WO2021016872A1 - Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium - Google Patents

Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium Download PDF

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Publication number
WO2021016872A1
WO2021016872A1 PCT/CN2019/098406 CN2019098406W WO2021016872A1 WO 2021016872 A1 WO2021016872 A1 WO 2021016872A1 CN 2019098406 W CN2019098406 W CN 2019098406W WO 2021016872 A1 WO2021016872 A1 WO 2021016872A1
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WIPO (PCT)
Prior art keywords
nth
motor
counter
signal output
current value
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PCT/CN2019/098406
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French (fr)
Chinese (zh)
Inventor
马晨旭
陈鸿滨
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/098406 priority Critical patent/WO2021016872A1/en
Priority to CN201980032522.0A priority patent/CN112218795A/en
Publication of WO2021016872A1 publication Critical patent/WO2021016872A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • 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
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the invention relates to the field of motor control, in particular to a multi-motor driving method, an electronic speed regulator, a power system, an unmanned aerial vehicle and a storage medium.
  • UAVs have been applied in many fields.
  • drones can be used in industry, agriculture, military, and other fields for aerial photography.
  • unmanned aerial vehicle technology With the rapid development of unmanned aerial vehicle technology, the application fields of unmanned aerial vehicle are becoming more and more extensive. In order to make UAVs lighter and reduce the cost of UAVs, further improvements are needed.
  • MCU microcontroller unit
  • MCU Microcontroller Unit
  • 4 MCUs are needed to control 4 motors. Therefore, the layout of the MCU occupies a large area, and the electronic speed controller is heavy, and because more MCUs are used, there is no The manufacturing cost of man-machine is relatively high. .
  • embodiments of the present invention are proposed to provide a multi-motor driving method, electronic speed governor, power system, unmanned aerial vehicle, and storage medium that overcome or at least partially solve the foregoing problems.
  • the first aspect of the embodiments of the present invention provides a multi-motor driving method, the method is applied to an electronic speed governor, and the method includes:
  • nth counter of the m counter starts counting and detect the current value of the nth counter, where the interval time between the start time of the n+1th counter and the start time of the nth counter Is a preset time, the nth counter is a counter corresponding to the nth motor, and m is a natural number greater than or equal to 2;
  • nth counter determines whether the condition for sampling the nth motor is satisfied
  • the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
  • an electronic speed governor for driving multiple motors at the same time, including: a processor including multiple detection units, multiple PWM signal output units, and The detection unit and a control unit electrically connected to the PWM unit,
  • a plurality of the detection units are used to detect the back electromotive force of a plurality of the motors
  • Multiple PWM signal output units for respectively outputting PWM signals for controlling multiple motors
  • the control unit is configured to receive the back electromotive force of the motor detected by the detection unit, and control the PWM signal output unit to output a corresponding PWM pulse signal; the control unit is configured to:
  • nth counter of the m counters start counting and detect the current value of the nth counter, where the interval time between the start of the n+1th counter and the nth counter is a preset time, the The nth counter is the counter corresponding to the nth motor, and m is a natural number greater than or equal to 2;
  • nth counter determines whether the condition for sampling the nth motor is satisfied
  • the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
  • the third aspect of the embodiments of the present invention provides a power system, including:
  • the multiple motors are electrically connected with the electronic speed governor.
  • a fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a flight controller and the aforementioned power system;
  • the flight controller is electrically connected to the electronic governor for inputting a throttle signal to the electronic governor, and the electronic governor controls the rotation of a plurality of motors according to the throttle signal to provide flight Power to the UAV.
  • a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium.
  • the computer program is executed by a processor, the multi-motor drive described above method.
  • the embodiment of the present invention starts counting by starting the nth counter of the m counters and detects the current value of the nth counter. According to the current value of the nth counter, it is judged whether the condition for sampling the nth motor is satisfied. If the conditions for sampling the nth motor are met, it is judged whether the conditions for controlling the nth motor are met. If the conditions for controlling the nth motor are met, the nth motor is sampled according to the nth The back electromotive force of each motor is used to control the nth motor, so that one MCU on the electronic speed controller can drive multiple motors, which can control multiple motors.
  • the area occupied by the layout of the MCU is reduced, and the weight of the electronic governor is reduced, which is conducive to the miniaturization and lightness of the UAV, and because the number of MCUs used is reduced, the manufacturing of UAVs is reduced to a certain extent. cost.
  • FIG. 1 is a flowchart of the steps of a multi-motor driving method according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of waveforms for controlling four motors through one MCU according to an embodiment of the present invention
  • FIG. 3 is a block diagram of a system for controlling four motors through one MCU according to an embodiment of the present invention
  • Fig. 4 is a schematic structural diagram of an electronic speed governor provided by an embodiment of the present invention.
  • Fig. 1 is a flow chart of the steps of a multi-motor driving method according to an embodiment of the present invention.
  • the multi-motor driving method is applied to an electronic speed governor, and an MCU is deployed on the electronic speed governor, and the multi-motor driving method provided in this embodiment can be executed by the MCU. Therefore, the multi-motor driving method provided in this embodiment is suitable for a situation where one MCU controls the driving of multiple motors.
  • the multi-motor driving method includes the following steps:
  • Step 101 Start the nth counter among the m counters to start counting and detect the current value of the nth counter.
  • the interval time between the start time of the n+1th counter and the start time of the nth counter is the preset time
  • the nth counter is the counter corresponding to the nth motor
  • m is a natural number greater than or equal to 2 .
  • the preset time can be set to 1/4T, and the interval between the start time of the n+1th counter and the start time of the nth counter is the preset time. For example, if m is equal to 4, there are 4 counters. If the first counter is started first, the second counter is started when the first counter starts 1/4T, the third counter starts when the second counter starts 1/4T, and so on. If the fourth counter is started first, the third counter will be started when the fourth counter starts 1/4T, and the second counter will be started when the third counter starts 1/4T, and so on, the interval is 1 Start the second counter at /4T. After the second counter is started, start the first counter at an interval of 1/4T. In short, the start time of two adjacent counters is separated by 1/4T.
  • Step 102 According to the current value of the nth counter, judge whether the condition for sampling the nth motor is satisfied.
  • the nth counter After the nth counter is started, it starts to count, and the count value of the counter keeps increasing. According to the current value of the counter, it can be judged whether the condition for sampling the nth motor is satisfied. For example, taking 4 counters as an example, when the current value of the first counter is equal to the value of the first register of the first pulse width modulation (PWM, Pulse Width Modulation) module, the condition for sampling 1 motor is satisfied; When the current value of a counter is equal to the value of the second register of the first pulse width modulation (PWM,), the condition for sampling two motors is satisfied; the current value of the third counter is equal to the first register of the second PWM module When the value of, the condition for sampling 3 motors is satisfied; when the current value of the fourth counter is equal to the value of the second register of the second PWM module, the condition for sampling 4 motors is satisfied.
  • PWM pulse width modulation
  • PWM Pulse Width Modulation
  • FIG. 2 is a schematic diagram of waveforms for controlling four motors through one MCU according to an embodiment of the present invention.
  • the value of the first register of the first PWM module is represented by PWM0_A
  • the value of the first register of the first PWM module is represented by PWM0_B
  • the value of the first register of the second PWM module is represented by PWM5_A
  • the value of the second PWM module is represented by PWM5_A.
  • the value of the second register is represented by PWM5_B.
  • Step 103 If the condition for sampling the nth motor is satisfied, it is judged whether the condition for controlling the nth motor is satisfied.
  • FIG. 3 is a block diagram of a system for controlling four motors through one MCU according to an embodiment of the present invention.
  • the first counter corresponds to motor 1 (the first motor)
  • the second counter corresponds to motor 2 (the second motor)
  • the third counter corresponds to motor 3 (the third motor)
  • the fourth counter corresponds to Motor 4 (the fourth motor) corresponds. If the current value of the first counter is equal to the current value of the second register of the first PWM signal output unit (PWM signal output unit 1), the condition for controlling the first motor is met; if the second counter is When the current value is equal to the current value of the second register of the second PWM signal output unit (PWM signal output unit 2), the condition for controlling the second motor is met; if the current value of the third counter is equal to the third PWM When the current value of the second register of the signal output unit (PWM signal output unit 3), it meets the conditions for controlling the third motor; if the current value of the fourth counter is equal to the fourth PWM signal output unit (PWM signal When the current value of the second register of the output unit 4), it meets the condition for controlling the fourth motor.
  • PWM signal output unit 1 the
  • the value of the second register of the PWM signal output unit 1 is represented by PWM1_B
  • the value of the second register of the PWM signal output unit 2 is represented by PWM2_B
  • the value of the second register of the PWM signal output unit 3 It is represented by PWM3_B
  • the value of the second register of the PWM signal output unit 4 is represented by PWM4_B, that is, when the current value of the first counter is equal to PWM1_B, the condition for controlling the motor 1 is satisfied; if the current value of the second counter is When the value is equal to PWM2_B, the condition for controlling motor 2 is satisfied; if the current value of the third counter is equal to PWM3_B, the condition for controlling motor 3 is satisfied; if the current value of the fourth counter is equal to PWM4_B, it is satisfied Conditions for controlling the motor 4.
  • each motor corresponds to a PWM signal output unit
  • the first motor corresponds to the first PWM signal output unit
  • the second motor corresponds to the second PWM signal output unit
  • the nth motor corresponds to the first PWM signal output unit.
  • Step 104 If the condition for controlling the nth motor is satisfied, control the nth motor according to the back electromotive force of the nth motor obtained by sampling the nth motor.
  • the control of the nth motor can be achieved through the following steps:
  • the nth motor determines the zero-crossing time of the floating phase of the nth motor; determine the commutation point time of the nth motor according to the zero-crossing time of the floating phase of the nth motor; The commutation point time of n motors is used for commutation control of the nth motor.
  • the back EMF of the motor 1 is obtained by sampling by the detection unit 1
  • the back EMF of the motor 2 is obtained by sampling by the detection unit 2
  • the back EMF of the motor 3 is obtained by sampling by the detection unit 3
  • the motor 4 is obtained by sampling by the detection unit 4 The back EMF.
  • the motor can be a brushless DC motor.
  • the working principle of the brushless DC motor is: the stator of the brushless DC motor is a coil winding armature, and the rotor is a permanent magnet. If only a fixed DC current is applied to the motor, the motor can only generate a constant magnetic field, and the motor cannot rotate. Only the position of the motor rotor is detected in real time, and then any two phases of the three phases of the motor are connected to any two phases according to the position of the rotor. The corresponding current makes the stator produce a rotating magnetic field with uniform changes in direction, and the motor can rotate with the magnetic field.
  • the three phases of the brushless DC motor include, for example, phase A, phase B, and phase C.
  • phase C When phase A and phase B are conducted, phase C is suspended. When the motor rotates, the winding moves in the magnetic field of the permanent magnet, which will generate induced electromotive force. The voltage of phase C will gradually decrease from half of the positive peak value (back electromotive force) to 0, and then to half of the negative peak value. A zero-crossing process. Or from half of the negative peak, gradually increase to 0, and then to half of the positive peak, that is, there is a zero-crossing time for the voltage of phase C.
  • a delay of 30 degrees in electrical angle is the commutation point of the BLDC motor, and the time when the rotor rotates through 30 degrees in electrical angle is the commutation point.
  • Phase point time At the time of the commutation point of the nth motor, commutation control is performed on the nth motor. After commutation control, for example, phase A and phase C are turned on, and phase C is suspended. Through the commutation control of the motor, the motor can be rotated.
  • the multi-motor driving method provided by this implementation starts counting and detects the current value of the nth counter by starting the nth counter of the m counters. According to the current value of the nth counter, it is determined whether the nth motor is satisfied. Sampling conditions. If the conditions for sampling the nth motor are met, it is determined whether the conditions for controlling the nth motor are met. If the conditions for controlling the nth motor are met, then the nth motor is controlled according to The back electromotive force of the nth motor obtained by sampling is used to control the nth motor, so as to realize that multiple motors can be driven by one MCU on the electronic speed governor, which can control multiple motors.
  • the area occupied by the layout of the MCU is reduced, and the weight of the electronic governor is reduced, which is conducive to the miniaturization and lightness of the UAV, and because the number of MCUs used is reduced, the manufacturing of UAVs is reduced to a certain extent. cost.
  • step 102 judging whether the condition for sampling the n-th motor is satisfied, can be achieved through the following steps:
  • the multi-motor driving method further includes the following steps:
  • the current value of the first register of the PWM signal output unit 1 is represented by PWM1_A
  • the current value of the first register of the PWM signal output unit 2 is represented by PWM2_A
  • the current value of the first register of the PWM signal output unit 3 is represented by PWM2_A
  • the value of the first register is represented by PWM3_A
  • the value of the first register of the PWM signal output unit 4 is represented by PWM4_A.
  • PWM1_A and PWM1_B can be adjusted according to the duration of the PWM pulse signal output by the PWM signal output unit 1 being high level; according to the duration of the PWM pulse signal output by the PWM signal output unit 2 being high level, PWM2_A and PWM2_B can be adjusted, in turn By analogy, I will not introduce them one by one here.
  • the nth PWM signal output unit By controlling the duration of the PWM pulse signal output by the nth PWM signal output unit at high level according to the throttle signal, and then adjust the nth duration according to the duration of the PWM pulse signal output by the nth PWM signal output unit at high level The current value of the first register of the PWM signal output unit and the current value of the second register of the nth PWM signal output unit are adjusted.
  • the greater the throttle signal the longer the time for controlling the PWM pulse signal output by the nth PWM signal output unit to be high.
  • the nth motor can obtain a larger voltage signal in a longer period of time, which can make the nth The speed of each motor increases.
  • the nth motor can only obtain the voltage signal in a shorter time, so that the nth The speed of the motor is reduced. Therefore, the control of the motor speed can be achieved.
  • step 103 judging whether the condition for controlling the n-th motor is satisfied can be implemented in the following manner:
  • the multi-motor driving method may further include:
  • the PWM pulse signal output by the nth PWM signal output unit is controlled to be high.
  • control the PWM The PWM pulse signal output by the signal output unit 1 is at a high level.
  • the principle of controlling the PWM pulse signal output by the PWM signal output unit 2, the PWM signal output unit 3, and the PWM signal output unit 4 to be high level is the same as the principle of controlling the PWM pulse signal output by the PWM signal output unit 1 to be high level, so I won't repeat it here.
  • the multi-motor driving method may further include:
  • the PWM pulse signal output by the PWM signal output unit is controlled to be low.
  • the PWM signal is controlled
  • the PWM pulse signal output by the output unit 1 is low level.
  • the principle of controlling the PWM pulse signal output by the PWM signal output unit 2, the PWM signal output unit 3, and the PWM signal output unit 4 to be high level is the same as the principle of controlling the PWM pulse signal output by the PWM signal output unit 1 to be low level, so I won't repeat it here.
  • an embodiment of the present invention provides an electronic speed governor.
  • the electronic speed governor includes a processor, the processor includes a plurality of detection units, a plurality of PWM signal output units, and an electronic speed controller electrically connected to the detection unit and the PWM unit.
  • Fig. 4 is a schematic structural diagram of an electronic speed governor provided by an embodiment of the present invention. 3 and 4, in FIG. 4, a plurality of detection units include a detection unit 1, a detection unit 2, a detection unit 3, and a detection unit 4.
  • the plurality of PWM signal output units include a PWM signal output unit 1, a PWM signal output unit 2. , PWM signal output unit 3 and PWM signal output unit 4 are examples.
  • the electronic speed governor 400 also includes a processor and a control unit electrically connected to the detection unit 1, the detection unit 2, the detection unit 3, the detection unit 4, the PWM signal output unit 1, the PWM signal output unit 2, and the PWM signal output unit 3. .
  • Multiple PWM signal output units for respectively outputting PWM signals for controlling multiple motors
  • the control unit is used to receive the back electromotive force of the motor detected by the detection unit, and to control the PWM signal output unit to output the corresponding PWM pulse signal; the control unit is used to:
  • nth counter of the m counter Start the nth counter of the m counters to start counting and detect the current value of the nth counter.
  • the interval between the start of the n+1th counter and the nth counter is the preset time, and the nth counter is and
  • the counter corresponding to the nth motor, m is a natural number greater than or equal to 2;
  • the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
  • the detection unit 1 is used to detect the back electromotive force of the motor 1
  • the detection unit 2 is used to detect the back electromotive force of the motor 2
  • the detection unit 3 is used to detect the back electromotive force of the motor 3
  • the detection unit 4 is used to detect the back electromotive force of the motor 4.
  • the PWM signal output unit 1 is used to output the PWM signal that controls the motor 1
  • the PWM signal output unit 2 is used to output the PWM signal that controls the motor 2
  • the PWM signal output unit 3 is used to output the PWM signal that controls the motor 3.
  • the PWM signal output The unit 4 is used to output a PWM signal for controlling the motor 4.
  • the electronic governor provided in this embodiment can control multiple motors through one MCU, thereby reducing the area occupied by the MCU layout, reducing the weight of the electronic governor, and facilitating miniaturization and lightening of the drone, and As the number of MCUs used is reduced, the cost of manufacturing drones is reduced to a certain extent.
  • control unit is specifically used for:
  • Optional also includes:
  • Throttle signal interface used to obtain the throttle signal sent by the flight controller
  • the control unit is electrically connected to the throttle signal interface, and the control unit is used to control the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit according to the throttle signal;
  • the throttle signal interface is a Universal Asynchronous Receiver/Transmitter (UART, Universal Asynchronous Receiver/Transmitter) interface, that is, the throttle signal interface is a UART interface.
  • UART Universal Asynchronous Receiver/Transmitter
  • control unit is specifically configured to satisfy the condition for controlling the nth motor if the current value of the nth counter is equal to the adjusted value of the second register of the nth PWM signal output unit.
  • control unit is specifically used for:
  • control unit is further configured to control the output of the nth PWM signal output unit if the current value of the nth counter is less than or equal to the adjusted current value of the first register of the nth PWM signal output unit The PWM pulse signal is high.
  • control unit is further configured to control the PWM pulse signal output by the nth PWM signal output unit if the current value of the nth counter is greater than the adjusted value of the first register of the nth PWM signal output unit Low level.
  • a plurality of driving circuits are further included, and the plurality of driving circuits are respectively electrically connected to a plurality of PWM signal output units, and are configured to provide corresponding driving signals to the motors according to the PWM pulse signals output by the PWM signal output units.
  • FIG. 4 it includes a driving circuit 1, a driving circuit 2, a driving circuit 3, and a driving circuit 4.
  • the driving circuit 1 is electrically connected to the PWM signal output unit 1, and is used to provide a corresponding driving signal to the motor 1 according to the PWM pulse signal output by the PWM signal output unit;
  • the driving circuit 2 is electrically connected to the PWM signal output unit 2, It is used to provide a corresponding drive signal to the motor 2 according to the PWM pulse signal output by the PWM signal output unit 2;
  • the drive circuit 3 is electrically connected to the PWM signal output unit 3 for outputting according to the PWM signal output unit 3
  • the PWM pulse signal provides the corresponding drive signal to the motor 3;
  • the drive circuit 4 is electrically connected to the PWM signal output unit 4 for providing the corresponding drive signal to the PWM pulse signal output by the PWM signal output unit 4 The motor 4.
  • an embodiment of the present invention also provides a power system, including the electronic speed governor and a plurality of motors in the above embodiment; the plurality of motors are electrically connected to the electronic speed governor.
  • an embodiment of the present invention also provides an unmanned aerial vehicle, including a flight controller, and the power system in the foregoing embodiment;
  • the flight controller is electrically connected to the electronic governor for inputting a throttle signal to the electronic governor, and the electronic governor controls the rotation of a plurality of motors according to the throttle signal to provide flight Power to the UAV.
  • the embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium.
  • a computer program is stored on the computer-readable storage medium.
  • the computer-readable storage medium may be a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk, or an optical disk.
  • the multi-motor driving method provided here is not inherently related to any specific computer, virtual system or other equipment.
  • Various general-purpose systems can also be used with the teaching based on this. From the above description, the structure required to construct the system with the solution of the present invention is obvious.
  • the present invention is not directed to any specific programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of a specific language is to disclose the best embodiment of the present invention.
  • modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.
  • the various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by their combination.
  • a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all components in the multi-motor driving method according to the embodiments of the present invention.
  • DSP digital signal processor
  • the present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein.
  • Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.

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Abstract

Provided in embodiments of the present invention are a multi-motor driving method, an electronic speed control, a power system, an unmanned aerial vehicle and a storage medium. The multi-motor driving method comprises: starting an nth counter among m counters to start counting and detecting the current value of the nth counter; according to the current value of the nth counter, determining whether a condition for sampling an nth motor is satisfied; if the condition for sampling the nth motor is satisfied, then determining whether a condition for controlling the nth motor is satisfied; and if the condition for controlling the nth motor is satisfied, then controlling the nth motor according to a back electromotive force of the nth motor obtained by sampling the nth motor. Therefore, a plurality of motors are driven by means of one MCU on an electronic speed control, which enables the plurality of motors to be controlled, and thereby reduces the area occupied by the layout of the MCU, which is advantageous to achieving the miniaturization and lightness of the unmanned aerial vehicle, and reduces the cost of fabricating the unmanned aerial vehicle to a certain extent.

Description

多电机驱动方法、电子调速器、动力***、无人飞行器及存储介质Multi-motor driving method, electronic speed governor, power system, unmanned aerial vehicle and storage medium 技术领域Technical field
本发明涉及电机控制领域，特别是涉及一种多电机驱动方法、电子调速器、动力***、无人飞行器及存储介质。The invention relates to the field of motor control, in particular to a multi-motor driving method, an electronic speed regulator, a power system, an unmanned aerial vehicle and a storage medium.
背景技术Background technique
无人机作为新兴的事物，已经在很多领域中实现了实际应用。例如，无人机可应用在工业、农业、军事、等领域进行航拍。随着无人机技术的快速发展，无人机的应用领域越来越广泛。为了使无人机向轻型化发展以及降低无人机的成本，还需进一步对无人机进行改进。As an emerging thing, UAVs have been applied in many fields. For example, drones can be used in industry, agriculture, military, and other fields for aerial photography. With the rapid development of unmanned aerial vehicle technology, the application fields of unmanned aerial vehicle are becoming more and more extensive. In order to make UAVs lighter and reduce the cost of UAVs, further improvements are needed.
目前，电子调速器大多都是一个微控制单元(MCU，Microcontroller Unit)控制一个电机。针对一般的四旋翼无人机，控制4个电机就需要4个MCU，因此布局MCU所占用的面积较大，并造成电子调速器的重量较大，并且由于使用了较多的MCU导致无人机的制造成本较高。。At present, most of the electronic speed controllers are a microcontroller unit (MCU, Microcontroller Unit) to control a motor. For a general quad-rotor UAV, 4 MCUs are needed to control 4 motors. Therefore, the layout of the MCU occupies a large area, and the electronic speed controller is heavy, and because more MCUs are used, there is no The manufacturing cost of man-machine is relatively high. .
发明内容Summary of the invention
鉴于上述问题，提出了本发明实施例以便提供一种克服上述问题或者至少部分地解决上述问题的一种多电机驱动方法、电子调速器、动力***、无人飞行器及存储介质。In view of the foregoing problems, embodiments of the present invention are proposed to provide a multi-motor driving method, electronic speed governor, power system, unmanned aerial vehicle, and storage medium that overcome or at least partially solve the foregoing problems.
本发明实施例的第一方面，提供了一种多电机驱动方法，所述方法应用于电子调速器，所述方法包括：The first aspect of the embodiments of the present invention provides a multi-motor driving method, the method is applied to an electronic speed governor, and the method includes:
启动m个计数器中的第n个计数器开始计数并检测所述第n个计数器的当前值，其中，第n+1个计数器的启动时间与所述第n个计数器的启动时间之间的间隔时间为预设时间，所述第n个计数器为与第n个电机对应的计数器，m为大于等于2的自然数；Start the nth counter of the m counters to start counting and detect the current value of the nth counter, where the interval time between the start time of the n+1th counter and the start time of the nth counter Is a preset time, the nth counter is a counter corresponding to the nth motor, and m is a natural number greater than or equal to 2;
根据所述第n个计数器的当前值，判断是否满足对所述第n个电机进行采样的条件；According to the current value of the nth counter, determine whether the condition for sampling the nth motor is satisfied;
若满足对所述第n个电机进行采样的条件，则判断是否满足对所述第n个电机进行控制的条件；If the condition for sampling the nth motor is satisfied, determining whether the condition for controlling the nth motor is satisfied;
若满足对所述第n个电机进行控制的条件，则根据对所述第n个电机进行采样获得的第n个电机的反电动势，对所述第n个电机进行控制。If the condition for controlling the nth motor is satisfied, the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
本发明实施例的第二方面，提供了一种电子调速器，用于同时驱动多个 电机，包括：处理器，所述处理器包括多个检测单元、多个PWM信号输出单元以及与所述检测单元以及PWM单元电连接的一个控制单元，In a second aspect of the embodiments of the present invention, an electronic speed governor is provided for driving multiple motors at the same time, including: a processor including multiple detection units, multiple PWM signal output units, and The detection unit and a control unit electrically connected to the PWM unit,
多个所述检测单元，用于分别检测多个所述电机的反电动势；A plurality of the detection units are used to detect the back electromotive force of a plurality of the motors;
多个PWM信号输出单元，用于分别输出控制多个所述电机的PWM信号；Multiple PWM signal output units for respectively outputting PWM signals for controlling multiple motors;
所述控制单元，用于接收所述检测单元检测的所述电机的所述反电动势，以及控制所述PWM信号输出单元输出相应的PWM脉冲信号；所述控制单元用于：The control unit is configured to receive the back electromotive force of the motor detected by the detection unit, and control the PWM signal output unit to output a corresponding PWM pulse signal; the control unit is configured to:
启动m个计数器中的第n个计数器开始计数并检测所述第n个计数器的当前值，其中，第n+1个计数器与所述第n个计数器启动的间隔时间为预设时间，所述第n个计数器为与第n个电机对应的计数器，m为大于等于2的自然数；Start the nth counter of the m counters to start counting and detect the current value of the nth counter, where the interval time between the start of the n+1th counter and the nth counter is a preset time, the The nth counter is the counter corresponding to the nth motor, and m is a natural number greater than or equal to 2;
根据所述第n个计数器的当前值，判断是否满足对所述第n个电机进行采样的条件；According to the current value of the nth counter, determine whether the condition for sampling the nth motor is satisfied;
若满足对所述第n个电机进行采样的条件，则判断是否满足对所述第n个电机进行控制的条件；If the condition for sampling the nth motor is satisfied, determining whether the condition for controlling the nth motor is satisfied;
若满足对所述第n个电机进行控制的条件，则根据对所述第n个电机进行采样获得的第n个电机的反电动势，对所述第n个电机进行控制。If the condition for controlling the nth motor is satisfied, the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
本发明实施例的第三方面，提供了一种动力***，包括：The third aspect of the embodiments of the present invention provides a power system, including:
上述所述的电子调速器和多个电机；The above-mentioned electronic speed governor and multiple motors;
所述多个电机与所述电子调速器电连接。The multiple motors are electrically connected with the electronic speed governor.
本发明实施例的第四方面，提供了一种无人飞行器，包括飞行控制器、以及上述所述的动力***；A fourth aspect of the embodiments of the present invention provides an unmanned aerial vehicle, including a flight controller and the aforementioned power system;
其中，所述飞行控制器与所述电子调速器电连接，用于输入油门信号给所述电子调速器，所述电子调速器根据所述油门信号控制多个电机转动，以提供飞行动力给所述无人飞行器。Wherein, the flight controller is electrically connected to the electronic governor for inputting a throttle signal to the electronic governor, and the electronic governor controls the rotation of a plurality of motors according to the throttle signal to provide flight Power to the UAV.
本发明实施例的第五方面，提供了一种计算机可读存储介质，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现如上任一所述的多电机驱动方法。In a fifth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, the multi-motor drive described above method.
本发明实施例包括以下优点：The embodiments of the present invention include the following advantages:
本发明实施例通过启动m个计数器中的第n个计数器开始计数并检测第n个计数器的当前值，根据第n个计数器的当前值，判断是否满足对第n 个电机进行采样的条件，若满足对第n个电机进行采样的条件，则判断是否满足对第n个电机进行控制的条件，若满足对第n个电机进行控制的条件，则根据对第n个电机进行采样获得的第n个电机的反电动势，对第n个电机进行控制，从而实现通过电子调速器上的一个MCU驱动多个电机，能够对多个电机进行控制。因此，减少了布局MCU占用的面积，减轻电子调速器的重量，利于无人机实现小型化和轻型化，并且由于减少了MCU的使用个数，在一定程度上降低了制造无人机的成本。The embodiment of the present invention starts counting by starting the nth counter of the m counters and detects the current value of the nth counter. According to the current value of the nth counter, it is judged whether the condition for sampling the nth motor is satisfied. If the conditions for sampling the nth motor are met, it is judged whether the conditions for controlling the nth motor are met. If the conditions for controlling the nth motor are met, the nth motor is sampled according to the nth The back electromotive force of each motor is used to control the nth motor, so that one MCU on the electronic speed controller can drive multiple motors, which can control multiple motors. Therefore, the area occupied by the layout of the MCU is reduced, and the weight of the electronic governor is reduced, which is conducive to the miniaturization and lightness of the UAV, and because the number of MCUs used is reduced, the manufacturing of UAVs is reduced to a certain extent. cost.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly, it can be implemented in accordance with the content of the description, and in order to make the above and other objectives, features and advantages of the present invention more obvious and understandable. In the following, specific embodiments of the present invention are specifically cited.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.
图1为本发明实施例提供的一种多电机驱动方法的步骤流程图；FIG. 1 is a flowchart of the steps of a multi-motor driving method according to an embodiment of the present invention;
图2为本发明实施例提供的一种通过一个MCU控制四个电机的波形示意图；2 is a schematic diagram of waveforms for controlling four motors through one MCU according to an embodiment of the present invention;
图3为本发明实施例提供的一种通过一个MCU控制四个电机的***框图；3 is a block diagram of a system for controlling four motors through one MCU according to an embodiment of the present invention;
图4为本发明实施例提供了的一种电子调速器的结构示意图。Fig. 4 is a schematic structural diagram of an electronic speed governor provided by an embodiment of the present invention.
具体实施例Specific embodiment
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明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发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.
参照图1，图1为本发明实施例提供的一种多电机驱动方法的步骤流程 图。该多电机驱动方法应用于电子调速器，该电子调速器上部署有一个MCU，本实施例提供的多电机驱动方法可以由该MCU执行。因此，本实施例提供的多电机驱动方法适用于一个MCU控制多个电机驱动的情况。该多电机驱动方法包括如下步骤：Referring to Fig. 1, Fig. 1 is a flow chart of the steps of a multi-motor driving method according to an embodiment of the present invention. The multi-motor driving method is applied to an electronic speed governor, and an MCU is deployed on the electronic speed governor, and the multi-motor driving method provided in this embodiment can be executed by the MCU. Therefore, the multi-motor driving method provided in this embodiment is suitable for a situation where one MCU controls the driving of multiple motors. The multi-motor driving method includes the following steps:
步骤101、启动m个计数器中的第n个计数器开始计数并检测第n个计数器的当前值。Step 101: Start the nth counter among the m counters to start counting and detect the current value of the nth counter.
其中，第n+1个计数器的启动时间与第n个计数器的启动时间之间的间隔时间为预设时间，第n个计数器为与第n个电机对应的计数器，m为大于等于2的自然数。Among them, the interval time between the start time of the n+1th counter and the start time of the nth counter is the preset time, the nth counter is the counter corresponding to the nth motor, and m is a natural number greater than or equal to 2 .
需要说明的是，如果计数器的周期为T，则预设时间可以设置为1/4T，第n+1个计数器的启动时间与第n个计数器的启动时间之间的间隔时间为预设时间，例如，以m等于4为例，即有4个计数器。若先启动第1个计数器，则在第1个计数器启动1/4T时开始启动第2个计数器，在第2个计数器启动1/4T时开始启动第3个计数器，依次类推。如果先启动第4个计数器，则在第4个计数器启动1/4T时开始启动第3个计数器，在第3个计数器启动1/4T时开始启动第2个计数器，依次类推，间隔时间为1/4T时开始启动第2个计数器，第2个计数器启动后，间隔1/4T时开始启动第1个计数器。总之，相邻两个计数器的启动时间之间间隔1/4T。It should be noted that if the period of the counter is T, the preset time can be set to 1/4T, and the interval between the start time of the n+1th counter and the start time of the nth counter is the preset time. For example, if m is equal to 4, there are 4 counters. If the first counter is started first, the second counter is started when the first counter starts 1/4T, the third counter starts when the second counter starts 1/4T, and so on. If the fourth counter is started first, the third counter will be started when the fourth counter starts 1/4T, and the second counter will be started when the third counter starts 1/4T, and so on, the interval is 1 Start the second counter at /4T. After the second counter is started, start the first counter at an interval of 1/4T. In short, the start time of two adjacent counters is separated by 1/4T.
步骤102、根据第n个计数器的当前值，判断是否满足对第n个电机进行采样的条件。Step 102: According to the current value of the nth counter, judge whether the condition for sampling the nth motor is satisfied.
第n个计数器启动后开始计数，计数器的计数值不断增加，可以根据计数器的当前值判断是否满足对第n个电机进行采样的条件。例如以4个计数器为例，第1个计数器的当前值等于第一脉冲宽度调制(PWM，Pulse width modulation)模块的第一寄存器的值时，则满足对1个电机进行采样的条件；第2个计数器的当前值等于第一脉冲宽度调制(PWM，)的第二寄存器的值时，则满足对2个电机进行采样的条件；第3个计数器的当前值等于第二PWM模块的第一寄存器的值时，则满足对3个电机进行采样的条件；第4个计数器的当前值等于第二PWM模块的第二寄存器的值时，则满足对4个电机进行采样的条件。其中，为了更清楚的对本发明实施例进行介绍，结合图2进行说明，图2为本发明实施例提供的一种通过一个MCU控制四个电机的波形示意图。将第一PWM模块的第一寄存器的值通过PWM0_A表示，将第一PWM模块的第一寄存器的值通过PWM0_B表示， 将第二PWM模块的第一寄存器的值通过PWM5_A表示，将第二PWM模块的第二寄存器的值通过PWM5_B表示。如图2所示，在第1个计数器的当前值等于PWM0_A时，满足对电机1进行采样的条件；在第2个计数器的当前值等于PWM0_B时，满足对电机2进行采样的条件；在第3个计数器的当前值等于PWM5_A时，满足对电机3进行采样的条件；在第4个计数器的当前值等于PWM5_B时，满足对电机4进行采样的条件。After the nth counter is started, it starts to count, and the count value of the counter keeps increasing. According to the current value of the counter, it can be judged whether the condition for sampling the nth motor is satisfied. For example, taking 4 counters as an example, when the current value of the first counter is equal to the value of the first register of the first pulse width modulation (PWM, Pulse Width Modulation) module, the condition for sampling 1 motor is satisfied; When the current value of a counter is equal to the value of the second register of the first pulse width modulation (PWM,), the condition for sampling two motors is satisfied; the current value of the third counter is equal to the first register of the second PWM module When the value of, the condition for sampling 3 motors is satisfied; when the current value of the fourth counter is equal to the value of the second register of the second PWM module, the condition for sampling 4 motors is satisfied. Among them, in order to introduce the embodiment of the present invention more clearly, it will be described with reference to FIG. 2. FIG. 2 is a schematic diagram of waveforms for controlling four motors through one MCU according to an embodiment of the present invention. The value of the first register of the first PWM module is represented by PWM0_A, the value of the first register of the first PWM module is represented by PWM0_B, the value of the first register of the second PWM module is represented by PWM5_A, and the value of the second PWM module is represented by PWM5_A. The value of the second register is represented by PWM5_B. As shown in Figure 2, when the current value of the first counter is equal to PWM0_A, the condition for sampling motor 1 is satisfied; when the current value of the second counter is equal to PWM0_B, the condition for sampling motor 2 is satisfied; When the current value of the three counters is equal to PWM5_A, the condition for sampling motor 3 is met; when the current value of the fourth counter is equal to PWM5_B, the condition for sampling motor 4 is met.
步骤103、若满足对第n个电机进行采样的条件，则判断是否满足对第n个电机进行控制的条件。Step 103: If the condition for sampling the nth motor is satisfied, it is judged whether the condition for controlling the nth motor is satisfied.
其中，判断是否满足对第n个电机进行控制的条件可以通过如下方式实现：Among them, judging whether the conditions for controlling the n-th motor are met can be achieved in the following ways:
由于第n个计数器启动后，该计数器的计数值不断增加。因此在执行步骤102后，计数值仍然增加，在本步骤中，可以根据该计数器的当前值，判断是否满足对第n个电机进行控制的条件。具体的，为了更清楚介绍本发明实施例提供的多电机驱动方法，首先以图3为例，介绍通过一个MCU控制四个电机的***。参照图3，图3为本发明实施例提供的一种通过一个MCU控制四个电机的***框图。第1个计数器与电机1(第1个电机)对应，第2个计数器与电机2(第2个电机)对应，第3个计数器与电机3(第3个电机)对应，第4个计数器与电机4(第4个电机)对应。若第1个计数器的当前值等于第1个PWM信号输出单元(PWM信号输出单元1)的第二寄存器的当前值时，则满足对第1个电机进行控制的条件；若第2个计数器的当前值等于第2个PWM信号输出单元(PWM信号输出单元2)的第二寄存器的当前值时，满足对第2个电机进行控制的条件；若第3个计数器的当前值等于第3个PWM信号输出单元(PWM信号输出单元3)的第二寄存器的当前值时，则满足对第3个电机进行控制的条件；若第4个计数器的当前值等于第4个PWM信号输出单元(PWM信号输出单元4)的第二寄存器的当前值时，则满足对第4个电机进行控制的条件。After the nth counter is started, the count value of the counter keeps increasing. Therefore, after step 102 is executed, the count value still increases. In this step, it is possible to determine whether the condition for controlling the nth motor is satisfied according to the current value of the counter. Specifically, in order to more clearly introduce the multi-motor driving method provided by the embodiment of the present invention, first, taking FIG. 3 as an example, a system that controls four motors through one MCU is introduced. Referring to FIG. 3, FIG. 3 is a block diagram of a system for controlling four motors through one MCU according to an embodiment of the present invention. The first counter corresponds to motor 1 (the first motor), the second counter corresponds to motor 2 (the second motor), the third counter corresponds to motor 3 (the third motor), and the fourth counter corresponds to Motor 4 (the fourth motor) corresponds. If the current value of the first counter is equal to the current value of the second register of the first PWM signal output unit (PWM signal output unit 1), the condition for controlling the first motor is met; if the second counter is When the current value is equal to the current value of the second register of the second PWM signal output unit (PWM signal output unit 2), the condition for controlling the second motor is met; if the current value of the third counter is equal to the third PWM When the current value of the second register of the signal output unit (PWM signal output unit 3), it meets the conditions for controlling the third motor; if the current value of the fourth counter is equal to the fourth PWM signal output unit (PWM signal When the current value of the second register of the output unit 4), it meets the condition for controlling the fourth motor.
参照图2所示，将PWM信号输出单元1的第二寄存器的值以PWM1_B表示，将PWM信号输出单元2的第二寄存器的值以PWM2_B表示，将PWM信号输出单元3的第二寄存器的值以PWM3_B表示，将PWM信号输出单元4的第二寄存器的值以PWM4_B表示，即第1个计数器的当前值等于第PWM1_B时，则满足对电机1进行控制的条件；若第2个计数器的当前值等于PWM2_B时，满足对电机2进行控制的条件；若第3个计数器的 当前值等于PWM3_B时时，则满足对电机3进行控制的条件；若第4个计数器的当前值等于PWM4_B时时，则满足对电机4进行控制的条件。2, the value of the second register of the PWM signal output unit 1 is represented by PWM1_B, the value of the second register of the PWM signal output unit 2 is represented by PWM2_B, and the value of the second register of the PWM signal output unit 3 It is represented by PWM3_B, and the value of the second register of the PWM signal output unit 4 is represented by PWM4_B, that is, when the current value of the first counter is equal to PWM1_B, the condition for controlling the motor 1 is satisfied; if the current value of the second counter is When the value is equal to PWM2_B, the condition for controlling motor 2 is satisfied; if the current value of the third counter is equal to PWM3_B, the condition for controlling motor 3 is satisfied; if the current value of the fourth counter is equal to PWM4_B, it is satisfied Conditions for controlling the motor 4.
需要说明的是，每个电机对应一个PWM信号输出单元，第1个电机对应第1个PWM信号输出单元，第2个电机对应第2个PWM信号输出单元，依次类推，第n个电机对应第n个PWM信号输出单元。It should be noted that each motor corresponds to a PWM signal output unit, the first motor corresponds to the first PWM signal output unit, the second motor corresponds to the second PWM signal output unit, and so on, the nth motor corresponds to the first PWM signal output unit. n PWM signal output units.
步骤104、若满足对第n个电机进行控制的条件，则根据对第n个电机进行采样获得的第n个电机的反电动势，对第n个电机进行控制。Step 104: If the condition for controlling the nth motor is satisfied, control the nth motor according to the back electromotive force of the nth motor obtained by sampling the nth motor.
其中，根据对第n个电机进行采样获得的第n个电机的反电动势，对第n个电机进行控制，可以通过如下步骤实现：Among them, according to the back electromotive force of the nth motor obtained by sampling the nth motor, the control of the nth motor can be achieved through the following steps:
根据获得的第n个电机的反电动势，确定第n个电机的悬空相的过零点时间；根据第n个电机的悬空相的过零点时间，确定第n个电机的换相点时间；在第n个电机的换相点时间，对第n个电机进行换相控制。According to the obtained back EMF of the nth motor, determine the zero-crossing time of the floating phase of the nth motor; determine the commutation point time of the nth motor according to the zero-crossing time of the floating phase of the nth motor; The commutation point time of n motors is used for commutation control of the nth motor.
例如，参照图3，通过检测单元1采样获得电机1的反电动势，通过检测单元2采样获得电机2的反电动势，通过检测单元3采样获得电机3的反电动势，通过检测单元4采样获得电机4的反电动势。For example, referring to FIG. 3, the back EMF of the motor 1 is obtained by sampling by the detection unit 1, the back EMF of the motor 2 is obtained by sampling by the detection unit 2, the back EMF of the motor 3 is obtained by sampling by the detection unit 3, and the motor 4 is obtained by sampling by the detection unit 4 The back EMF.
需要说明的是，电机可以为无刷直流电机，无刷直流电机的工作原理为：无刷直流电机的定子是线圈绕组电枢，转子是永磁体。如果只给电机通以固定的直流电流，则电机只能产生不变的磁场，电机不能转动起来，只有实时检测电机转子的位置，再根据转子的位置给电机的三相中的任意两相通以对应的电流，使定子产生方向均匀变化的旋转磁场，电机才可以跟着磁场转动起来。其中，无刷直流电机的三相例如包括A相、B相和C相，当A相和B相导通，C相悬空。由于电机转动时，绕组在永磁体的磁场中运动，会产生感应电动势，C相的电压会从正峰值(反电动势)的一半，逐渐变小到0，再变到负峰值的一半，电压有一个过零的过程。或者从负峰值的一半，逐渐变大到0，再变到正峰值的一半，也即C相的电压存在一个过零点时间。根据过零点时间与换相点时间之间的关系，在确定悬空相的过零点时间后，再延迟30度电角度即为BLDC电机的换相点，转子转过30度电角度时间即为换相点时间。在第n个电机的换相点时间，对第n个电机进行换相控制。换相控制后，例如将A相和C相导通，将C相悬空。通过对电机的换相控制，实现电机转动。It should be noted that the motor can be a brushless DC motor. The working principle of the brushless DC motor is: the stator of the brushless DC motor is a coil winding armature, and the rotor is a permanent magnet. If only a fixed DC current is applied to the motor, the motor can only generate a constant magnetic field, and the motor cannot rotate. Only the position of the motor rotor is detected in real time, and then any two phases of the three phases of the motor are connected to any two phases according to the position of the rotor. The corresponding current makes the stator produce a rotating magnetic field with uniform changes in direction, and the motor can rotate with the magnetic field. Among them, the three phases of the brushless DC motor include, for example, phase A, phase B, and phase C. When phase A and phase B are conducted, phase C is suspended. When the motor rotates, the winding moves in the magnetic field of the permanent magnet, which will generate induced electromotive force. The voltage of phase C will gradually decrease from half of the positive peak value (back electromotive force) to 0, and then to half of the negative peak value. A zero-crossing process. Or from half of the negative peak, gradually increase to 0, and then to half of the positive peak, that is, there is a zero-crossing time for the voltage of phase C. According to the relationship between the zero-crossing time and the commutation point time, after determining the zero-crossing time of the floating phase, a delay of 30 degrees in electrical angle is the commutation point of the BLDC motor, and the time when the rotor rotates through 30 degrees in electrical angle is the commutation point. Phase point time. At the time of the commutation point of the nth motor, commutation control is performed on the nth motor. After commutation control, for example, phase A and phase C are turned on, and phase C is suspended. Through the commutation control of the motor, the motor can be rotated.
需要说明的是，如图2所示，以第2个计数器的启动时间比第1个计数器的启动时间延迟1/4T为例，能够保证在第2个计数器的值等于PWM2_B 之前，已经完成对电机1的控制，从而在第2个计数器的值等于PWM2_B时，能够顺利对电机2进行控制。同样，在第3个计数器的值等于PWM3_B之前，已经完成对电机2的控制，从而在第3个计数器的值等于PWM3_B时，能够顺利对电机3进行控制，同理，在对电机3控制完成后，可以顺利对电机4进行控制，从而保证对4个电机的控制能够依次顺利执行。It should be noted that, as shown in Figure 2, taking the start time of the second counter delayed by 1/4T from the start time of the first counter as an example, it can be ensured that before the value of the second counter is equal to PWM2_B, the alignment has been completed. The motor 1 is controlled so that when the value of the second counter is equal to PWM2_B, the motor 2 can be controlled smoothly. Similarly, before the value of the third counter is equal to PWM3_B, the control of motor 2 has been completed, so that when the value of the third counter is equal to PWM3_B, the motor 3 can be controlled smoothly. Similarly, after the control of motor 3 is completed After that, the motor 4 can be controlled smoothly, thereby ensuring that the control of the four motors can be executed smoothly in sequence.
本实施提供的多电机驱动方法，通过启动m个计数器中的第n个计数器开始计数并检测第n个计数器的当前值，根据第n个计数器的当前值，判断是否满足对第n个电机进行采样的条件，若满足对第n个电机进行采样的条件，则判断是否满足对第n个电机进行控制的条件，若满足对第n个电机进行控制的条件，则根据对第n个电机进行采样获得的第n个电机的反电动势，对第n个电机进行控制，从而实现通过电子调速器上的一个MCU驱动多个电机，能够对多个电机进行控制。因此，减少了布局MCU占用的面积，减轻电子调速器的重量，利于无人机实现小型化和轻型化，并且由于减少了MCU的使用个数，在一定程度上降低了制造无人机的成本。The multi-motor driving method provided by this implementation starts counting and detects the current value of the nth counter by starting the nth counter of the m counters. According to the current value of the nth counter, it is determined whether the nth motor is satisfied. Sampling conditions. If the conditions for sampling the nth motor are met, it is determined whether the conditions for controlling the nth motor are met. If the conditions for controlling the nth motor are met, then the nth motor is controlled according to The back electromotive force of the nth motor obtained by sampling is used to control the nth motor, so as to realize that multiple motors can be driven by one MCU on the electronic speed governor, which can control multiple motors. Therefore, the area occupied by the layout of the MCU is reduced, and the weight of the electronic governor is reduced, which is conducive to the miniaturization and lightness of the UAV, and because the number of MCUs used is reduced, the manufacturing of UAVs is reduced to a certain extent. cost.
可选的，步骤102、判断是否满足对第n个电机进行采样的条件，可以通过如下步骤实现：Optionally, step 102, judging whether the condition for sampling the n-th motor is satisfied, can be achieved through the following steps:
判断m个计数器中的第p个计数器的当前值是否等于第(p+1)/2脉冲宽度调制PWM模块的第一寄存器的值、以及判断m个计数器中的第q个计数器的当前值是否等于第(p+1)/2PWM模块的第二寄存器的值，其中，p为奇数，q为偶数，且q＝p+1；Determine whether the current value of the p-th counter in the m counters is equal to the value of the first register of the (p+1)/2-th pulse width modulation PWM module, and determine whether the current value of the q-th counter in the m counters Equal to the value of the second register of the (p+1)/2th PWM module, where p is an odd number, q is an even number, and q=p+1;
若第p个计数器的当前值等于第(p+1)/2PWM模块的第一寄存器的值，则满足对第p个电机进行采样的条件；If the current value of the p-th counter is equal to the value of the first register of the (p+1)/2 PWM module, the condition for sampling the p-th motor is satisfied;
若第q个计数器的当前值等于第(p+1)/2PWM模块的第二寄存器的值，则满足对第q个电机进行采样的条件。If the current value of the qth counter is equal to the value of the second register of the (p+1)/2th PWM module, the condition for sampling the qth motor is satisfied.
可选的，在本发明实施例中，多电机驱动方法还包括如下步骤：Optionally, in the embodiment of the present invention, the multi-motor driving method further includes the following steps:
获取飞行控制器发送的油门信号；Obtain the throttle signal sent by the flight controller;
根据油门信号，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长；According to the throttle signal, control the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit;
根据第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长，调整第n个PWM信号输出单元的第一寄存器的当前值、以及调整第n个PWM信号输出单元的第二寄存器的当前值。Adjust the current value of the first register of the nth PWM signal output unit and adjust the current value of the second register of the nth PWM signal output unit according to the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit The current value.
结合上述举例说明，参照图2，将PWM信号输出单元1的第一寄存器 的当前值以PWM1_A表示，将PWM信号输出单元2的第一寄存器的当前值以PWM2_A表示，将PWM信号输出单元3的第一寄存器的值以PWM3_A表示，将PWM信号输出单元4的第一寄存器的值以PWM4_A表示。例如，可以根据PWM信号输出单元1输出的PWM脉冲信号为高电平的时长，调整PWM1_A和PWM1_B；根据PWM信号输出单元2输出的PWM脉冲信号为高电平的时长，调整PWM2_A和PWM2_B，依次类推，此处不再一一举例介绍。In combination with the above example, referring to Fig. 2, the current value of the first register of the PWM signal output unit 1 is represented by PWM1_A, the current value of the first register of the PWM signal output unit 2 is represented by PWM2_A, and the current value of the first register of the PWM signal output unit 3 is represented by PWM2_A. The value of the first register is represented by PWM3_A, and the value of the first register of the PWM signal output unit 4 is represented by PWM4_A. For example, PWM1_A and PWM1_B can be adjusted according to the duration of the PWM pulse signal output by the PWM signal output unit 1 being high level; according to the duration of the PWM pulse signal output by the PWM signal output unit 2 being high level, PWM2_A and PWM2_B can be adjusted, in turn By analogy, I will not introduce them one by one here.
通过根据油门信号，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长，进而根据第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长，调整第n个PWM信号输出单元的第一寄存器的当前值、以及调整第n个PWM信号输出单元的第二寄存器的当前值。油门信号越大，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长越长，第n个电机可以在较长的时间内获取到较大的电压信号，可以使第n个电机的转速加快。油门信号越小，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长越短，第n个电机只能在较短的时间内获取到电压信号，从而可以使第n个电机的转速降低。因此，可以实现对电机转速的控制。By controlling the duration of the PWM pulse signal output by the nth PWM signal output unit at high level according to the throttle signal, and then adjust the nth duration according to the duration of the PWM pulse signal output by the nth PWM signal output unit at high level The current value of the first register of the PWM signal output unit and the current value of the second register of the nth PWM signal output unit are adjusted. The greater the throttle signal, the longer the time for controlling the PWM pulse signal output by the nth PWM signal output unit to be high. The nth motor can obtain a larger voltage signal in a longer period of time, which can make the nth The speed of each motor increases. The smaller the throttle signal, the shorter the time for controlling the PWM pulse signal output by the nth PWM signal output unit to be high. The nth motor can only obtain the voltage signal in a shorter time, so that the nth The speed of the motor is reduced. Therefore, the control of the motor speed can be achieved.
可选的，步骤103、判断是否满足对第n个电机进行控制的条件可以通过如下方式实现：Optionally, step 103, judging whether the condition for controlling the n-th motor is satisfied can be implemented in the following manner:
若第n个计数器的当前值等于调整后的第n个PWM信号输出单元的第二寄存器的值，则满足对第n个电机进行控制的条件。If the current value of the nth counter is equal to the adjusted value of the second register of the nth PWM signal output unit, the condition for controlling the nth motor is satisfied.
需要说明的是，例如如果调整了PWM1_B，则在第1个计数器的当前值等于调整后的PWM1_B的情况下，满足对电机1进行控制的条件。It should be noted that, for example, if PWM1_B is adjusted, when the current value of the first counter is equal to the adjusted PWM1_B, the condition for controlling the motor 1 is satisfied.
可选的，多电机驱动方法还可以包括：Optionally, the multi-motor driving method may further include:
若第n个计数器的当前值小于或等于调整后的第n个PWM信号输出单元的第一寄存器的当前值，则控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平。If the current value of the nth counter is less than or equal to the adjusted current value of the first register of the nth PWM signal output unit, the PWM pulse signal output by the nth PWM signal output unit is controlled to be high.
参照图2和图3，例如在第1个计数器的当前值小于或等于调整后的PWM1_A时(调整后的PWM1_A可以小于图2所示的PWM1_A，或者大于图2所示的PWM1_A)，控制PWM信号输出单元1输出的PWM脉冲信号为高电平。控制PWM信号输出单元2、PWM信号输出单元3、PWM信号输出单元4输出的PWM脉冲信号为高电平的原理与控制PWM信号输出 单元1输出的PWM脉冲信号为高电平的原理相同，故此处不再赘述。2 and 3, for example, when the current value of the first counter is less than or equal to the adjusted PWM1_A (the adjusted PWM1_A can be smaller than the PWM1_A shown in Figure 2, or greater than the PWM1_A shown in Figure 2), control the PWM The PWM pulse signal output by the signal output unit 1 is at a high level. The principle of controlling the PWM pulse signal output by the PWM signal output unit 2, the PWM signal output unit 3, and the PWM signal output unit 4 to be high level is the same as the principle of controlling the PWM pulse signal output by the PWM signal output unit 1 to be high level, so I won't repeat it here.
可选的，多电机驱动方法还可以包括：Optionally, the multi-motor driving method may further include:
若第n个计数器的当前值大于调整后的第n个PWM信号输出单元的第一寄存器的值，则控制第PWM信号输出单元输出的PWM脉冲信号为低电平。If the current value of the nth counter is greater than the adjusted value of the first register of the nth PWM signal output unit, the PWM pulse signal output by the PWM signal output unit is controlled to be low.
参照图2和图3，例如在第1个计数器的当前值大于于调整后的PWM1_A时(调整后的PWM1_A可以小于图2所示的PWM1_A，或者大于图2所示的PWM1_A)，控制PWM信号输出单元1输出的PWM脉冲信号为低电平。控制PWM信号输出单元2、PWM信号输出单元3、PWM信号输出单元4输出的PWM脉冲信号为高电平的原理与控制PWM信号输出单元1输出的PWM脉冲信号为低电平的原理相同，故此处不再赘述。2 and 3, for example, when the current value of the first counter is greater than the adjusted PWM1_A (the adjusted PWM1_A can be smaller than PWM1_A shown in Figure 2 or greater than PWM1_A shown in Figure 2), the PWM signal is controlled The PWM pulse signal output by the output unit 1 is low level. The principle of controlling the PWM pulse signal output by the PWM signal output unit 2, the PWM signal output unit 3, and the PWM signal output unit 4 to be high level is the same as the principle of controlling the PWM pulse signal output by the PWM signal output unit 1 to be low level, so I won't repeat it here.
另外，本发明实施例提供了的一种电子调速器，该电子调速器包括：处理器、处理器包括多个检测单元、多个PWM信号输出单元以及与检测单元以及PWM单元电连接的一个控制单元。图4为本发明实施例提供了的一种电子调速器的结构示意图。参照图3和图4，图4中以多个检测单元包括检测单元1、检测单元2、检测单元3和检测单元4，多个PWM信号输出单元包括PWM信号输出单元1、PWM信号输出单元2、PWM信号输出单元3和PWM信号输出单元4为例。该电子调速器400还包括处理器和与检测单元1、检测单元2、检测单元3、检测单元4、PWM信号输出单元1、PWM信号输出单元2、PWM信号输出单元3电连接的控制单元。In addition, an embodiment of the present invention provides an electronic speed governor. The electronic speed governor includes a processor, the processor includes a plurality of detection units, a plurality of PWM signal output units, and an electronic speed controller electrically connected to the detection unit and the PWM unit. A control unit. Fig. 4 is a schematic structural diagram of an electronic speed governor provided by an embodiment of the present invention. 3 and 4, in FIG. 4, a plurality of detection units include a detection unit 1, a detection unit 2, a detection unit 3, and a detection unit 4. The plurality of PWM signal output units include a PWM signal output unit 1, a PWM signal output unit 2. , PWM signal output unit 3 and PWM signal output unit 4 are examples. The electronic speed governor 400 also includes a processor and a control unit electrically connected to the detection unit 1, the detection unit 2, the detection unit 3, the detection unit 4, the PWM signal output unit 1, the PWM signal output unit 2, and the PWM signal output unit 3. .
多个检测单元，用于分别检测多个电机的反电动势；Multiple detection units for detecting the back electromotive force of multiple motors respectively;
多个PWM信号输出单元，用于分别输出控制多个电机的PWM信号；Multiple PWM signal output units for respectively outputting PWM signals for controlling multiple motors;
控制单元，用于接收检测单元检测的电机的反电动势，以及控制PWM信号输出单元输出相应的PWM脉冲信号；控制单元用于：The control unit is used to receive the back electromotive force of the motor detected by the detection unit, and to control the PWM signal output unit to output the corresponding PWM pulse signal; the control unit is used to:
启动m个计数器中的第n个计数器开始计数并检测第n个计数器的当前值，其中，第n+1个计数器与第n个计数器启动的间隔时间为预设时间，第n个计数器为与第n个电机对应的计数器，m为大于等于2的自然数；Start the nth counter of the m counters to start counting and detect the current value of the nth counter. The interval between the start of the n+1th counter and the nth counter is the preset time, and the nth counter is and The counter corresponding to the nth motor, m is a natural number greater than or equal to 2;
根据第n个计数器的当前值，判断是否满足对第n个电机进行采样的条件；According to the current value of the nth counter, judge whether the conditions for sampling the nth motor are met;
若满足对第n个电机进行采样的条件，则判断是否满足对第n个电机进行控制的条件；If the conditions for sampling the n-th motor are met, it is determined whether the conditions for controlling the n-th motor are met;
若满足对第n个电机进行控制的条件，则根据对第n个电机进行采样获 得的第n个电机的反电动势，对第n个电机进行控制。If the conditions for controlling the nth motor are met, the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
例如，检测单元1用于检测电机1的反电动势，检测单元2用于检测电机2的反电动势，检测单元3用于检测电机3的反电动势，检测单元4用于检测电机4的反电动势。For example, the detection unit 1 is used to detect the back electromotive force of the motor 1, the detection unit 2 is used to detect the back electromotive force of the motor 2, the detection unit 3 is used to detect the back electromotive force of the motor 3, and the detection unit 4 is used to detect the back electromotive force of the motor 4.
例如，PWM信号输出单元1用于输出控制电机1的PWM信号，PWM信号输出单元2用于输出控制电机2的PWM信号，PWM信号输出单元3用于输出控制电机3的PWM信号，PWM信号输出单元4用于输出控制电机4的PWM信号。For example, the PWM signal output unit 1 is used to output the PWM signal that controls the motor 1, the PWM signal output unit 2 is used to output the PWM signal that controls the motor 2, and the PWM signal output unit 3 is used to output the PWM signal that controls the motor 3. The PWM signal output The unit 4 is used to output a PWM signal for controlling the motor 4.
本实施例提供的电子调速器，可以通过一个MCU对多个电机进行控制，从而减少了布局MCU占用的面积，减轻电子调速器的重量，利于无人机实现小型化和轻型化，并且由于减少了MCU的使用个数，在一定程度上降低了制造无人机的成本。The electronic governor provided in this embodiment can control multiple motors through one MCU, thereby reducing the area occupied by the MCU layout, reducing the weight of the electronic governor, and facilitating miniaturization and lightening of the drone, and As the number of MCUs used is reduced, the cost of manufacturing drones is reduced to a certain extent.
可选的，控制单元具体用于：Optionally, the control unit is specifically used for:
判断m个计数器中的第p个计数器的当前值是否等于第(p+1)/2脉冲宽度调制PWM模块的第一寄存器的值、以及判断m个计数器中的第q个计数器的当前值是否等于第(p+1)/2PWM模块的第二寄存器的值，其中，p为奇数，q为偶数，且q＝p+1；Determine whether the current value of the p-th counter in the m counters is equal to the value of the first register of the (p+1)/2-th pulse width modulation PWM module, and determine whether the current value of the q-th counter in the m counters Equal to the value of the second register of the (p+1)/2th PWM module, where p is an odd number, q is an even number, and q=p+1;
若第p个计数器的当前值等于第(p+1)/2PWM模块的第一寄存器的值，则满足对第p个电机进行采样的条件；If the current value of the p-th counter is equal to the value of the first register of the (p+1)/2 PWM module, the condition for sampling the p-th motor is satisfied;
若第q个计数器的当前值等于第(p+1)/2PWM模块的第二寄存器的值，则满足对第q个电机进行采样的条件。If the current value of the qth counter is equal to the value of the second register of the (p+1)/2th PWM module, the condition for sampling the qth motor is satisfied.
可选的，还包括：Optional, also includes:
油门信号接口，用于获取飞行控制器发送的油门信号；Throttle signal interface, used to obtain the throttle signal sent by the flight controller;
控制单元，与油门信号接口电连接，控制单元用于：根据油门信号，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长；The control unit is electrically connected to the throttle signal interface, and the control unit is used to control the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit according to the throttle signal;
根据第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长，调整第n个PWM信号输出单元的第一寄存器的当前值、以及调整第n个PWM信号输出单元的第二寄存器的当前值。Adjust the current value of the first register of the nth PWM signal output unit and adjust the current value of the second register of the nth PWM signal output unit according to the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit The current value.
可选的，如图4所示，油门信号接口为通用异步收发传输器(UART，Universal Asynchronous Receiver/Transmitter)接口，即油门信号接口为UART接口。Optionally, as shown in Figure 4, the throttle signal interface is a Universal Asynchronous Receiver/Transmitter (UART, Universal Asynchronous Receiver/Transmitter) interface, that is, the throttle signal interface is a UART interface.
可选的，控制单元，具体用于若第n个计数器的当前值等于调整后的 第n个PWM信号输出单元的第二寄存器的值，则满足对第n个电机进行控制的条件。Optionally, the control unit is specifically configured to satisfy the condition for controlling the nth motor if the current value of the nth counter is equal to the adjusted value of the second register of the nth PWM signal output unit.
可选的，控制单元，具体用于：Optionally, the control unit is specifically used for:
根据获得的第n个电机的反电动势，确定第n个电机的悬空相的过零点时间；According to the obtained back EMF of the nth motor, determine the zero-crossing time of the floating phase of the nth motor;
根据第n个电机的悬空相的过零点时间，确定第n个电机的换相点时间；Determine the commutation point time of the nth motor according to the zero-crossing time of the floating phase of the nth motor;
在第n个电机的换相点时间，对第n个电机进行换相控制。At the time of the commutation point of the nth motor, commutation control is performed on the nth motor.
可选的，控制单元，还用于若第n个计数器的当前值小于或等于调整后的第n个PWM信号输出单元的第一寄存器的当前值，则控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平。Optionally, the control unit is further configured to control the output of the nth PWM signal output unit if the current value of the nth counter is less than or equal to the adjusted current value of the first register of the nth PWM signal output unit The PWM pulse signal is high.
可选的，控制单元，还用于若第n个计数器的当前值大于调整后的第n个PWM信号输出单元的第一寄存器的值，则控制第n个PWM信号输出单元输出的PWM脉冲信号为低电平。Optionally, the control unit is further configured to control the PWM pulse signal output by the nth PWM signal output unit if the current value of the nth counter is greater than the adjusted value of the first register of the nth PWM signal output unit Low level.
可选的，还包括多个驱动电路，多个驱动电路分别与多个PWM信号输出单元电连接，用于分别根据PWM信号输出单元输出的PWM脉冲信号，提供相应的驱动信号给电机。Optionally, a plurality of driving circuits are further included, and the plurality of driving circuits are respectively electrically connected to a plurality of PWM signal output units, and are configured to provide corresponding driving signals to the motors according to the PWM pulse signals output by the PWM signal output units.
例如，如图4所示，包括驱动电路1、驱动电路2、驱动电路3和驱动电路4。驱动电路1与PWM信号输出单元1电连接，用于根据所述PWM信号输出单元输出的PWM脉冲信号，提供相应的驱动信号给所述电机1；驱动电路2与PWM信号输出单元2电连接，用于根据所述PWM信号输出单元2输出的PWM脉冲信号，提供相应的驱动信号给所述电机2；驱动电路3与PWM信号输出单元3电连接，用于根据所述PWM信号输出单元3输出的PWM脉冲信号，提供相应的驱动信号给所述电机3；驱动电路4与PWM信号输出单元4电连接，用于根据所述PWM信号输出单元4输出的PWM脉冲信号，提供相应的驱动信号给所述电机4。For example, as shown in FIG. 4, it includes a driving circuit 1, a driving circuit 2, a driving circuit 3, and a driving circuit 4. The driving circuit 1 is electrically connected to the PWM signal output unit 1, and is used to provide a corresponding driving signal to the motor 1 according to the PWM pulse signal output by the PWM signal output unit; the driving circuit 2 is electrically connected to the PWM signal output unit 2, It is used to provide a corresponding drive signal to the motor 2 according to the PWM pulse signal output by the PWM signal output unit 2; the drive circuit 3 is electrically connected to the PWM signal output unit 3 for outputting according to the PWM signal output unit 3 The PWM pulse signal provides the corresponding drive signal to the motor 3; the drive circuit 4 is electrically connected to the PWM signal output unit 4 for providing the corresponding drive signal to the PWM pulse signal output by the PWM signal output unit 4 The motor 4.
另外，本发明实施例还提供了一种动力***，包括上述实施例中的所述电子调速器和多个电机；所述多个电机与所述电子调速器电连接。In addition, an embodiment of the present invention also provides a power system, including the electronic speed governor and a plurality of motors in the above embodiment; the plurality of motors are electrically connected to the electronic speed governor.
此外，本发明实施例还提供了一种无人飞行器，包括飞行控制器、以及上述实施例中的所述动力***；In addition, an embodiment of the present invention also provides an unmanned aerial vehicle, including a flight controller, and the power system in the foregoing embodiment;
其中，所述飞行控制器与所述电子调速器电连接，用于输入油门信号给所述电子调速器，所述电子调速器根据所述油门信号控制多个电机转 动，以提供飞行动力给所述无人飞行器。Wherein, the flight controller is electrically connected to the electronic governor for inputting a throttle signal to the electronic governor, and the electronic governor controls the rotation of a plurality of motors according to the throttle signal to provide flight Power to the UAV.
另外，本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现上述的多电机驱动方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，的计算机可读存储介质，可以为只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。In addition, the embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the computer program is executed by a processor, each process of the above-mentioned multi-motor driving method embodiment is realized and can be To achieve the same technical effect, in order to avoid repetition, I will not repeat them here. The computer-readable storage medium may be a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk, or an optical disk.
本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other.
本领域技术人员易于想到的是：上述各个实施例的任意组合应用都是可行的，故上述各个实施例之间的任意组合都是本发明的实施方案，但是由于篇幅限制，本说明书在此就不一一详述了。It is easy for those skilled in the art to think that: any combination of the above-mentioned embodiments is feasible, so any combination between the above-mentioned various embodiments is the implementation of the present invention, but due to space limitations, this description is here I will not elaborate on them one by one.
在此提供的多电机驱动方法不与任何特定计算机、虚拟***或者其它设备固有相关。各种通用***也可以与基于在此的示教一起使用。根据上面的描述，构造具有本发明方案的***所要求的结构是显而易见的。此外，本发明也不针对任何特定编程语言。应当明白，可以利用各种编程语言实现在此描述的本发明的内容，并且上面对特定语言所做的描述是为了披露本发明的最佳实施方式。The multi-motor driving method provided here is not inherently related to any specific computer, virtual system or other equipment. Various general-purpose systems can also be used with the teaching based on this. From the above description, the structure required to construct the system with the solution of the present invention is obvious. In addition, the present invention is not directed to any specific programming language. It should be understood that various programming languages can be used to implement the content of the present invention described herein, and the above description of a specific language is to disclose the best embodiment of the present invention.
在此处所提供的说明书中，说明了大量具体细节。然而，能够理解，本发明的实施例可以在没有这些具体细节的情况下实践。在一些实例中，并未详细示出公知的方法、结构和技术，以便不模糊对本说明书的理解。In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and technologies are not shown in detail, so as not to obscure the understanding of this specification.
类似地，应当理解，为了精简本发明并帮助理解各个发明方面中的一个或多个，在上面对本发明的示例性实施例的描述中，本发明的各个特征有时被一起分组到单个实施例、图、或者对其的描述中。然而，并不应将该公开的方法解释成反映如下意图：即所要求保护的本发明要求比在每个权利要求中所明确记载的特征更多的特征。更确切地说，如权利要求书所反映的那样，发明方面在于少于前面公开的单个实施例的所有特征。因此，遵循具体实施方式的权利要求书由此明确地并入该具体实施方式，其中每个权利要求本身都作为本发明的单独实施例。Similarly, it should be understood that in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, Figure, or its description. However, the disclosed method should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly stated in each claim. More precisely, as reflected in the claims, the inventive aspect lies in less than all the features of a single embodiment disclosed previously. Therefore, the claims following the specific embodiment are thus explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.
本领域那些技术人员可以理解，可以对实施例中的设备中的模块进行自适应性地改变并且把它们设置在与该实施例不同的一个或多个设备中。 可以把实施例中的模块或单元或组件组合成一个模块或单元或组件，以及此外可以把它们分成多个子模块或子单元或子组件。除了这样的特征和/或过程或者单元中的至少一些是相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由提供相同、等同或相似目的的替代特征来代替。Those skilled in the art can understand that it is possible to adaptively change the modules in the device in the embodiment and set them in one or more devices different from the embodiment. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and/or processes or units are mutually exclusive, any combination can be used to compare all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or methods disclosed in this manner or All the processes or units of the equipment are combined. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本发明的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。In addition, those skilled in the art can understand that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments means that they are within the scope of the present invention. Within and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.
本发明的各个部件实施例可以以硬件实现，或者以在一个或者多个处理器上运行的软件模块实现，或者以它们的组合实现。本领域的技术人员应当理解，可以在实践中使用微处理器或者数字信号处理器(DSP)来实现根据本发明实施例的多电机驱动方法中的一些或者全部部件的一些或者全部功能。本发明还可以实现为用于执行这里所描述的方法的一部分或者全部的设备或者装置程序(例如，计算机程序和计算机程序产品)。这样的实现本发明的程序可以存储在计算机可读介质上，或者可以具有一个或者多个信号的形式。这样的信号可以从因特网网站上下载得到，或者在载体信号上提供，或者以任何其他形式提供。The various component embodiments of the present invention may be implemented by hardware, or by software modules running on one or more processors, or by their combination. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all components in the multi-motor driving method according to the embodiments of the present invention. The present invention can also be implemented as a device or device program (for example, a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for realizing the present invention may be stored on a computer-readable medium, or may have the form of one or more signals. Such signals can be downloaded from Internet websites, or provided on carrier signals, or provided in any other form.
应该注意的是上述实施例对本发明进行说明而不是对本发明进行限制，并且本领域技术人员在不脱离所附权利要求的范围的情况下可设计出替换实施例。在权利要求中，不应将位于括号之间的任何参考符号构造成对权利要求的限制。单词“包含”不排除存在未列在权利要求中的元件或步骤。位于元件之前的单词“一”或“一个”不排除存在多个这样的元件。本发明可以借助于包括有若干不同元件的硬件以及借助于适当编程的计算机来实现。在列举了若干装置的单元权利要求中，这些装置中的若干个可以是通过同一个硬件项来具体体现。单词第一、第二、以及第三等的使用不表示任何顺序。可将这些单词解释为名称。It should be noted that the above-mentioned embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of multiple such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. do not indicate any order. These words can be interpreted as names.

Claims (19)

  1. 一种多电机驱动方法，其特征在于，所述方法应用于电子调速器，所述方法包括：A multi-motor driving method, characterized in that the method is applied to an electronic speed governor, and the method includes:
    启动m个计数器中的第n个计数器开始计数并检测所述第n个计数器的当前值，其中，第n+1个计数器的启动时间与所述第n个计数器的启动时间之间的间隔时间为预设时间，所述第n个计数器为与第n个电机对应的计数器，m为大于等于2的自然数；Start the nth counter of the m counters to start counting and detect the current value of the nth counter, where the interval time between the start time of the n+1th counter and the start time of the nth counter Is a preset time, the nth counter is a counter corresponding to the nth motor, and m is a natural number greater than or equal to 2;
    根据所述第n个计数器的当前值，判断是否满足对所述第n个电机进行采样的条件；According to the current value of the nth counter, determine whether the condition for sampling the nth motor is satisfied;
    若满足对所述第n个电机进行采样的条件，则判断是否满足对所述第n个电机进行控制的条件；If the condition for sampling the nth motor is satisfied, determining whether the condition for controlling the nth motor is satisfied;
    若满足对所述第n个电机进行控制的条件，则根据对所述第n个电机进行采样获得的第n个电机的反电动势，对所述第n个电机进行控制。If the condition for controlling the nth motor is satisfied, the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
  2. 根据权利要求1所述的方法，其特征在于，所述判断是否满足对所述第n个电机进行采样的条件，包括：The method according to claim 1, wherein the determining whether the condition for sampling the n-th motor is satisfied comprises:
    判断所述m个计数器中的第p个计数器的当前值是否等于第(p+1)/2脉冲宽度调制PWM模块的第一寄存器的值、以及判断所述m个计数器中的第q个计数器的当前值是否等于所述第(p+1)/2PWM模块的第二寄存器的值，其中，p为奇数，q为偶数，且q＝p+1；Determine whether the current value of the p-th counter among the m counters is equal to the value of the first register of the (p+1)/2-th pulse width modulation PWM module, and determine whether the q-th counter among the m counters Whether the current value of is equal to the value of the second register of the (p+1)/2PWM module, where p is an odd number, q is an even number, and q=p+1;
    若所述第p个计数器的当前值等于第(p+1)/2PWM模块的第一寄存器的值，则满足对所述第p个电机进行采样的条件；If the current value of the p-th counter is equal to the value of the first register of the (p+1)/2th PWM module, the condition for sampling the p-th motor is satisfied;
    若所述第q个计数器的当前值等于第(p+1)/2PWM模块的第二寄存器的值，则满足对所述第q个电机进行采样的条件。If the current value of the qth counter is equal to the value of the second register of the (p+1)/2th PWM module, the condition for sampling the qth motor is satisfied.
  3. 根据权利要求1或2所述的方法，其特征在于，还包括：The method according to claim 1 or 2, further comprising:
    获取飞行控制器发送的油门信号；Obtain the throttle signal sent by the flight controller;
    根据所述油门信号，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长；Controlling the duration of the PWM pulse signal output by the n-th PWM signal output unit at a high level according to the throttle signal;
    根据所述第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长，调整所述第n个PWM信号输出单元的第一寄存器的当前值、以及调整所述第n个PWM信号输出单元的第二寄存器的当前值。Adjust the current value of the first register of the nth PWM signal output unit and adjust the nth PWM signal output according to the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit The current value of the second register of the unit.
  4. 根据权利要求3所述的方法，其特征在于，所述判断是否满足对所述第n个电机进行控制的条件，包括：The method according to claim 3, wherein the determining whether the condition for controlling the n-th motor is satisfied comprises:
    若所述第n个计数器的当前值等于调整后的所述第n个PWM信号输出单元的第二寄存器的值，则满足对所述第n个电机进行控制的条件。If the current value of the nth counter is equal to the adjusted value of the second register of the nth PWM signal output unit, the condition for controlling the nth motor is satisfied.
  5. 根据权利要求4所述的方法，其特征在于，所述根据对所述第n个电机进行采样获得的第n个电机的反电动势，对所述第n个电机进行控制，包括：The method according to claim 4, wherein the controlling the nth motor according to the back electromotive force of the nth motor obtained by sampling the nth motor comprises:
    根据获得的所述第n个电机的反电动势，确定所述第n个电机的悬空相的过零点时间；Determining the zero-crossing time of the floating phase of the nth motor according to the obtained back electromotive force of the nth motor;
    根据所述第n个电机的悬空相的过零点时间，确定所述第n个电机的换相点时间；Determining the commutation point time of the nth motor according to the zero-crossing time of the floating phase of the nth motor;
    在所述第n个电机的换相点时间，对所述第n个电机进行换相控制。At the time of the commutation point of the nth motor, commutation control is performed on the nth motor.
  6. 根据权利要求5所述的方法，其特征在于，所述方法还包括：The method of claim 5, wherein the method further comprises:
    若所述第n个计数器的当前值小于或等于调整后的所述第n个PWM信号输出单元的第一寄存器的当前值，则控制所述第n个PWM信号输出单元输出的PWM脉冲信号为高电平。If the current value of the nth counter is less than or equal to the adjusted current value of the first register of the nth PWM signal output unit, the PWM pulse signal output by the nth PWM signal output unit is controlled to be High level.
  7. 根据权利要求6所述的方法，其特征在于，所述方法还包括：The method according to claim 6, wherein the method further comprises:
    若所述第n个计数器的当前值大于调整后的所述第n个PWM信号输出单元的第一寄存器的值，则控制所述第PWM信号输出单元输出的PWM脉冲信号为低电平。If the current value of the nth counter is greater than the adjusted value of the first register of the nth PWM signal output unit, the PWM pulse signal output by the PWM signal output unit is controlled to be low.
  8. 一种电子调速器，用于同时驱动多个电机，其特征在于，包括：处理器，所述处理器包括多个检测单元、多个PWM信号输出单元以及与所述检测单元以及PWM单元电连接的一个控制单元，An electronic speed governor for driving multiple motors at the same time, characterized by comprising: a processor, the processor including a plurality of detection units, a plurality of PWM signal output units and the detection unit and the PWM unit A connected control unit,
    多个所述检测单元，用于分别检测多个所述电机的反电动势；A plurality of the detection units are used to detect the back electromotive force of a plurality of the motors;
    多个PWM信号输出单元，用于分别输出控制多个所述电机的PWM信号；Multiple PWM signal output units for respectively outputting PWM signals for controlling multiple motors;
    所述控制单元，用于接收所述检测单元检测的所述电机的所述反电动势，以及控制所述PWM信号输出单元输出相应的PWM脉冲信号；所述控制单元用于：The control unit is configured to receive the back electromotive force of the motor detected by the detection unit, and control the PWM signal output unit to output a corresponding PWM pulse signal; the control unit is configured to:
    启动m个计数器中的第n个计数器开始计数并检测所述第n个计数器的当前值，其中，第n+1个计数器与所述第n个计数器启动的间隔时间为预设时间，所述第n个计数器为与第n个电机对应的计数器，m为大于等于2的自然数；Start the nth counter of the m counters to start counting and detect the current value of the nth counter, where the interval time between the start of the n+1th counter and the nth counter is a preset time, the The nth counter is the counter corresponding to the nth motor, and m is a natural number greater than or equal to 2;
    根据所述第n个计数器的当前值，判断是否满足对所述第n个电机进行 采样的条件；According to the current value of the nth counter, determine whether the condition for sampling the nth motor is satisfied;
    若满足对所述第n个电机进行采样的条件，则判断是否满足对所述第n个电机进行控制的条件；If the condition for sampling the nth motor is satisfied, determining whether the condition for controlling the nth motor is satisfied;
    若满足对所述第n个电机进行控制的条件，则根据对所述第n个电机进行采样获得的第n个电机的反电动势，对所述第n个电机进行控制。If the condition for controlling the nth motor is satisfied, the nth motor is controlled according to the back electromotive force of the nth motor obtained by sampling the nth motor.
  9. 根据权利要求8所述的电子调速器，其特征在于，所述控制单元具体用于：The electronic speed governor according to claim 8, wherein the control unit is specifically configured to:
    判断所述m个计数器中的第p个计数器的当前值是否等于第(p+1)/2脉冲宽度调制PWM模块的第一寄存器的值、以及判断所述m个计数器中的第q个计数器的当前值是否等于所述第(p+1)/2PWM模块的第二寄存器的值，其中，p为奇数，q为偶数，且q＝p+1；Determine whether the current value of the p-th counter among the m counters is equal to the value of the first register of the (p+1)/2-th pulse width modulation PWM module, and determine whether the q-th counter among the m counters Whether the current value of is equal to the value of the second register of the (p+1)/2PWM module, where p is an odd number, q is an even number, and q=p+1;
    若所述第p个计数器的当前值等于第(p+1)/2PWM模块的第一寄存器的值，则满足对所述第p个电机进行采样的条件；If the current value of the p-th counter is equal to the value of the first register of the (p+1)/2th PWM module, the condition for sampling the p-th motor is satisfied;
    若所述第q个计数器的当前值等于第(p+1)/2PWM模块的第二寄存器的值，则满足对所述第q个电机进行采样的条件。If the current value of the qth counter is equal to the value of the second register of the (p+1)/2th PWM module, the condition for sampling the qth motor is satisfied.
  10. 根据权利要求8或9所述的电子调速器，其特征在于，还包括：The electronic speed governor of claim 8 or 9, further comprising:
    油门信号接口，用于获取飞行控制器发送的油门信号；Throttle signal interface, used to obtain the throttle signal sent by the flight controller;
    所述控制单元，与所述油门信号接口电连接，所述控制单元用于：根据所述油门信号，控制第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长；The control unit is electrically connected to the throttle signal interface, and the control unit is configured to: according to the throttle signal, control the duration of the PWM pulse signal output by the nth PWM signal output unit to be at a high level;
    根据所述第n个PWM信号输出单元输出的PWM脉冲信号为高电平的时长，调整所述第n个PWM信号输出单元的第一寄存器的当前值、以及调整所述第n个PWM信号输出单元的第二寄存器的当前值。Adjust the current value of the first register of the nth PWM signal output unit and adjust the nth PWM signal output according to the duration of the high level of the PWM pulse signal output by the nth PWM signal output unit The current value of the second register of the unit.
  11. 根据权利要求10所述的电子调速器，其特征在于，所述油门信号接口为通用异步收发传输器UART接口。The electronic speed governor according to claim 10, wherein the throttle signal interface is a universal asynchronous receiver transmitter UART interface.
  12. 根据权利要求11所述的电子调速器，其特征在于，所述控制单元，具体用于若所述第n个计数器的当前值等于调整后的所述第n个PWM信号输出单元的第二寄存器的值，则满足对所述第n个电机进行控制的条件。The electronic speed governor of claim 11, wherein the control unit is specifically configured to: if the current value of the nth counter is equal to the adjusted second value of the nth PWM signal output unit The value of the register satisfies the condition for controlling the nth motor.
  13. 根据权利要求12所述的电子调速器，其特征在于，所述控制单元，具体用于：The electronic speed governor according to claim 12, wherein the control unit is specifically configured to:
    根据获得的所述第n个电机的反电动势，确定所述第n个电机的悬空相的过零点时间；Determining the zero-crossing time of the floating phase of the nth motor according to the obtained back electromotive force of the nth motor;
    根据所述第n个电机的悬空相的过零点时间，确定所述第n个电机的换相点时间；Determining the commutation point time of the nth motor according to the zero-crossing time of the floating phase of the nth motor;
    在所述第n个电机的换相点时间，对所述第n个电机进行换相控制。At the time of the commutation point of the nth motor, commutation control is performed on the nth motor.
  14. 根据权利要求13所述的电子调速器，其特征在于，The electronic speed governor according to claim 13, wherein:
    所述控制单元，还用于若所述第n个计数器的当前值小于或等于调整后的所述第n个PWM信号输出单元的第一寄存器的当前值，则控制所述第n个PWM信号输出单元输出的PWM脉冲信号为高电平。The control unit is further configured to control the nth PWM signal if the current value of the nth counter is less than or equal to the adjusted current value of the first register of the nth PWM signal output unit The PWM pulse signal output by the output unit is high level.
  15. 根据权利要求14所述的电子调速器，其特征在于，The electronic speed governor according to claim 14, wherein:
    所述控制单元，还用于若所述第n个计数器的当前值大于调整后的所述第n个PWM信号输出单元的第一寄存器的值，则控制所述第n个PWM信号输出单元输出的PWM脉冲信号为低电平。The control unit is further configured to control the output of the nth PWM signal output unit if the current value of the nth counter is greater than the adjusted value of the first register of the nth PWM signal output unit The PWM pulse signal is low level.
  16. 根据权利要求8所述的电子调速器，其特征在于，还包括多个驱动电路，多个所述驱动电路分别与多个所述PWM信号输出单元电连接，用于分别根据所述PWM信号输出单元输出的PWM脉冲信号，提供相应的驱动信号给所述电机。The electronic speed governor according to claim 8, further comprising a plurality of driving circuits, and the plurality of driving circuits are respectively electrically connected to a plurality of the PWM signal output units, and are configured to respectively respond to the PWM signal The PWM pulse signal output by the output unit provides a corresponding driving signal to the motor.
  17. 一种动力***，其特征在于，包括：A power system, characterized in that it comprises:
    权利要求8-16中任一项所述的电子调速器和多个电机；The electronic speed governor and multiple motors according to any one of claims 8-16;
    所述多个电机与所述电子调速器电连接。The multiple motors are electrically connected with the electronic speed governor.
  18. 一种无人飞行器，其特征在于，包括飞行控制器、以及权利要求17所述的动力***；An unmanned aerial vehicle, characterized by comprising a flight controller and the power system of claim 17;
    其中，所述飞行控制器与所述电子调速器电连接，用于输入油门信号给所述电子调速器，所述电子调速器根据所述油门信号控制多个电机转动，以提供飞行动力给所述无人飞行器。Wherein, the flight controller is electrically connected to the electronic governor for inputting a throttle signal to the electronic governor, and the electronic governor controls the rotation of a plurality of motors according to the throttle signal to provide flight Power to the UAV.
  19. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质上存储计算机程序，所述计算机程序被处理器执行时实现权利要求1至7任一所述的多电机驱动方法。A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the multi-motor driving method according to any one of claims 1 to 7 is realized.
PCT/CN2019/098406 2019-07-30 2019-07-30 Multi-motor driving method, electronic speed control, power system, unmanned aerial vehicle and storage medium WO2021016872A1 (en)

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