WO2019100894A1 - Electronic governor, motor control system, and unmanned aerial vehicle - Google Patents

Electronic governor, motor control system, and unmanned aerial vehicle Download PDF

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Publication number
WO2019100894A1
WO2019100894A1 PCT/CN2018/111722 CN2018111722W WO2019100894A1 WO 2019100894 A1 WO2019100894 A1 WO 2019100894A1 CN 2018111722 W CN2018111722 W CN 2018111722W WO 2019100894 A1 WO2019100894 A1 WO 2019100894A1
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WO
WIPO (PCT)
Prior art keywords
circuit
resistor
mos transistor
electronic governor
motor
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PCT/CN2018/111722
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French (fr)
Chinese (zh)
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 WO2019100894A1 publication Critical patent/WO2019100894A1/en

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors

Definitions

  • the present application relates to the field of drone technology, and in particular, to an electronic governor, a motor control system, and a drone.
  • the drone referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements.
  • UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
  • the drone In the power system of the drone, it includes a motor, a propeller connected to the output shaft of the motor, and an ESC connected to the input of the motor.
  • the electric scale is called Electronic Speed Control (ESC).
  • the electronic governor controls the operation of the motor by outputting a motor control signal to the motor.
  • the inventors have found that the conventional technology has at least the following problems: currently, consumer drones on the market usually adopt a "one-for-one" motor control system, that is, an electric control system in the motor control system.
  • a motor because the current UAV's ESC is generally oversized and overweight, the "one-for-one" motor control system is not only not conducive to the miniaturization of the drone, but also restricts the drone.
  • an object of the embodiments of the present application is to provide an electric adjustment, a motor drive system, and a drone, which solve the technical problem of excessive overshoot of a conventional drone.
  • an embodiment of the present application provides an electronic governor for controlling operation of a motor, the number of the motors being at least two, and the electronic governor includes: a control unit, configured to output at least two a group control signal; at least two driving circuits, wherein the at least two driving circuits are connected to the control unit, and the at least two driving circuits process at least two sets of control signals output by the control unit, and output corresponding a motor drive signal to an input of the at least two motors to control operation of the at least two motors; wherein each of the drive circuits includes a pre-drive circuit and a power switch circuit, an input of the pre-drive circuit Connected to an output of the control unit, an output of the pre-driver circuit is coupled to an input of the power switch circuit, and an output of the power switch circuit is coupled to the motor.
  • the electronic governor further includes at least two sampling circuits, one of the sampling circuits coupled to one of the driving circuits and connected to the control unit for measuring and collecting the flow through the same Driving a current of the circuit and outputting a first sampling result to the control unit, such that the control unit outputs a set of control signals according to the first sampling result; and the other sampling circuit is coupled with the other driving circuit and further Connected to the control unit for measuring and collecting current flowing through the other of the driving circuits and outputting a second sampling result to the control unit, so that the control unit outputs another group according to the second sampling result control signal.
  • the pre-drive circuit of each of the driving circuits outputs a switch signal to the corresponding power switch circuit according to a corresponding group of control signals; the power switch circuit corresponds to the switch signal according to the switch signal The motor outputs the motor drive signal.
  • the pre-driver circuit and the power switch circuit are integrated on the same carrier.
  • the electronic governor further includes a power module for providing power to the control unit and the pre-driver circuit.
  • the power switching circuit includes an upper bridge circuit and a lower arm circuit, the upper arm circuit being coupled to the lower arm circuit.
  • the switch tube drive signal includes a first switch drive signal to a sixth switch drive signal;
  • the upper bridge arm circuit includes a first resistor, a second resistor, a third resistor, a first MOS transistor, and a second MOS transistor And a third MOSFET;
  • the lower arm circuit includes a fourth resistor, a fifth resistor, a sixth resistor, a fourth MOS transistor, a fifth MOS transistor, and a sixth MOS transistor; one end of the first resistor is for receiving a first switch driving signal, the other end of the first resistor is connected to a gate of the first MOS transistor, and one end of the second resistor is for receiving a second switch driving signal, and the other end of the second resistor Connected to a gate of the second MOS transistor, one end of the third resistor is for receiving a third switch driving signal, and the other end of the third resistor is connected to a gate of the third MOS transistor, One end of the fourth resistor is configured to receive a fourth switch driving signal, the other end
  • each of the sampling circuits includes a sampling resistor, one end of the sampling resistor is coupled to the second node, and the other end of the sampling resistor is configured to load the external power source.
  • each of the drive circuits further includes a bootstrap circuit for performing bootstrap boosting to provide a voltage that maintains the upper arm circuit in an on state.
  • control unit includes: an operational amplifier circuit, wherein the input ends are respectively connected to one of the sampling circuits and the other sampling circuit, for receiving the first sampling result and the second sampling result a microcontroller coupled to the output of the operational amplifier circuit for outputting the at least two sets of control signals based on the first sampling result and the second sampling result.
  • each of the driving circuits further includes: a filtering circuit coupled to the power switching circuit for filtering out harmonic components of the external power source.
  • an embodiment of the present application provides a motor control system, where the motor control system includes: at least two motors and an electronic governor according to any one of the steps, wherein one driving circuit in the electronic governor Connected to one of the at least two motors and the other drive circuit to another motor.
  • an embodiment of the present application provides a drone, the drone comprising: at least two propellers; at least two motors, wherein the at least two motors are respectively connected to the at least two propellers, Driving the at least two propellers to provide flight power to the drone; and the electronic governor of any one of the electronic governors, the one of the electronic governors and the at least two One motor in the motor is connected and the other drive circuit is connected to the other motor.
  • the two-way driving circuit can receive the control signal output by the same control unit, and generate a corresponding motor driving signal.
  • the integration is high, and the problem that the control unit can only control one motor and the electronic governor is too large and heavy is caused.
  • the pre-driver circuit and the power switch circuit are integrated in the same drive circuit, so that the volume of the electronic governor is further reduced compared to the conventional technology.
  • FIG. 1 is a schematic structural diagram of a four-rotor UAV according to an embodiment of the present application
  • FIG. 2 is a circuit block diagram of an electronic governor according to an embodiment of the present application.
  • FIG. 3 is a circuit block diagram of a driving circuit according to an embodiment of the present application.
  • FIG. 4 is a circuit block diagram of a power switch circuit according to an embodiment of the present application.
  • FIG. 5 is a circuit block diagram of an electronic governor according to another embodiment of the present application.
  • FIG. 6 is a circuit block diagram of a control unit according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a circuit of a power switch circuit according to an embodiment of the present application.
  • FIG. 8 is a schematic diagram of a principle of a motor drive system according to an embodiment of the present application.
  • the electronic governor and motor control system provided by the 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. Now take the drone as an example for explanation.
  • 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 electronic governors, motors, and propellers.
  • the electronic governor is located in a cavity formed by the arm or the center housing. One end of the electronic governor is electrically connected to the throttle controller, and the other end of the electronic governor is electrically connected to the motor.
  • the electronic governor and the motor form a motor control system, and the electronic governor outputs a motor drive signal to the motor to control its operation.
  • 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 drone to move under the drive of the motor, for example, a lift or thrust that causes the drone to move.
  • the flight control module of the drone sends an accelerator signal to the electronic governor, and the electronic governor receives the throttle signal, generates and outputs a motor drive signal for controlling the motor operation to the motor.
  • the motor drive signal includes, for example, a signal for controlling motor start, a signal for controlling a rotational speed at which the motor operates, and the like.
  • the throttle controller can be a flight control module of the drone.
  • the flight control module senses the environment around the UAV through various sensors and controls the flight of the UAV.
  • the flight control module may be a processing unit, an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Multi-rotor UAVs typically employ multiple motors to control the speed or direction of a plurality of rotors connected to them, thereby providing power to the multi-rotor drone to complete the flight.
  • a four-rotor drone uses four motors to control the speed or direction of the respective rotor.
  • each motor of the multi-rotor UAV controls its operation by using an electronic governor.
  • the electronic governor can output a corresponding motor drive signal according to the control logic to drive the motor to rotate.
  • its smallest component unit may include at least two propellers, at least two electric machines, and an electronic governor. At least two motors are respectively connected to at least two propellers, one of the electronic governors is connected to one of the at least two motors, and the other drive circuit is connected to the other motor.
  • the electronic governor can send a motor drive signal to the corresponding motor through the drive circuit of the corresponding road, and the motor drives the propeller to rotate according to the motor drive signal, thereby providing flight power for the drone.
  • the conventional multi-rotor UAV uses a one-to-one control method to control the motor, that is, an electronic governor controls a motor. Therefore, when the drone is a quadrotor drone, it needs four. An electronic governor and four motor architectures for drive control. Therefore, the traditional multi-rotor UAV has a low degree of integration of the electronic governor in the drive control architecture, resulting in the traditional multi-rotor UAV being too large in size, too heavy in weight, and too high in cost. Therefore, the flight efficiency of the conventional multi-rotor drone is low.
  • the embodiment of the present application provides a drone.
  • the drone is a multi-rotor drone, for example, it can be a three-rotor drone, a quadrotor drone, and the like.
  • This embodiment introduces the UAV as a quadrotor UAV as an example, but it can be understood that the following description about the quadrotor UAV is not used to limit the application of the UAV provided by the embodiment of the present application.
  • the scope of the present invention is not limited to the scope of the present application.
  • FIG. 1 is a schematic structural diagram of a four-rotor UAV according to an embodiment of the present application.
  • the quadrotor drone 100 includes a first motor 11 , a second motor 12 , a third motor 13 , a fourth motor 14 , and an electronic governor 15 , and the electronic governor 15 and the first motor respectively 11.
  • the second motor 12, the third motor 13, and the fourth motor 14 are connected.
  • the electronic governor 15 sends corresponding motor driving signals to the first motor 11, the second motor 12, the third motor 13, and the fourth motor 14 according to the control logic, thereby driving the first motor 11 and the second motor 12, respectively.
  • the three motor 13 and the fourth motor 14 rotate.
  • the four motors share an electronic governor, which can constitute a motor control system, and which can also greatly reduce the size and weight of the quadrotor.
  • the quadrotor drone 100 may further add an electronic governor, and the additional electronic governor may be combined with the above four drones.
  • the additional electronic governor may be combined with the above four drones.
  • one electronic governor 15 is connected to the first motor 11 and the second motor 12, and the other electronic governor 15 is connected to the third motor 13 and the fourth motor 14, and each group can constitute a motor drive system.
  • an electronic governor can control two motors, which can reduce the size of the drone and improve the reliability of the drone.
  • the electronic governor 15 can connect a plurality of motors as long as the electronic governor 15 opens up enough available interfaces for driving the motor, and the manner shown in the above embodiments is not limited herein.
  • the electronic governor 15 includes a control unit 151 and two driving circuits 152.
  • the two-way driving circuit 152 is connected to the control unit 151.
  • the control unit 151 transmits a first set of control signals to one of the drive circuits 152 and a second set of control signals to the other drive circuit 152.
  • the first group of control signals or the second group of control signals may be a PWM signal (Pulse Width Modulation) or a PFM signal (Pulse Frequency Modulation).
  • control unit 151 can also connect the multiple driving circuits to respectively drive the plurality of motors, which is not limited to the above embodiments. The way shown.
  • the two-way driving circuit 152 processes at least two sets of control signals output by the control unit 151, and outputs corresponding motor driving signals to the input ends of the at least two motors to control the operation of the at least two motors.
  • the motor drive signal includes, for example, a signal for controlling the start of the motor, a signal for driving the rotational speed at which the motor operates, and the like.
  • one driving circuit 152 is connected to the first motor 11 and the other driving circuit 152 is connected to the second motor 12.
  • the first motor driving signal can drive the first motor 11 to rotate
  • the second motor driving signal can drive the second motor 12 to rotate.
  • Each of the driving circuits 152 includes a bootstrap circuit 1521, a pre-drive circuit 1522, a power switch circuit 1523, a filter circuit 1524, and a power supply module 1525.
  • the pre-driver circuit 1522 includes a plurality of input terminals, one input terminal is connected to the output terminal of the control unit 151, and the other input terminal is connected to the bootstrap circuit 1521.
  • the input of the power switch circuit 1523 is connected to the output of the pre-drive circuit 1522, and the output of the power switch circuit 1523 is connected to the motor.
  • the input of the filter circuit 1524 is connected to an external power supply Vdc, and the output of the filter circuit 1524 is connected to an input of the power switch circuit 1523.
  • the input of the power module 1525 is connected to an external power source Vdc, and the output of the power module 1525 is connected to an input of the control unit 151 and an input of the pre-driver circuit 1522, respectively.
  • the bootstrap circuit 1521 performs bootstrap boosting in response to an input of the external power source Vdc. Since the control signal outputted by the control unit 151 is relatively weak, it is not enough to drive the respective switching tubes of the power switching circuit 1523. Therefore, the bootstrap circuit 1521 can perform bootstrap boosting of the external power source to drive the corresponding switching transistors of the power switching circuit 1523.
  • the pre-drive circuit 1522 outputs a switch driving signal to the corresponding power switch circuit 1523 according to the control signal of the corresponding group, and the power switch circuit 1523 outputs a motor drive signal to the corresponding motor according to the switch drive signal.
  • the control signal of the corresponding group includes at least a plurality of PWM signals equal to the number of the switching tubes in the power switch circuit 1523, and the plurality of PWM signals are used to instruct the pre-drive circuit 1522 to strobe the corresponding switch tube driving signal, and the switch is The tube drive signal is loaded on the corresponding switch tube in the power switch circuit 1523, and therefore, the number of switch tube drive signals is equal to the PWM signal. For example, as shown in FIG.
  • the power switch circuit 1523 includes an upper bridge circuit 15231 and a lower bridge circuit 15232.
  • the upper bridge circuit 15231 is connected to the lower bridge circuit 15232.
  • Each bridge circuit includes three switch tubes.
  • the bootstrap circuit 1521 can provide a voltage that maintains each of the switches in the upper arm circuit in an on state.
  • the strobed switch tube drive signal can be loaded on the corresponding switch tube to make the switch tube work in an on state. For example, when the six PWM signals are respectively "10000", the first switching tube of the upper arm circuit 15231 operates in an on state, and all other switching tubes operate in an off state, and the first switching tube is turned on 180 degrees. After that, the other switching tubes are turned on in turn according to the conduction logic.
  • the pre-driver circuit 1522 and the power switch circuit 1523 are integrated on the same carrier, wherein the carrier may be a wafer or a chip, or may be other forms of circuit boards. By integrating the pre-driver circuit 1522 with the power switch circuit 1523, it is possible to further reduce the size of the drone.
  • the filter circuit 1524 can filter out harmonic components of the external power source Vdc, so that the power switch circuit 1523 can operate more reliably.
  • the power module 1525 is capable of converting the external power source Vdc into a first voltage and a second voltage, wherein the first voltage is supplied to the control unit 151, which may be 3.3V or 5V.
  • the second voltage is supplied to the pre-driver circuit 1522, which may be 15V or the like.
  • the electronic governor 15 further includes two sampling circuits 153.
  • a sampling circuit 153 is coupled to a driving circuit 152 and is also connected to the control unit 151.
  • the one sampling circuit 153 samples the current flowing through one driving circuit 152 and outputs the first sampling result to the control unit 151, and the control unit 151 outputs the first group of control signals according to the first sampling result.
  • another sampling circuit 153 is coupled to the other driving circuit 152 and is also connected to the control unit 151.
  • the other sampling circuit 153 samples the current flowing through the other driving circuit 152 and outputs a second sampling result to the control unit 151, and the control unit 151 outputs the second group of control signals in accordance with the second sampling result.
  • the current sampled by the sampling circuit 153 can evaluate the current of one driving circuit 152 to drive the first motor 11, or the current sampled by the other sampling circuit 153 can evaluate the current of the other driving circuit 152 to drive the second motor 12. Therefore, one sampling circuit
  • the sampling position of the 153 or another sampling circuit 153 can be determined according to design needs.
  • each sampling circuit and each driving circuit can be an indirect connection or an electrical connection.
  • one sampling circuit 153 includes a Hall sensor, which can sample the flow. The current through one of the driving circuits 152. It can also be understood that the connection between each sampling circuit and each driving circuit can be electrically connected.
  • one sampling circuit 153 leads the sampling resistor, and sets the sampling resistor in one driving circuit 152 through the sampling resistance feedback. The sampling current or sampling voltage is used to complete the collection of sampling results.
  • control unit 151 can also connect three or more driving circuits, and correspondingly, three or more sampling circuits are configured.
  • the control unit 151 outputs a corresponding group of control signals to the respective drive circuits such that the respective drive circuits output corresponding motor drive signals.
  • each sampling circuit can sample the corresponding driving circuit to feed back the corresponding sampling result to the control unit 151.
  • control unit 151 includes an op amp circuit 1511 and a controller 1512.
  • the input ends of the operational amplifier circuit 1511 are respectively connected to one sampling circuit 153 and the other sampling circuit 153 for receiving the first sampling result and the second sampling result. Since the signals sampled by the respective sampling circuits 153 are relatively weak, in order to facilitate the controller 1512 to process more reliably, it can amplify the sampled signals to facilitate subsequent processing.
  • the microcontroller 1512 is coupled to the output of the operational amplifier circuit 1511 for outputting at least two sets of control signals based on the first sampling result and the second sampling result.
  • the first group of control signals output by the microcontroller 1512 are PWM1_1 to PWM1_6, respectively, and the second group of control signals are PWM2_1 to PWM2_6, respectively.
  • the microcontroller 1512 can be any of the following electrical devices: an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array. (FPGA), processor, controller, microcontroller, microprocessor, other electronic unit that performs these functions.
  • ASIC application specific integrated circuit
  • DSP digital signal processor
  • DSPD digital signal processing device
  • PLD programmable logic device
  • FPGA field programmable gate array
  • processor controller
  • microcontroller microprocessor
  • the two-way driving circuit can receive the control signals output by the same control unit 151, and generate corresponding motor driving signals to drive the rotation of the respective motors. Therefore, the integration degree is high, and a control unit 151 can be avoided.
  • the ability to control only one motor causes the electronic governor to be oversized and heavy.
  • the two sampling circuits can feed back the current corresponding to the rotation of the driving circuit of the driving circuit to the control unit, so that the control unit 151 can make reliable control logic, and therefore, it can improve the reliability of the electronic governor.
  • the pre-driver circuit and the power switch circuit are integrated in the same drive circuit, so that the volume of the electronic governor is further reduced compared with the conventional technology.
  • the upper arm circuit 15231 includes a first resistor R1, a second resistor R2, a third resistor R3, a first MOS transistor PQ1, a second MOS transistor PQ2, and a third MOS transistor PQ3.
  • the lower arm circuit 15232 includes a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a fourth MOS transistor PQ4, a fifth MOS transistor PQ5, and a sixth MOS transistor PQ6.
  • Each set of switch drive signals includes a first switch drive signal PWM11, a second switch drive signal PWM12, a third switch drive signal PWM13, a fourth switch drive signal PWM14, a fifth switch drive signal PWM15, and a sixth switch drive signal PWM16.
  • One end of the first resistor R1 is for receiving the first switch driving signal PWM11, the other end of the first resistor R1 is connected to the gate of the first MOS transistor PQ1, and one end of the second resistor R2 is for receiving the second switch driving signal PWM12, The other end of the second resistor R2 is connected to the gate of the second MOS transistor PQ2, and one end of the third resistor R3 is for receiving the third switch driving signal PWM13, and the other end of the third resistor R3 is opposite to the gate of the third MOS transistor PQ3.
  • one end of the fourth resistor R4 is for receiving the fourth switch drive signal PWM14
  • the other end of the fourth resistor R4 is connected to the gate of the fourth MOS transistor PQ4
  • one end of the fifth resistor R5 is for receiving the fifth switch drive signal PWM15
  • the other end of the fifth resistor R5 is connected to the gate of the fifth MOS transistor PQ5
  • one end of the sixth resistor R6 is for receiving the sixth switch driving signal PWM16, the other end of the sixth resistor R6 and the sixth MOS transistor PQ6
  • the gate is connected, the drains of the first MOS transistor PQ1 to the third MOS transistor PQ3 are all connected to the first node 61, the source of the first MOS transistor PQ1 is connected to the drain of the fourth MOS transistor PQ4, and the second MOS transistor PQ2
  • the source is connected to the drain of the fifth MOS transistor PQ5, the source of the third MOS transistor PQ3 and the sixth MO
  • the bootstrap circuit 1521 includes a number of bootstrap capacitors and diodes.
  • Each sampling circuit 153 includes a sampling resistor R0. One end of the sampling resistor R0 is connected to the second node 62, and the other end of the sampling resistor R0 is used to load the external power source Vdc.
  • the filter circuit 1524 includes a filter capacitor C1. One end of the filter capacitor C1 is connected to the first node 61, and the other end is connected to the other end of the sampling resistor R0.
  • the working principle of the electronic governor provided by the embodiment of the present application is as follows. It is worth noting that, as shown in FIG. 7, the electronic governor can output two sets of control signals to control two motors, because of the control of two motors. The principle is the same. For the sake of simplicity, only the control principle of one of the motors will be explained here. Another motor can refer to this description, and will not be described here.
  • the bootstrap circuit 1521 boosts the external power source Vdc to output a bootstrap voltage.
  • the pre-driver circuit 1522 selects the corresponding switch tube from the power switch circuit 1523 to conduct according to the control logic, in response to the corresponding group control signal and the bootstrap voltage sent by the control unit 151. For example: When the strobe first MOS transistor PQ1 is turned on, and the other MOS transistors are turned off, the output voltage is Vdc. After the first MOS transistor PQ1 is turned on by 180 degrees, the sixth MOS transistor PQ6 is turned on, and when the other MOS transistors are turned off, the output voltage is -Vdc.
  • the turn-on sequence of each MOS transistor is PQ1-PQ6-PQ2-PQ5-PQ3-PQ4. According to the conduction sequence of the respective MOS tubes, it is possible to output a motor drive signal for driving the rotation of the motor.
  • the sampling resistor R0 is capable of sampling the drive current flowing through the motor and transmitting the sampling result to the control unit 151 so that the control unit 151 can adjust the logic of the control motor in time.
  • the filter capacitor C1 is capable of filtering out the harmonic component of the external power source Vdc loaded in the power switch circuit 1523, thereby enabling the power switch circuit 1523 to operate reliably.
  • the first MOS transistor to the sixth MOS transistor may be a PMOS transistor or an NMOS transistor.
  • the electronic governor provided by the embodiment of the present application can be applied not only to a drone, but also to a mobile device such as a remote control vehicle or an unmanned ship.
  • an embodiment of the present application provides a motor drive system.
  • the motor control system 800 includes an electronic governor 81 and at least two motors 82, wherein the electronic governor 81 can be the electronic governor described in the various embodiments above.
  • One of the electronic governors 81 is connected to one of the at least two motors, and the other is connected to the other motor.
  • the two-way driving circuit can receive the control signals output by the same control unit, and generate corresponding motor driving signals to drive the rotation of the respective motors. Therefore, the integration degree is high, and a control unit can be prevented from controlling only one motor. The problem of excessive volume and heavy weight of the electronic governor has arisen.
  • the pre-driver circuit and the power switch circuit are integrated in the same drive circuit, so that the volume of the electronic governor is further reduced compared to the conventional technology.

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  • Control Of Multiple Motors (AREA)

Abstract

The present application relates to the technical field of unmanned aerial vehicles, and specifically relates to an electronic governor, a motor control system, and an unmanned aerial vehicle. The electronic governor comprises: a control unit used for inputting at least two control signals; at least two driving circuits, which process the two control signals outputted by the control unit and output corresponding motor driving signals to input ends of at least two motors, where each driving circuit comprises a pre-driving circuit and a power switch circuit. On the one hand, the two driving circuits can receive the control signals outputted by a same control unit and generate corresponding motor driving signals, thus driving the rotation of the corresponding motors; therefore, the degree of integration is high, and prevented is the problem of an electronic governor being oversized as a result of one control unit being able to control only one motor. On the other hand, the pre-driving circuit and the power switch circuit are integrated on a same driving circuit; therefore, relative to the prior art, the size of the electronic governor is further reduced.

Description

电子调速器、电机控制***及无人机Electronic governor, motor control system and drone
本申请要求于2017年11月27日提交中国专利局、申请号为201721613553X、申请名称为“一种电子调速器、电机控制***及无人机”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。This application claims the priority of the Chinese patent application filed on November 27, 2017 by the China Patent Office, application number 201721613553X, and the application name is “an electronic governor, motor control system and drone”. This is incorporated herein by reference.
技术领域Technical field
本申请涉及无人机技术领域，尤其涉及一种电子调速器、电机控制***及无人机。The present application relates to the field of drone technology, and in particular, to an electronic governor, a motor control system, and a drone.
背景技术Background technique
无人驾驶飞机，简称无人机(UAV)，是一种处在迅速发展中的新概念装备，其具有机动灵活、反应快速、无人驾驶、操作要求低的优点。无人机通过搭载多类传感器或摄像设备，可以实现影像实时传输、高危地区探测功能，是卫星遥感与传统航空遥感的有力补充。The drone, referred to as the UAV, is a new concept equipment that is rapidly developing, which has the advantages of flexibility, quick response, driverless operation and low operational requirements. UAVs can carry out real-time image transmission and high-risk area detection by carrying many types of sensors or camera equipment. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing.
在无人机的动力***中，包括电机、与电机的输出轴相连的螺旋桨以及与电机的输入端相连的电调。电调全称电子调速器(Electronic Speed Control，ESC)。电子调速器通过输出电机控制信号给电机，从而控制电机的运行。In the power system of the drone, it includes a motor, a propeller connected to the output shaft of the motor, and an ESC connected to the input of the motor. The electric scale is called Electronic Speed Control (ESC). The electronic governor controls the operation of the motor by outputting a motor control signal to the motor.
在实现本发明的过程中，发明人发现传统技术至少存在以下问题：目前市面上的消费类无人机通常采用“一拖一式”的电机控制***，即，在电机控制***中一个电调控制一个电机，由于目前的无人机的电调普遍存在体积过大、重量过重的问题，“一拖一式”的电机控制***不仅不利于无人机的小型化设计，还制约着无人机结构设计的灵活度。In the process of implementing the present invention, the inventors have found that the conventional technology has at least the following problems: currently, consumer drones on the market usually adopt a "one-for-one" motor control system, that is, an electric control system in the motor control system. A motor, because the current UAV's ESC is generally oversized and overweight, the "one-for-one" motor control system is not only not conducive to the miniaturization of the drone, but also restricts the drone. The flexibility of the structural design.
发明内容Summary of the invention
为了克服上述技术问题，本申请实施例的一个目的旨在提供一种电调、 电机驱动***及无人机，其解决传统无人机的电调体积过大的技术问题。In order to overcome the above technical problems, an object of the embodiments of the present application is to provide an electric adjustment, a motor drive system, and a drone, which solve the technical problem of excessive overshoot of a conventional drone.
在第一方面，本申请实施例提供一种电子调速器，用于控制电机的运行，所述电机的数量为至少两个，所述电子调速器包括：控制单元，用于输出至少两组控制信号；至少两路驱动电路，所述至少两路驱动电路皆与所述控制单元连接，所述至少两路驱动电路对所述控制单元输出的至少两组控制信号进行处理，输出对应的电机驱动信号至所述至少两个电机的输入端，以控制所述至少两个电机的运行；其中，每路所述驱动电路包括预驱动电路和功率开关电路，所述预驱动电路的输入端与所述控制单元的输出端连接，所述预驱动电路的输出端与所述功率开关电路的输入端连接，所述功率开关电路的输出端与所述电机连接。In a first aspect, an embodiment of the present application provides an electronic governor for controlling operation of a motor, the number of the motors being at least two, and the electronic governor includes: a control unit, configured to output at least two a group control signal; at least two driving circuits, wherein the at least two driving circuits are connected to the control unit, and the at least two driving circuits process at least two sets of control signals output by the control unit, and output corresponding a motor drive signal to an input of the at least two motors to control operation of the at least two motors; wherein each of the drive circuits includes a pre-drive circuit and a power switch circuit, an input of the pre-drive circuit Connected to an output of the control unit, an output of the pre-driver circuit is coupled to an input of the power switch circuit, and an output of the power switch circuit is coupled to the motor.
在一些实施例中，所述电子调速器还包括至少两路采样电路，一路所述采样电路与一路所述驱动电路耦合并与所述控制单元连接，用于测量和采集流经一路所述驱动电路的电流并输出第一采样结果给所述控制单元，使得所述控制单元根据所述第一采样结果输出一组控制信号；另一路所述采样电路与另一路所述驱动电路耦合并还与所述控制单元连接，用于测量和采集流经另一路所述驱动电路的电流并输出第二采样结果给所述控制单元，使得所述控制单元根据所述第二采样结果输出另一组控制信号。In some embodiments, the electronic governor further includes at least two sampling circuits, one of the sampling circuits coupled to one of the driving circuits and connected to the control unit for measuring and collecting the flow through the same Driving a current of the circuit and outputting a first sampling result to the control unit, such that the control unit outputs a set of control signals according to the first sampling result; and the other sampling circuit is coupled with the other driving circuit and further Connected to the control unit for measuring and collecting current flowing through the other of the driving circuits and outputting a second sampling result to the control unit, so that the control unit outputs another group according to the second sampling result control signal.
在一些实施例中，每路所述驱动电路的预驱动电路根据对应组的控制信号，向对应的功率开关电路输出开关管驱动信号；所述功率开关电路根据所述开关管驱动信号，向对应的电机输出所述电机驱动信号。In some embodiments, the pre-drive circuit of each of the driving circuits outputs a switch signal to the corresponding power switch circuit according to a corresponding group of control signals; the power switch circuit corresponds to the switch signal according to the switch signal The motor outputs the motor drive signal.
在一些实施例，所述预驱动电路与所述功率开关电路集成于同一载体上。In some embodiments, the pre-driver circuit and the power switch circuit are integrated on the same carrier.
在一些实施例，所述电子调速器还包括电源模块，所述电源模块用于对所述控制单元和所述预驱动电路提供电源。In some embodiments, the electronic governor further includes a power module for providing power to the control unit and the pre-driver circuit.
在一些实施例，所述功率开关电路包括：上桥臂电路与下桥臂电路，所述上桥臂电路与所述下桥臂电路连接。In some embodiments, the power switching circuit includes an upper bridge circuit and a lower arm circuit, the upper arm circuit being coupled to the lower arm circuit.
在一些实施例，开关管驱动信号包括第一开关驱动信号至第六开关驱动信号；所述上桥臂电路包括第一电阻、第二电阻、第三电阻、第一MOS管、第二MOS管及第三MOS管；所述下桥臂电路包括第四电阻、第五电阻、第六电阻、第四MOS管、第五MOS管及第六MOS管；所述第一电阻的一端用于接收第一开关驱动信号，所述第一电阻的另一端与所述第一MOS管的栅 极连接，所述第二电阻的一端用于接收第二开关驱动信号，所述第二电阻的另一端与所述第二MOS管的栅极连接，所述第三电阻的一端用于接收第三开关驱动信号，所述第三电阻的另一端与所述第三MOS管的栅极连接，所述第四电阻的一端用于接收第四开关驱动信号，所述第四电阻的另一端与所述第四MOS管的栅极连接，所述第五电阻的一端用于接收第五开关驱动信号，所述第五电阻的另一端与所述第五MOS管的栅极连接，所述第六电阻的一端用于接收第六开关驱动信号，所述第六电阻的另一端与所述第六MOS管的栅极连接，所述第一MOS管至所述第三MOS管的漏极皆连接至第一节点，所述第一MOS管的源极与所述第四MOS管的漏极连接，所述第二MOS管的源极与所述第五MOS管的漏极连接，所述第三MOS管的源极与所述第六MOS管的漏极连接，所述第四MOS管至所述第六MOS管的源极皆连接至第二节点，外部电源加载于所述第一节点与所述第二节点之间。In some embodiments, the switch tube drive signal includes a first switch drive signal to a sixth switch drive signal; the upper bridge arm circuit includes a first resistor, a second resistor, a third resistor, a first MOS transistor, and a second MOS transistor And a third MOSFET; the lower arm circuit includes a fourth resistor, a fifth resistor, a sixth resistor, a fourth MOS transistor, a fifth MOS transistor, and a sixth MOS transistor; one end of the first resistor is for receiving a first switch driving signal, the other end of the first resistor is connected to a gate of the first MOS transistor, and one end of the second resistor is for receiving a second switch driving signal, and the other end of the second resistor Connected to a gate of the second MOS transistor, one end of the third resistor is for receiving a third switch driving signal, and the other end of the third resistor is connected to a gate of the third MOS transistor, One end of the fourth resistor is configured to receive a fourth switch driving signal, the other end of the fourth resistor is connected to a gate of the fourth MOS transistor, and one end of the fifth resistor is configured to receive a fifth switch driving signal, The other end of the fifth resistor and the gate of the fifth MOS transistor a pole connection, one end of the sixth resistor is for receiving a sixth switch driving signal, the other end of the sixth resistor is connected to a gate of the sixth MOS transistor, and the first MOS transistor is to the third a drain of the MOS transistor is connected to the first node, a source of the first MOS transistor is connected to a drain of the fourth MOS transistor, a source of the second MOS transistor is opposite to a source of the fifth MOS transistor a drain connection, a source of the third MOS transistor is connected to a drain of the sixth MOS transistor, and a source of the fourth MOS transistor to the sixth MOS transistor are both connected to a second node, and an external power supply Loading between the first node and the second node.
在一些实施例，每路所述采样电路包括采样电阻，所述采样电阻的一端连接至所述第二节点，所述采样电阻的另一端用于加载所述外部电源。In some embodiments, each of the sampling circuits includes a sampling resistor, one end of the sampling resistor is coupled to the second node, and the other end of the sampling resistor is configured to load the external power source.
在一些实施例，每路所述驱动电路还包括自举电路，所述自举电路用于进行自举升压，提供维持所述上桥臂电路处于导通状态时的电压。In some embodiments, each of the drive circuits further includes a bootstrap circuit for performing bootstrap boosting to provide a voltage that maintains the upper arm circuit in an on state.
在一些实施例，所述控制单元包括：运放电路，其输入端分别与一路所述采样电路和另一路所述采样电路连接，用于接收所述第一采样结果与所述第二采样结果；微控制器，其与所述运放电路的输出端连接，用于根据所述第一采样结果与所述第二采样结果，输出所述至少两组控制信号。In some embodiments, the control unit includes: an operational amplifier circuit, wherein the input ends are respectively connected to one of the sampling circuits and the other sampling circuit, for receiving the first sampling result and the second sampling result a microcontroller coupled to the output of the operational amplifier circuit for outputting the at least two sets of control signals based on the first sampling result and the second sampling result.
在一些实施例，每路所述驱动电路还包括：滤波电路，其与所述功率开关电路连接，用于滤除外部电源的谐波分量。In some embodiments, each of the driving circuits further includes: a filtering circuit coupled to the power switching circuit for filtering out harmonic components of the external power source.
在第二方面，本申请实施例提供一种电机控制***，所述电机控制***包括：至少两个电机以及任一项所述的电子调速器，所述电子调速器中的一路驱动电路与所述至少两个电机中的一个电机连接，另一路驱动电路与另一个电机连接。In a second aspect, an embodiment of the present application provides a motor control system, where the motor control system includes: at least two motors and an electronic governor according to any one of the steps, wherein one driving circuit in the electronic governor Connected to one of the at least two motors and the other drive circuit to another motor.
在第三方面，本申请实施例提供一种无人机，所述无人机包括：至少两个螺旋桨；至少两个电机，所述至少两个电机分别与所述至少两个螺旋桨连 接，用于驱动所述至少两个螺旋桨旋转，以给所述无人机提供飞行动力；以及任一项所述的电子调速器，所述电子调速器中的一路驱动电路与所述至少两个电机中的一个电机连接，另一路驱动电路与另一个电机连接。In a third aspect, an embodiment of the present application provides a drone, the drone comprising: at least two propellers; at least two motors, wherein the at least two motors are respectively connected to the at least two propellers, Driving the at least two propellers to provide flight power to the drone; and the electronic governor of any one of the electronic governors, the one of the electronic governors and the at least two One motor in the motor is connected and the other drive circuit is connected to the other motor.
本申请实施例的有益效果是：区别于现有技术的情况，在本申请各个实施例中，一方面，两路驱动电路可以接收同一个控制单元输出的控制信号，产生对应的电机驱动信号，以驱动各自电机的转动，因此，其集成度高，并能够避免一个控制单元只能够控制一个电机而造成电子调速器体积过大与重量重的问题出现。另一方面，预驱动电路和功率开关电路集成于同一驱动电路，因此，相对传统技术，其再进一步缩小电子调速器的体积。The beneficial effects of the embodiment of the present application are: different from the prior art, in various embodiments of the present application, on the one hand, the two-way driving circuit can receive the control signal output by the same control unit, and generate a corresponding motor driving signal. In order to drive the rotation of the respective motors, the integration is high, and the problem that the control unit can only control one motor and the electronic governor is too large and heavy is caused. On the other hand, the pre-driver circuit and the power switch circuit are integrated in the same drive circuit, so that the volume of the electronic governor is further reduced compared to the conventional technology.
附图说明DRAWINGS
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。The one or more embodiments are exemplified by the accompanying drawings in the accompanying drawings, and FIG. The figures in the drawings do not constitute a scale limitation unless otherwise stated.
图1是本申请实施例提供一种四旋翼无人机的结构示意图；1 is a schematic structural diagram of a four-rotor UAV according to an embodiment of the present application;
图2是本申请实施例提供一种电子调速器的电路原理框图；2 is a circuit block diagram of an electronic governor according to an embodiment of the present application;
图3是本申请实施例提供一种驱动电路的电路原理框图；3 is a circuit block diagram of a driving circuit according to an embodiment of the present application;
图4是本申请实施例提供一种功率开关电路的电路原理框图；4 is a circuit block diagram of a power switch circuit according to an embodiment of the present application;
图5是本申请另一实施例提供一种电子调速器的电路原理框图；FIG. 5 is a circuit block diagram of an electronic governor according to another embodiment of the present application; FIG.
图6是本申请实施例提供一种控制单元的电路原理框图；6 is a circuit block diagram of a control unit according to an embodiment of the present application;
图7是本申请实施例提供一种功率开关电路的电路结构示意图；7 is a schematic structural diagram of a circuit of a power switch circuit according to an embodiment of the present application;
图8是本申请实施例提供一种电机驱动***的原理示意图。FIG. 8 is a schematic diagram of a principle of a motor drive system according to an embodiment of the present application.
具体实施方式Detailed ways
为了便于理解本申请，下面结合附图和具体实施方式，对本申请进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间 可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。In order to facilitate the understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific embodiments. It is to be noted that when an element is described as being "fixed" to another element, it can be directly on the other element, or one or more central elements can be present. When an element is referred to as "connected" to another element, it can be a <RTI ID=0.0> </ RTI> </ RTI> <RTIgt; The terms "vertical," "horizontal," "left," "right," and the like, as used in this specification, are for the purpose of illustration.
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本说明书中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是用于限制本申请。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used in the specification are the same meaning The terms used in the specification of the present application are for the purpose of describing the specific embodiments, and are not intended to limit the application. The term "and/or" used in this specification includes any and all combinations of one or more of the associated listed items.
为了方便说明并且理解本申请实施例的技术方案，以下说明所使用的方位词均以附图所展示的方位为准。For the convenience of the description and understanding of the technical solutions of the embodiments of the present application, the orientations used in the following description are based on the orientations shown in the drawings.
本申请实施例提供的电子调速器和电机控制***可以应用到各种电机驱动的可移动物体上，包括但不限于无人机(unmanned aerial vehicle，UAV)、轮船、机器人。现以无人机为例进行说明。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***包括电子调速器、电机和螺旋桨。电子调速器位于机臂或中心壳体所形成的空腔内。电子调速器的一端与油门控制器电连接，电子调速器的另一端与电机电连接。电子调速器与电机构成电机控制***，电子调速器向所述电机输出电机驱动信号，以控制其运行。进一步地，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机移动的力，例如，使得无人机移动的升力或者推力。The electronic governor and motor control system provided by the 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. Now take the drone as an example for explanation. 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 electronic governors, motors, and propellers. The electronic governor is located in a cavity formed by the arm or the center housing. One end of the electronic governor is electrically connected to the throttle controller, and the other end of the electronic governor is electrically connected to the motor. The electronic governor and the motor form a motor control system, and the electronic governor outputs a motor drive signal to the motor to control its operation. Further, 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 drone to move under the drive of the motor, for example, a lift or thrust that causes the drone to move.
当用户通过遥控器输入开机指令时，无人机的飞控模块向电子调速器发送一油门信号，电子调速器接收该油门信号，生成并向电机输出用于控制电机运行的电机驱动信号，所述电机驱动信号例如包括控制电机启动的信号、控制电机运行的转速的信号等。When the user inputs the power-on command through the remote controller, the flight control module of the drone sends an accelerator signal to the electronic governor, and the electronic governor receives the throttle signal, generates and outputs a motor drive signal for controlling the motor operation to the motor. The motor drive signal includes, for example, a signal for controlling motor start, a signal for controlling a rotational speed at which the motor operates, and the like.
在一种实现方式中，油门控制器可以是无人机的飞行控制模块。飞行控制模块通过各种传感器感知无人飞行器周围的环境，并控制无人飞行器的飞行。飞行控制模块可以是处理模块(processing unit)，专用集成电路(Application Specific Integrated Circuit，ASIC)或者现场可编程门阵列(Field Programmable Gate Array，FPGA)。In one implementation, the throttle controller can be a flight control module of the drone. The flight control module senses the environment around the UAV through various sensors and controls the flight of the UAV. The flight control module may be a processing unit, an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA).
多旋翼无人机一般采用多个电机控制多个与其分别相连的旋翼的转速或方向，从而为多旋翼无人机提供动力，以完成飞行。例如：四旋翼无人机采用四个电机分别控制各自旋翼的转速或方向。其中，多旋翼无人机的每个电机又通过采用电子调速器控制其运行。电子调速器能够根据控制逻辑输出对应的电机驱动信号，以驱动电机转动。Multi-rotor UAVs typically employ multiple motors to control the speed or direction of a plurality of rotors connected to them, thereby providing power to the multi-rotor drone to complete the flight. For example, a four-rotor drone uses four motors to control the speed or direction of the respective rotor. Among them, each motor of the multi-rotor UAV controls its operation by using an electronic governor. The electronic governor can output a corresponding motor drive signal according to the control logic to drive the motor to rotate.
一般地，对于多旋翼无人机，其最小组件单元可以包括至少两个螺旋桨、至少两个电机以及电子调速器。至少两个电机分别与至少两个螺旋桨连接，电子调速器中的一路驱动电路与至少两个电机中的一个电机连接，另一路驱动电路与另一个电机连接。In general, for a multi-rotor drone, its smallest component unit may include at least two propellers, at least two electric machines, and an electronic governor. At least two motors are respectively connected to at least two propellers, one of the electronic governors is connected to one of the at least two motors, and the other drive circuit is connected to the other motor.
无人机工作时，电子调速器能够通过对应路的驱动电路向对应电机发送电机驱动信号，电机根据电机驱动信号驱动螺旋桨转动，从而为无人机提供飞行动力。When the drone is working, the electronic governor can send a motor drive signal to the corresponding motor through the drive circuit of the corresponding road, and the motor drives the propeller to rotate according to the motor drive signal, thereby providing flight power for the drone.
然而，如前所述，传统多旋翼无人机采用一拖一方式控制电机，亦即：一个电子调速器控制一个电机，因此，当无人机为四旋翼无人机时，其需要四个电子调速器与四个电机的架构，以实现驱动控制。因此，传统多旋翼无人机在驱动控制的架构上，电子调速器的集成化程度不高，导致传统多旋翼无人机在体积上过大，在重量上过重，在成本上过高，从而使得传统多旋翼无人机的飞行效率低下。However, as mentioned above, the conventional multi-rotor UAV uses a one-to-one control method to control the motor, that is, an electronic governor controls a motor. Therefore, when the drone is a quadrotor drone, it needs four. An electronic governor and four motor architectures for drive control. Therefore, the traditional multi-rotor UAV has a low degree of integration of the electronic governor in the drive control architecture, resulting in the traditional multi-rotor UAV being too large in size, too heavy in weight, and too high in cost. Therefore, the flight efficiency of the conventional multi-rotor drone is low.
基于此，本申请实施例提供一种无人机。该无人机为多旋翼无人机，例如：其可以为三旋翼无人机、四旋翼无人机等等。本实施例以无人机为四旋翼无人机作为例子进行介绍，但是可以理解的是，以下所作出关于四旋翼无人机的描述并不用于限制本申请实施例提供的无人机的应用范围，本领域技术人员根据本实施例所训导的内容，对无人机作出其它的替换或变形，其应当落入本申请的保护范围之内，在此不赘述。Based on this, the embodiment of the present application provides a drone. The drone is a multi-rotor drone, for example, it can be a three-rotor drone, a quadrotor drone, and the like. This embodiment introduces the UAV as a quadrotor UAV as an example, but it can be understood that the following description about the quadrotor UAV is not used to limit the application of the UAV provided by the embodiment of the present application. The scope of the present invention is not limited to the scope of the present application.
请参阅图1，图1是本申请实施例提供一种四旋翼无人机的结构示意图。如图1所示，该四旋翼无人机100包括第一电机11、第二电机12、第三电机13、第四电机14及电子调速器15，电子调速器15分别与第一电机11、第二电机12、第三电机13、第四电机14连接。Please refer to FIG. 1. FIG. 1 is a schematic structural diagram of a four-rotor UAV according to an embodiment of the present application. As shown in FIG. 1 , the quadrotor drone 100 includes a first motor 11 , a second motor 12 , a third motor 13 , a fourth motor 14 , and an electronic governor 15 , and the electronic governor 15 and the first motor respectively 11. The second motor 12, the third motor 13, and the fourth motor 14 are connected.
电子调速器15根据控制逻辑分别向第一电机11、第二电机12、第三电机13、第四电机14发送对应的电机驱动信号，从而分别驱动第一电机11、 第二电机12、第三电机13、第四电机14进行转动。The electronic governor 15 sends corresponding motor driving signals to the first motor 11, the second motor 12, the third motor 13, and the fourth motor 14 according to the control logic, thereby driving the first motor 11 and the second motor 12, respectively. The three motor 13 and the fourth motor 14 rotate.
在本实施例中，四个电机共用一个电子调速器，其可以构成一个电机控制***，并且，其还能够极大缩小四旋翼无人机的体积与减轻重量。In the present embodiment, the four motors share an electronic governor, which can constitute a motor control system, and which can also greatly reduce the size and weight of the quadrotor.
在一些实施例中，为了进一步提高控制无人机的可靠性，该四旋翼无人机100还可以增设一个电子调速器，并且，该增设的电子调速器可以与上述四个无人机中任意两个或三个电机连接与控制。例如：一个电子调速器15与第一电机11和第二电机12连接，另一个电子调速器15与第三电机13和第四电机14连接，每组皆可以构成一个电机驱动***。相对于传统技术，一个电子调速器可以控制两个电机，其可以缩小了无人机的体积，并提高控制无人机的可靠性。In some embodiments, in order to further improve the reliability of the control drone, the quadrotor drone 100 may further add an electronic governor, and the additional electronic governor may be combined with the above four drones. Connect or control any two or three motors. For example, one electronic governor 15 is connected to the first motor 11 and the second motor 12, and the other electronic governor 15 is connected to the third motor 13 and the fourth motor 14, and each group can constitute a motor drive system. Compared to conventional technology, an electronic governor can control two motors, which can reduce the size of the drone and improve the reliability of the drone.
可以理解的是：只要电子调速器15开放足够的、可供于驱动电机的可用接口，电子调速器15可以连接多个电机，在此并不局限上述实施例所示的方式。It can be understood that the electronic governor 15 can connect a plurality of motors as long as the electronic governor 15 opens up enough available interfaces for driving the motor, and the manner shown in the above embodiments is not limited herein.
进一步地，请一并参阅图2与图3，该电子调速器15包括：控制单元151与两路驱动电路152。Further, please refer to FIG. 2 and FIG. 3 together. The electronic governor 15 includes a control unit 151 and two driving circuits 152.
该两路驱动电路152皆与控制单元151连接。控制单元151向一路驱动电152路传输第一组控制信号，以及，向另一路驱动电路152传输第二组控制信号。其中，第一组控制信号或第二组控制信号可以为PWM信号(Pulse Width Modulation，脉冲宽度调制)或PFM信号(Pulse Frequency Modulation，脉冲频率调制)。The two-way driving circuit 152 is connected to the control unit 151. The control unit 151 transmits a first set of control signals to one of the drive circuits 152 and a second set of control signals to the other drive circuit 152. The first group of control signals or the second group of control signals may be a PWM signal (Pulse Width Modulation) or a PFM signal (Pulse Frequency Modulation).
在一些实施例中，只要控制单元151开放足够的、可供于驱动电机的可用接口，控制单元151还可以连接多路驱动电路，以分别驱动多个电机，在此并不局限上述实施例所示的方式。In some embodiments, as long as the control unit 151 opens up enough available interfaces for driving the motor, the control unit 151 can also connect the multiple driving circuits to respectively drive the plurality of motors, which is not limited to the above embodiments. The way shown.
两路驱动电路152对控制单元151输出的至少两组控制信号进行处理，输出对应的电机驱动信号至至少两个电机的输入端，以控制至少两个电机的运行。所述电机驱动信号例如包括控制电机启动的信号、驱动电机运行的转速的信号等。此处，假设一路驱动电路152连接第一电机11、另一路驱动电路152连接第二电机12，第一电机驱动信号能够驱动第一电机11转动，第二电机驱动信号能够驱动第二电机12转动。The two-way driving circuit 152 processes at least two sets of control signals output by the control unit 151, and outputs corresponding motor driving signals to the input ends of the at least two motors to control the operation of the at least two motors. The motor drive signal includes, for example, a signal for controlling the start of the motor, a signal for driving the rotational speed at which the motor operates, and the like. Here, it is assumed that one driving circuit 152 is connected to the first motor 11 and the other driving circuit 152 is connected to the second motor 12. The first motor driving signal can drive the first motor 11 to rotate, and the second motor driving signal can drive the second motor 12 to rotate. .
每路驱动电路152包括：自举电路1521、预驱动电路1522、功率开关电 路1523、滤波电路1524及电源模块1525。Each of the driving circuits 152 includes a bootstrap circuit 1521, a pre-drive circuit 1522, a power switch circuit 1523, a filter circuit 1524, and a power supply module 1525.
预驱动电路1522包括多个输入端，一输入端与控制单元151的输出端连接，另一输入端与自举电路1521连接。功率开关电路1523的输入端与预驱动电路1522的输出端连接，功率开关电路1523的输出端与电机连接。滤波电路1524的输入端与外部电源Vdc连接，滤波电路1524的输出端与与功率开关电路1523的输入端连接。电源模块1525的输入端与外部电源Vdc连接，电源模块1525的输出端分别与控制单元151的输入端和预驱动电路1522的输入端连接。The pre-driver circuit 1522 includes a plurality of input terminals, one input terminal is connected to the output terminal of the control unit 151, and the other input terminal is connected to the bootstrap circuit 1521. The input of the power switch circuit 1523 is connected to the output of the pre-drive circuit 1522, and the output of the power switch circuit 1523 is connected to the motor. The input of the filter circuit 1524 is connected to an external power supply Vdc, and the output of the filter circuit 1524 is connected to an input of the power switch circuit 1523. The input of the power module 1525 is connected to an external power source Vdc, and the output of the power module 1525 is connected to an input of the control unit 151 and an input of the pre-driver circuit 1522, respectively.
自举电路1521响应于外部电源Vdc的输入，进行自举升压。由于控制单元151输出的控制信号比较弱，尚未足以驱动功率开关电路1523的各个开关管，因此，自举电路1521能够将外部电源进行自举升压，以驱动功率开关电路1523的对应开关管。The bootstrap circuit 1521 performs bootstrap boosting in response to an input of the external power source Vdc. Since the control signal outputted by the control unit 151 is relatively weak, it is not enough to drive the respective switching tubes of the power switching circuit 1523. Therefore, the bootstrap circuit 1521 can perform bootstrap boosting of the external power source to drive the corresponding switching transistors of the power switching circuit 1523.
进一步地，预驱动电路1522根据对应组的控制信号，向对应的功率开关电路1523输出开关管驱动信号，功率开关电路1523根据开关管驱动信号，向对应的电机输出电机驱动信号。其中，对应组的控制信号包括至少与功率开关电路1523中开关管数量相等的若干个PWM信号，若干个PWM信号用于指示预驱动电路1522选通输出对应的开关管驱动信号，并将该开关管驱动信号加载在功率开关电路1523中对应的开关管上，因此，开关管驱动信号的数量与PWM信号相等。例如：如图4所示，功率开关电路1523包括上桥臂电路15231与下桥臂电路15232，上桥臂电路15231与下桥臂电路15232连接，每一桥臂电路皆包括三个开关管，其中，自举电路1521能够提供维持上桥臂电路中各个开关管处于导通状态时的电压。选通后的开关管驱动信号可以加载在对应开关管上，使该开关管工作在导通状态。例如：六个PWM信号分别为“10000”时，上桥臂电路15231的第一个开关管工作在导通状态，其它的开关管全部工作在截止状态，待第一个开关管导通180度后，再按照导通逻辑依次导通其它开关管。Further, the pre-drive circuit 1522 outputs a switch driving signal to the corresponding power switch circuit 1523 according to the control signal of the corresponding group, and the power switch circuit 1523 outputs a motor drive signal to the corresponding motor according to the switch drive signal. The control signal of the corresponding group includes at least a plurality of PWM signals equal to the number of the switching tubes in the power switch circuit 1523, and the plurality of PWM signals are used to instruct the pre-drive circuit 1522 to strobe the corresponding switch tube driving signal, and the switch is The tube drive signal is loaded on the corresponding switch tube in the power switch circuit 1523, and therefore, the number of switch tube drive signals is equal to the PWM signal. For example, as shown in FIG. 4, the power switch circuit 1523 includes an upper bridge circuit 15231 and a lower bridge circuit 15232. The upper bridge circuit 15231 is connected to the lower bridge circuit 15232. Each bridge circuit includes three switch tubes. The bootstrap circuit 1521 can provide a voltage that maintains each of the switches in the upper arm circuit in an on state. The strobed switch tube drive signal can be loaded on the corresponding switch tube to make the switch tube work in an on state. For example, when the six PWM signals are respectively "10000", the first switching tube of the upper arm circuit 15231 operates in an on state, and all other switching tubes operate in an off state, and the first switching tube is turned on 180 degrees. After that, the other switching tubes are turned on in turn according to the conduction logic.
在一些实施例中，预驱动电路1522与功率开关电路1523集成于同一载体上，其中，该载体可以为晶圆或芯片，亦可以为其它形式电路板。通过将预驱动电路1522与功率开关电路1523集成一体化，其能够进一步降低无人机的体积。In some embodiments, the pre-driver circuit 1522 and the power switch circuit 1523 are integrated on the same carrier, wherein the carrier may be a wafer or a chip, or may be other forms of circuit boards. By integrating the pre-driver circuit 1522 with the power switch circuit 1523, it is possible to further reduce the size of the drone.
当外部电源Vdc加载在功率开关电路1523时，滤波电路1524能够滤除外部电源Vdc的谐波分量，使得功率开关电路1523能够更加可靠地工作。When the external power source Vdc is loaded in the power switch circuit 1523, the filter circuit 1524 can filter out harmonic components of the external power source Vdc, so that the power switch circuit 1523 can operate more reliably.
电源模块1525能够将外部电源Vdc转换成第一电压与第二电压，其中，第一电压供给控制单元151，其可以为3.3V或5V。第二电压供给预驱动电路1522，其可以为15V等等。The power module 1525 is capable of converting the external power source Vdc into a first voltage and a second voltage, wherein the first voltage is supplied to the control unit 151, which may be 3.3V or 5V. The second voltage is supplied to the pre-driver circuit 1522, which may be 15V or the like.
与上述各个实施例的不同点在于，在一些实施例中，如图5所示，该电子调速器15还包括两路采样电路153。The difference from the above embodiments is that, in some embodiments, as shown in FIG. 5, the electronic governor 15 further includes two sampling circuits 153.
一路采样电路153与一路驱动电路152耦合并且还与控制单元151连接。该一路采样电路153采样流经一路驱动电路152的电流并向控制单元151输出第一采样结果，控制单元151根据第一采样结果输出该第一组控制信号。A sampling circuit 153 is coupled to a driving circuit 152 and is also connected to the control unit 151. The one sampling circuit 153 samples the current flowing through one driving circuit 152 and outputs the first sampling result to the control unit 151, and the control unit 151 outputs the first group of control signals according to the first sampling result.
同理，另一路采样电路153与另一路驱动电路152耦合并且还与控制单元151连接。另一路采样电路153采样流经该另一路驱动电路152的电流并向控制单元151输出第二采样结果，控制单元151根据第二采样结果输出该第二组控制信号。Similarly, another sampling circuit 153 is coupled to the other driving circuit 152 and is also connected to the control unit 151. The other sampling circuit 153 samples the current flowing through the other driving circuit 152 and outputs a second sampling result to the control unit 151, and the control unit 151 outputs the second group of control signals in accordance with the second sampling result.
其中，一路采样电路153采样的电流与一路驱动电路152驱动第一电机11的电流，或者，另一路采样电路153采样的电流与另一路驱动电路152驱动第二电机12的电流存在函数关系，一路采样电路153采样的电流能够评价一路驱动电路152驱动第一电机11的电流，或者，另一路采样电路153采样的电流能够评价另一路驱动电路152驱动第二电机12的电流，因此，一路采样电路153或另一路采样电路153的采样位置可以根据设计需要来确定。The current sampled by one sampling circuit 153 and the current of one driving circuit 152 drive the first motor 11, or the current sampled by the other sampling circuit 153 has a function relationship with the current of the other driving circuit 152 for driving the second motor 12, all the way The current sampled by the sampling circuit 153 can evaluate the current of one driving circuit 152 to drive the first motor 11, or the current sampled by the other sampling circuit 153 can evaluate the current of the other driving circuit 152 to drive the second motor 12. Therefore, one sampling circuit The sampling position of the 153 or another sampling circuit 153 can be determined according to design needs.
值得说明的是：上述的“耦合”可以理解的是各路采样电路与各路驱动电路之间的连接可以是间接连接或电气连接，例如：一路采样电路153包括霍尔传感器，其能够采样流经一路驱动电路152的电流。还可以理解的是各路采样电路与各路驱动电路之间的连接可以是电性连接，例如：一路采样电路153引出采样电阻，并将采样电阻设置在一路驱动电路152内，通过采样电阻反馈的采样电流或采样电压，以完成采样结果的收集。It should be noted that the above “coupling” can be understood that the connection between each sampling circuit and each driving circuit can be an indirect connection or an electrical connection. For example, one sampling circuit 153 includes a Hall sensor, which can sample the flow. The current through one of the driving circuits 152. It can also be understood that the connection between each sampling circuit and each driving circuit can be electrically connected. For example, one sampling circuit 153 leads the sampling resistor, and sets the sampling resistor in one driving circuit 152 through the sampling resistance feedback. The sampling current or sampling voltage is used to complete the collection of sampling results.
驱动电路与采样电路的数量并不局限于上述的实施方式，在一些实施例中，控制单元151还可以连接三路以上的驱动电路，相应的，其配置三路以上的采样电路。控制单元151向各路驱动电路输出对应组的控制信号，使得各路驱动电路输出对应的电机驱动信号。同理，各路采样电路可以采样对应 的驱动电路，以便向控制单元151反馈对应的采样结果。The number of the driving circuit and the sampling circuit is not limited to the above embodiment. In some embodiments, the control unit 151 can also connect three or more driving circuits, and correspondingly, three or more sampling circuits are configured. The control unit 151 outputs a corresponding group of control signals to the respective drive circuits such that the respective drive circuits output corresponding motor drive signals. Similarly, each sampling circuit can sample the corresponding driving circuit to feed back the corresponding sampling result to the control unit 151.
在一些实施例中，如图6所示，该控制单元151包括：运放电路1511与控制器1512。In some embodiments, as shown in FIG. 6, the control unit 151 includes an op amp circuit 1511 and a controller 1512.
运放电路1511输入端分别与一路采样电路153和另一路采样电路153连接，用于接收第一采样结果与第二采样结果。由于各路采样电路153采样的信号比较弱，为了方便控制器1512能够更加可靠地处理，其可以将采样的信号进行放大，方便后续处理。The input ends of the operational amplifier circuit 1511 are respectively connected to one sampling circuit 153 and the other sampling circuit 153 for receiving the first sampling result and the second sampling result. Since the signals sampled by the respective sampling circuits 153 are relatively weak, in order to facilitate the controller 1512 to process more reliably, it can amplify the sampled signals to facilitate subsequent processing.
微控制器1512与运放电路1511的输出端连接，用于根据第一采样结果与第二采样结果，输出至少两组控制信号。例如，微控制器1512输出的第一组控制信号分别为PWM1_1至PWM1_6，第二组控制信号分别为PWM2_1至PWM2_6。The microcontroller 1512 is coupled to the output of the operational amplifier circuit 1511 for outputting at least two sets of control signals based on the first sampling result and the second sampling result. For example, the first group of control signals output by the microcontroller 1512 are PWM1_1 to PWM1_6, respectively, and the second group of control signals are PWM2_1 to PWM2_6, respectively.
该微控制器1512可以为以下任意一种电学装置：专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理装置(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、处理器、控制器、微控制器、微处理器、执行这些功能的其他电子单元。The microcontroller 1512 can be any of the following electrical devices: an application specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array. (FPGA), processor, controller, microcontroller, microprocessor, other electronic unit that performs these functions.
综上，一方面，两路驱动电路可以接收同一个控制单元151输出的控制信号，产生对应的电机驱动信号，以驱动各自电机的转动，因此，其集成度高，并能够避免一个控制单元151只能够控制一个电机而造成电子调速器体积过大与重量重的问题出现。另一方面，两路采样电路能够向控制单元反馈对应驱动电路驱动电机转动的电流，使得控制单元151能够做出可靠的控制逻辑，因此，其能够提高电子调速器的可靠性。再另一方面，预驱动电路和功率开关电路集成于同一驱动电路，因此，相对传统技术，其再进一步缩小电子调速器的体积。In summary, on the one hand, the two-way driving circuit can receive the control signals output by the same control unit 151, and generate corresponding motor driving signals to drive the rotation of the respective motors. Therefore, the integration degree is high, and a control unit 151 can be avoided. The ability to control only one motor causes the electronic governor to be oversized and heavy. On the other hand, the two sampling circuits can feed back the current corresponding to the rotation of the driving circuit of the driving circuit to the control unit, so that the control unit 151 can make reliable control logic, and therefore, it can improve the reliability of the electronic governor. On the other hand, the pre-driver circuit and the power switch circuit are integrated in the same drive circuit, so that the volume of the electronic governor is further reduced compared with the conventional technology.
为了详细阐述本申请实施例提供的电子调速器，下面，本申请实施例结合图7，对该电子调速器再作出进一步的阐述，应当理解，此处所作的阐述并不用于限制该电子调速器的具体结构，其只是用于对电子调速器作出进一步详细的阐述。In order to elaborate the electronic governor provided by the embodiment of the present application, the following is a further description of the electronic governor in conjunction with FIG. 7 in the embodiment of the present application. It should be understood that the description herein is not intended to limit the electronic The specific structure of the governor is only used to further elaborate the electronic governor.
如图7所示，上桥臂电路15231包括第一电阻R1、第二电阻R2、第三电阻R3、第一MOS管PQ1、第二MOS管PQ2及第三MOS管PQ3。下桥臂电路15232包括第四电阻R4、第五电阻R5、第六电阻R6、第四MOS管PQ4、 第五MOS管PQ5及第六MOS管PQ6。每组开关驱动信号包括第一开关驱动信号PWM11、第二开关驱动信号PWM12、第三开关驱动信号PWM13、第四开关驱动信号PWM14、第五开关驱动信号PWM15及第六开关驱动信号PWM16。As shown in FIG. 7, the upper arm circuit 15231 includes a first resistor R1, a second resistor R2, a third resistor R3, a first MOS transistor PQ1, a second MOS transistor PQ2, and a third MOS transistor PQ3. The lower arm circuit 15232 includes a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a fourth MOS transistor PQ4, a fifth MOS transistor PQ5, and a sixth MOS transistor PQ6. Each set of switch drive signals includes a first switch drive signal PWM11, a second switch drive signal PWM12, a third switch drive signal PWM13, a fourth switch drive signal PWM14, a fifth switch drive signal PWM15, and a sixth switch drive signal PWM16.
第一电阻R1的一端用于接收第一开关驱动信号PWM11，第一电阻R1的另一端与第一MOS管PQ1的栅极连接，第二电阻R2的一端用于接收第二开关驱动信号PWM12，第二电阻R2的另一端与第二MOS管PQ2的栅极连接，第三电阻R3的一端用于接收第三开关驱动信号PWM13，第三电阻R3的另一端与第三MOS管PQ3的栅极连接，第四电阻R4的一端用于接收第四开关驱动信号PWM14，第四电阻R4的另一端与第四MOS管PQ4的栅极连接，第五电阻R5的一端用于接收第五开关驱动信号PWM15，第五电阻R5的另一端与第五MOS管PQ5的栅极连接，第六电阻R6的一端用于接收第六开关驱动信号PWM16，第六电阻R6的另一端与第六MOS管PQ6的栅极连接，第一MOS管PQ1至第三MOS管PQ3的漏极皆连接至第一节点61，第一MOS管PQ1的源极与第四MOS管PQ4的漏极连接，第二MOS管PQ2的源极与第五MOS管PQ5的漏极连接，第三MOS管PQ3的源极与第六MOS管PQ6的漏极连接，第四MOS管PQ4至第六MOS管PQ6的源极皆连接至第二节点62，外部电源Vdc加载于第一节点61与第二节点62之间。One end of the first resistor R1 is for receiving the first switch driving signal PWM11, the other end of the first resistor R1 is connected to the gate of the first MOS transistor PQ1, and one end of the second resistor R2 is for receiving the second switch driving signal PWM12, The other end of the second resistor R2 is connected to the gate of the second MOS transistor PQ2, and one end of the third resistor R3 is for receiving the third switch driving signal PWM13, and the other end of the third resistor R3 is opposite to the gate of the third MOS transistor PQ3. Connected, one end of the fourth resistor R4 is for receiving the fourth switch drive signal PWM14, the other end of the fourth resistor R4 is connected to the gate of the fourth MOS transistor PQ4, and one end of the fifth resistor R5 is for receiving the fifth switch drive signal PWM15, the other end of the fifth resistor R5 is connected to the gate of the fifth MOS transistor PQ5, and one end of the sixth resistor R6 is for receiving the sixth switch driving signal PWM16, the other end of the sixth resistor R6 and the sixth MOS transistor PQ6 The gate is connected, the drains of the first MOS transistor PQ1 to the third MOS transistor PQ3 are all connected to the first node 61, the source of the first MOS transistor PQ1 is connected to the drain of the fourth MOS transistor PQ4, and the second MOS transistor PQ2 The source is connected to the drain of the fifth MOS transistor PQ5, the source of the third MOS transistor PQ3 and the sixth MO The drains of the S transistors PQ6 are connected, the sources of the fourth MOS transistor PQ4 to the sixth MOS transistor PQ6 are both connected to the second node 62, and the external power source Vdc is loaded between the first node 61 and the second node 62.
自举电路1521包括若干自举电容与二极管。The bootstrap circuit 1521 includes a number of bootstrap capacitors and diodes.
每路采样电路153包括采样电阻R0，采样电阻R0的一端连接至第二节点62，采样电阻R0的另一端用于加载外部电源Vdc。Each sampling circuit 153 includes a sampling resistor R0. One end of the sampling resistor R0 is connected to the second node 62, and the other end of the sampling resistor R0 is used to load the external power source Vdc.
滤波电路1524包括滤波电容C1，滤波电容C1的一端连接在第一节点61，另一端与采样电阻R0的另一端连接。The filter circuit 1524 includes a filter capacitor C1. One end of the filter capacitor C1 is connected to the first node 61, and the other end is connected to the other end of the sampling resistor R0.
下面，本申请实施例提供的电子调速器的工作原理如下，值得说明的是：如图7所示，该电子调速器可以输出两组控制信号控制两个电机，由于两个电机的控制原理相同，为了简便，此处只对其中一个电机的控制原理进行阐述，另外一个电机可以参考该阐述，在此不赘述。In the following, the working principle of the electronic governor provided by the embodiment of the present application is as follows. It is worth noting that, as shown in FIG. 7, the electronic governor can output two sets of control signals to control two motors, because of the control of two motors. The principle is the same. For the sake of simplicity, only the control principle of one of the motors will be explained here. Another motor can refer to this description, and will not be described here.
如图7所示，自举电路1521将外部电源Vdc进行升压，以输出自举电压。预驱动电路1522根据控制逻辑，响应于控制单元151发送的对应组控制信号与自举电压，从功率开关电路1523中选通出对应的开关管进行导通。例如： 当选通第一MOS管PQ1导通，其它MOS管截止时，输出电压为Vdc。第一MOS管PQ1导通180度后，选通第六MOS管PQ6导通，其它MOS管截止时，输出电压为-Vdc。依次类推，各个MOS管的导通顺序为PQ1-PQ6-PQ2-PQ5-PQ3-PQ4。根据各个MOS管的导通顺序，其能够输出驱动电机转动的电机驱动信号。As shown in FIG. 7, the bootstrap circuit 1521 boosts the external power source Vdc to output a bootstrap voltage. The pre-driver circuit 1522 selects the corresponding switch tube from the power switch circuit 1523 to conduct according to the control logic, in response to the corresponding group control signal and the bootstrap voltage sent by the control unit 151. For example: When the strobe first MOS transistor PQ1 is turned on, and the other MOS transistors are turned off, the output voltage is Vdc. After the first MOS transistor PQ1 is turned on by 180 degrees, the sixth MOS transistor PQ6 is turned on, and when the other MOS transistors are turned off, the output voltage is -Vdc. By analogy, the turn-on sequence of each MOS transistor is PQ1-PQ6-PQ2-PQ5-PQ3-PQ4. According to the conduction sequence of the respective MOS tubes, it is possible to output a motor drive signal for driving the rotation of the motor.
进一步地，采样电阻R0能够采样流经电机的驱动电流，并向控制单元151发送采样结果，以便控制单元151能够及时调整控制电机的逻辑。Further, the sampling resistor R0 is capable of sampling the drive current flowing through the motor and transmitting the sampling result to the control unit 151 so that the control unit 151 can adjust the logic of the control motor in time.
滤波电容C1能够滤除外部电源Vdc加载在功率开关电路1523的谐波分量，从而使功率开关电路1523能够可靠地工作。The filter capacitor C1 is capable of filtering out the harmonic component of the external power source Vdc loaded in the power switch circuit 1523, thereby enabling the power switch circuit 1523 to operate reliably.
在一些实施例中，第一MOS管至第六MOS管可以选用PMOS管或NMOS管。In some embodiments, the first MOS transistor to the sixth MOS transistor may be a PMOS transistor or an NMOS transistor.
综上，本申请实施例提供的电子调速器不仅可以应用于无人机上，其还可以应用于遥控战车、无人船等移动装置上。In summary, the electronic governor provided by the embodiment of the present application can be applied not only to a drone, but also to a mobile device such as a remote control vehicle or an unmanned ship.
作为本申请实施例的另一方面，本申请实施例提供一种电机驱动***。如图8所示，该电机控制***800包括电子调速器81与至少两个电机82，其中，该电子调速器81可以为上述各个实施例所述的电子调速器。该电子调速器81中的一路驱动电路与至少两个电机中的一个电机连接，另一路驱动电路与另一个电机连接。As another aspect of the embodiments of the present application, an embodiment of the present application provides a motor drive system. As shown in FIG. 8, the motor control system 800 includes an electronic governor 81 and at least two motors 82, wherein the electronic governor 81 can be the electronic governor described in the various embodiments above. One of the electronic governors 81 is connected to one of the at least two motors, and the other is connected to the other motor.
一方面，两路驱动电路可以接收同一个控制单元输出的控制信号，产生对应的电机驱动信号，以驱动各自电机的转动，因此，其集成度高，并能够避免一个控制单元只能够控制一个电机而造成电子调速器体积过大与重量重的问题出现。另一方面，预驱动电路和功率开关电路集成于同一驱动电路，因此，相对传统技术，其再进一步缩小电子调速器的体积。On the one hand, the two-way driving circuit can receive the control signals output by the same control unit, and generate corresponding motor driving signals to drive the rotation of the respective motors. Therefore, the integration degree is high, and a control unit can be prevented from controlling only one motor. The problem of excessive volume and heavy weight of the electronic governor has arisen. On the other hand, the pre-driver circuit and the power switch circuit are integrated in the same drive circuit, so that the volume of the electronic governor is further reduced compared to the conventional technology.
以上所述仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本申请的保护范围之内。The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection of the present application. Within the scope.

Claims (13)

  1. 一种电子调速器，用于控制电机的运行，其特征在于，所述电机的数量为至少两个，所述电子调速器包括：An electronic governor for controlling the operation of a motor, wherein the number of the motors is at least two, and the electronic governor comprises:
    控制单元，用于输出至少两组控制信号；a control unit, configured to output at least two sets of control signals;
    至少两路驱动电路，所述至少两路驱动电路皆与所述控制单元连接，所述至少两路驱动电路对所述控制单元输出的至少两组控制信号进行处理，输出对应的电机驱动信号至所述至少两个电机的输入端，以控制所述至少两个电机的运行；At least two driving circuits, the at least two driving circuits are all connected to the control unit, and the at least two driving circuits process at least two sets of control signals output by the control unit, and output corresponding motor driving signals to Inputs of the at least two motors to control operation of the at least two motors;
    其中，每路所述驱动电路包括预驱动电路和功率开关电路，所述预驱动电路的输入端与所述控制单元的输出端连接，所述预驱动电路的输出端与所述功率开关电路的输入端连接，所述功率开关电路的输出端与所述电机连接。Wherein each of the driving circuits includes a pre-drive circuit and a power switch circuit, an input end of the pre-drive circuit is connected to an output end of the control unit, an output end of the pre-drive circuit and the power switch circuit The input is connected, and the output of the power switch circuit is connected to the motor.
  2. 根据权利要求1所述的电子调速器，其特征在于，所述电子调速器还包括至少两路采样电路，一路所述采样电路与一路所述驱动电路耦合并与所述控制单元连接，用于测量和采集流经一路所述驱动电路的电流并输出第一采样结果给所述控制单元，使得所述控制单元根据所述第一采样结果输出一组控制信号；另一路所述采样电路与另一路所述驱动电路耦合并还与所述控制单元连接，用于测量和采集流经另一路所述驱动电路的电流并输出第二采样结果给所述控制单元，使得所述控制单元根据所述第二采样结果输出另一组控制信号。The electronic governor according to claim 1, wherein said electronic governor further comprises at least two sampling circuits, wherein said sampling circuit is coupled to said one driving circuit and connected to said control unit, Means for measuring and collecting current flowing through one of the driving circuits and outputting a first sampling result to the control unit, so that the control unit outputs a set of control signals according to the first sampling result; and the other sampling circuit Coupling with another driving circuit and also connected to the control unit for measuring and collecting current flowing through the other driving circuit and outputting a second sampling result to the control unit, so that the control unit is The second sampling result outputs another set of control signals.
  3. 根据权利要求2所述的电子调速器，其特征在于，每路所述驱动电路的预驱动电路根据对应组的控制信号，向对应的功率开关电路输出开关管驱动信号；所述功率开关电路根据所述开关管驱动信号，向对应的电机输出所述电机驱动信号。The electronic governor according to claim 2, wherein each pre-drive circuit of said drive circuit outputs a switch signal to a corresponding power switch circuit according to a corresponding group of control signals; said power switch circuit The motor drive signal is output to a corresponding motor according to the switch tube drive signal.
  4. 根据权利要求3所述的电子调速器，其特征在于，所述预驱动电路与所述功率开关电路功率开关电路集成于同一载体上。The electronic governor of claim 3 wherein said pre-driver circuit and said power switch circuit power switch circuit are integrated on a same carrier.
  5. 根据权利要求3或4所述的电子调速器，其特征在于，所述驱动电路还包括电源模块，所述电源模块用于对所述控制单元和所述预驱动电路提供电源。The electronic governor according to claim 3 or 4, wherein said drive circuit further comprises a power supply module for supplying power to said control unit and said pre-drive circuit.
  6. 根据权利要求3至5任一项所述的电子调速器，其特征在于，所述功率开关电路包括：上桥臂电路与下桥臂电路，所述上桥臂电路与所述下桥臂电路连接。The electronic governor according to any one of claims 3 to 5, wherein the power switch circuit comprises: an upper arm circuit and a lower arm circuit, the upper arm circuit and the lower arm Circuit connection.
  7. 根据权利要求6所述的电子调速器，其特征在于，The electronic governor of claim 6 wherein:
    开关管驱动信号包括第一开关驱动信号至第六开关驱动信号；The switch tube driving signal includes a first switch drive signal to a sixth switch drive signal;
    所述上桥臂电路包括第一电阻、第二电阻、第三电阻、第一MOS管、第二MOS管及第三MOS管；The upper arm circuit includes a first resistor, a second resistor, a third resistor, a first MOS transistor, a second MOS transistor, and a third MOS transistor;
    所述下桥臂电路包括第四电阻、第五电阻、第六电阻、第四MOS管、第五MOS管及第六MOS管；The lower arm circuit includes a fourth resistor, a fifth resistor, a sixth resistor, a fourth MOS transistor, a fifth MOS transistor, and a sixth MOS transistor;
    所述第一电阻的一端用于接收第一开关驱动信号，所述第一电阻的另一端与所述第一MOS管的栅极连接，所述第二电阻的一端用于接收第二开关驱动信号，所述第二电阻的另一端与所述第二MOS管的栅极连接，所述第三电阻的一端用于接收第三开关驱动信号，所述第三电阻的另一端与所述第三MOS管的栅极连接，所述第四电阻的一端用于接收第四开关驱动信号，所述第四电阻的另一端与所述第四MOS管的栅极连接，所述第五电阻的一端用于接收第五开关驱动信号，所述第五电阻的另一端与所述第五MOS管的栅极连接，所述第六电阻的一端用于接收第六开关驱动信号，所述第六电阻的另一端与所述第六MOS管的栅极连接，所述第一MOS管至所述第三MOS管的漏极皆连接至第一节点，所述第一MOS管的源极与所述第四MOS管的漏极连接，所述第二MOS管的源极与所述第五MOS管的漏极连接，所述第三MOS管的源极与所述第六MOS管的漏极连接，所述第四MOS管至所述第六MOS管的源极皆连接至第二节点，外部电源加载于所述第一节点与所述第二节点之间。One end of the first resistor is configured to receive a first switch driving signal, the other end of the first resistor is connected to a gate of the first MOS transistor, and one end of the second resistor is configured to receive a second switch driving a signal, the other end of the second resistor is connected to a gate of the second MOS transistor, and one end of the third resistor is configured to receive a third switch driving signal, and the other end of the third resistor is opposite to the first a gate of the three MOS transistors is connected, one end of the fourth resistor is for receiving a fourth switch driving signal, and the other end of the fourth resistor is connected to a gate of the fourth MOS transistor, the fifth resistor One end is for receiving a fifth switch driving signal, the other end of the fifth resistor is connected to a gate of the fifth MOS transistor, and one end of the sixth resistor is for receiving a sixth switch driving signal, the sixth The other end of the resistor is connected to the gate of the sixth MOS transistor, and the drains of the first MOS transistor to the third MOS transistor are both connected to the first node, and the source and the source of the first MOS transistor a drain connection of the fourth MOS transistor, a source of the second MOS transistor, and the fifth MOS transistor a drain connection, a source of the third MOS transistor is connected to a drain of the sixth MOS transistor, and a source of the fourth MOS transistor to the sixth MOS transistor are both connected to a second node, and an external power supply Loading between the first node and the second node.
  8. 根据权利要求7所述的电子调速器，其特征在于，每路所述采样电路 包括采样电阻，所述采样电阻的一端连接至所述第二节点，所述采样电阻的另一端用于加载所述外部电源。The electronic governor according to claim 7, wherein each of said sampling circuits comprises a sampling resistor, one end of said sampling resistor is connected to said second node, and the other end of said sampling resistor is used for loading The external power source.
  9. 根据权利要求6至8任一项所述的电子调速器，其特征在于，每路所述驱动电路还包括自举电路，所述自举电路用于进行自举升压，提供维持所述上桥臂电路处于导通状态时的电压。The electronic governor according to any one of claims 6 to 8, wherein each of said driving circuits further comprises a bootstrap circuit for performing bootstrap boosting, providing said maintaining said The voltage at which the upper arm circuit is in the on state.
  10. 根据权利要求2至9任一项所述的电子调速器，其特征在于，所述控制单元包括：The electronic governor according to any one of claims 2 to 9, wherein the control unit comprises:
    运放电路，其输入端分别与一路所述采样电路和另一路所述采样电路连接，用于接收所述第一采样结果与所述第二采样结果；An op amp circuit, wherein the input end is respectively connected to one sampling circuit and the other sampling circuit, and is configured to receive the first sampling result and the second sampling result;
    微控制器，其与所述运放电路的输出端连接，用于根据所述第一采样结果与所述第二采样结果，输出所述至少两组控制信号。a microcontroller, coupled to the output of the operational amplifier circuit, for outputting the at least two sets of control signals based on the first sampling result and the second sampling result.
  11. 根据权利要求1至10任一项所述的电子调速器，其特征在于，每路所述驱动电路还包括：滤波电路，其与所述功率开关电路连接，用于滤除外部电源的谐波分量。The electronic governor according to any one of claims 1 to 10, characterized in that each of the driving circuits further comprises: a filter circuit connected to the power switch circuit for filtering harmonics of the external power source Wave component.
  12. 一种电机控制***，其特征在于，包括：至少两个电机以及如权利要求1至11任一项所述的电子调速器，所述电子调速器中的一路驱动电路与所述至少两个电机中的一个电机连接，另一路驱动电路与另一个电机连接。A motor control system, comprising: at least two motors and an electronic governor according to any one of claims 1 to 11, wherein one of the electronic governors and the at least two One of the motors is connected, and the other drive circuit is connected to the other motor.
  13. 一种无人机，其特征在于，包括：A drone, characterized in that it comprises:
    至少两个螺旋桨；At least two propellers;
    至少两个电机，所述至少两个电机分别与所述至少两个螺旋桨连接，用于驱动所述至少两个螺旋桨旋转，以给所述无人机提供飞行动力；以及At least two motors coupled to the at least two propellers respectively for driving the at least two propellers to provide flight power to the drone;
    如权利要求1‐11任一项所述的电子调速器，所述电子调速器中的一路驱动电路与所述至少两个电机中的一个电机连接，另一路驱动电路与另一个电机连接。The electronic governor according to any one of claims 1 to 11, wherein one of the electronic governors is connected to one of the at least two motors, and the other drive circuit is connected to the other motor. .
PCT/CN2018/111722 2017-11-27 2018-10-24 Electronic governor, motor control system, and unmanned aerial vehicle WO2019100894A1 (en)

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CN207926471U (en) * 2017-11-27 2018-09-28 深圳市道通智能航空技术有限公司 A kind of electron speed regulator, electric machine control system and unmanned plane
CN111431378A (en) * 2019-01-09 2020-07-17 苏州吉泰兴机电设备有限公司 Frequency converter with explosion-proof function
CN113037147B (en) * 2021-03-16 2023-08-15 北京清航紫荆装备科技有限公司 Multi-rotor unmanned aerial vehicle airborne circuit

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