的方法步骤201至步骤204，实现图4中的单元401-404的功能。
实施例6：
请参考图6，本申请实施例提供的一种飞行器，所述飞行器60包括：电机及如上所述的电调，所述电调用于控制所述电机的转速。所述飞行器60还可以包括油门发生器，所述油门发生器发送油门信号给电调，电调控制飞行器60的电机的转速。所述飞行器60可以是各种飞行的器械，如无人飞行器、航天器等。
请参考图7，本申请实施例还提供一种动力***。该动力***70包括电机以及如上所述的电调，其中,电调与所述电机电连接，用于控制所述电机。
请参考图8，本申请实施例还提供一种无人飞行器。该无人飞行器80包括机身和上述所述的动力***70，该动力***70安装在机身上，用于为无人飞行器80提供飞行动力。
请参考图9，本申请实施例还提供另一种无人飞行器。该无人飞行器90包括：
中心壳体；
机臂，所述机臂与所述中心壳体连接；
电机，所述电机与所述机臂连接；
螺旋桨，与所述电机连接，所述螺旋桨在所述电机的驱动下产生使得所述无人飞行器90移动的力；以及
电调，与所述电机电连接，所述电调用于执行图1～2所示的给定转速计算方法的全部或者部分步骤。该电调包括：
至少一个处理器；以及，
与所述至少一个处理器通信连接的存储器；其中，
所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如上述任一个示例性实施例所示出的给定转速计算方法。
需要说明的是，以上所描述的装置实施例仅仅是示意性的，其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。
通过以上的实施例的描述，本领域普通技术人员可以清楚地了解到各实施例可借助软件加通用硬件平台的方式来实现，当然也可以通过硬件。本领域普通技术人员可以理解实现所述实施例方法中的全部或部分流程是可以通 过计算机程序指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如所述各方法的实施例的流程。其中，所述的存储介质可为只读存储记忆体(Read-Only Memory,ROM)或随机存储记忆体(Random Access Memory,RAM)等。
最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；在本申请的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本申请的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (18)

  1. 一种给定转速计算方法，应用于电调，其特征在于，所述方法包括：
    获取最大转速、最小转速及当前油门值；
    获取至少一个最大油门值与至少一个最小油门值；
    通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；
    根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
  2. 根据权利要求1所述的方法，其特征在于，所述获取至少一个最大油门值与至少一个最小油门值，包括：
    在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。
  3. 根据权利要求2所述的方法，其特征在于，所述在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值，包括：
    在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大油门值，并获取n个最大油门值；在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；
    所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。
  4. 根据权利要求3所述的方法，其特征在于，所述平均值计算公式为：
    Figure PCTCN2018099215-appb-100001
    其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；x′ max表示所述最大油门值的平均值；x′ min表示所述最小油门值的平均值。
  5. 根据权利要求1-4任一项所述的方法，其特征在于，所述根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速，包括：
    通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
    Figure PCTCN2018099215-appb-100002
    其中，
    Figure PCTCN2018099215-appb-100003
    表示所述最大转速；
    Figure PCTCN2018099215-appb-100004
    表示所述最小转速；x表示所述当前油门值；
    Figure PCTCN2018099215-appb-100005
    表示所述给定转速。
  6. 一种给定转速计算装置，应用于电调，其特征在于，所述装置包括：
    第一获取单元，用于获取最大转速、最小转速及当前油门值；
    第二获取单元，用于获取至少一个最大油门值与至少一个最小油门值；
    确定单元，用于通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；
    计算单元，用于根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
  7. 根据权利要求6所述的装置，其特征在于，所述第二获取单元包括：
    最大油门值获取模块，用于在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；
    最小油门值获取模块，用于在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。
  8. 根据权利要求7所述的装置，其特征在于，所述最大油门值获取模块具体用于：在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大油门值，并获取n个最大油门值；所述最小油门值获取模块具体用于：在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；
    所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。
  9. 根据权利要求8所述的装置，其特征在于，所述确定单元的所述平均值计算公式为：
    Figure PCTCN2018099215-appb-100006
    其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；x′ max表示所述最大油门值的平均值；x′ min表示所述最小油门值的平均值。
  10. 根据权利要求6-9任一项所述的装置，其特征在于，所述计算单元具体用于：
    通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
    Figure PCTCN2018099215-appb-100007
    其中，
    Figure PCTCN2018099215-appb-100008
    表示所述最大转速；
    Figure PCTCN2018099215-appb-100009
    表示所述最小转速；x表示所述当前油门值；
    Figure PCTCN2018099215-appb-100010
    表示所述给定转速。
  11. 一种电调，其特征在于，包括：
    至少一个处理器；以及，
    与所述至少一个处理器通信连接的存储器；其中，
    所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行权利要求1-5的任一项所述的方法。
  12. 一种动力***，其特征在于，包括：
    电机；以及
    权利要求11所述的电调，所述电调与所述电机电连接，用于控制所述电机。
  13. 一种无人飞行器，其特征在于，包括：
    机身；以及
    权利要求12所述的动力***，安装在所述机身上，用于为所述无人飞行器提供飞行动力。
  14. 一种无人飞行器，其特征在于，包括：
    中心壳体；
    机臂，所述机臂与所述中心壳体连接；
    电机，所述电机与所述机臂连接；
    螺旋桨，与所述电机连接，所述螺旋桨在所述电机的驱动下产生使得所述无人飞行器移动的力；以及
    电调，与所述电机电连接，所述电调用于：
    获取最大转速、最小转速及当前油门值；
    获取至少一个最大油门值与至少一个最小油门值；
    通过平均值计算公式，确定所述至少一个最大油门值的平均值与所述至少一个最小油门值的平均值；
    根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速。
  15. 根据权利要求14所述的无人飞行器，其特征在于，所述获取至少一个最大油门值与至少一个最小油门值，包括：
    在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值。
  16. 根据权利要求15所述的无人飞行器，其特征在于，所述在给定最大油门的第一时间区间内，每隔相同第一预设时间获取最大油门值；在给定最小油门的第二时间区间内，每隔相同第二预设时间获取最小油门值，包括：
    在给定最大油门的第一时间区间T 1内，每隔相同第一预设时间t 1获取最大油门值，并获取n个最大油门值；在给定最小油门的第二时间区间T 2内，每隔相同第二预设时间t 2获取最小油门值，并获取n个最小油门值；
    所述n为自然数，n≥1，并且，T 1≥n*t 1，T 2≥n*t 2。
  17. 根据权利要求16所述的无人飞行器，其特征在于，所述平均值计算公式为：
    Figure PCTCN2018099215-appb-100011
    其中，x max_1、x max_2、...、x max_n分别表示第一次获取的最大油门值、第二次获取的最大油门值、...、第n次获取的最大油门值；x min_1、x min_2、...、x min_n分别表示第一次获取的最小油门值、第二次获取的最小油门值、...、第n次获取的最小油门值；n表示获取所述至少一个最大油门值或所述至少一个最小油门值的数量；x′ max表示所述最大油门值的平均值；x′ min表示所述最小油门值的平均值。
  18. 根据权利要求14-17任一项所述的无人飞行器，其特征在于，所述根据所述最大转速、所述最小转速、所述当前油门值、所述最大油门值的平均值与所述最小油门值的平均值计算给定转速，包括：
    通过给定转速计算公式，确定给定转速；其中，所述给定转速计算公式为：
    Figure PCTCN2018099215-appb-100012
    其中，
    Figure PCTCN2018099215-appb-100013
    表示所述最大转速；
    Figure PCTCN2018099215-appb-100014
    表示所述最小转速；x表示所述当前油门值；
    Figure PCTCN2018099215-appb-100015
    表示所述给定转速。
PCT/CN2018/099215 2017-08-29 2018-08-07 给定转速计算方法、装置、电调、动力***及无人飞行器 WO2019042095A1 (zh)

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