Unmanned aerial vehicle motor dragging method and system

Abstract

The invention discloses an unmanned aerial vehicle motor dragging method and system, and the method comprises the following steps: inputting a first current vector to a motor stator winding, enablinga first direct-axis current value of the first current vector to be 0, and enabling a first quadrature-axis current value of the first current vector to be a first preset value; according to the acceleration of the motor rotor, obtaining a rotor position angle, and increasing the acceleration from 0 to a second preset value at a constant speed; collecting three-phase current of the motor, and obtaining a second direct-axis current value and a second quadrature-axis current value according to the three-phase current and the rotor position angle; comparing and adjusting the second direct-axis current value with a given direct-axis current value to obtain a direct-axis voltage value, and comparing and adjusting the second quadrature-axis current value with a given quadrature-axis current value to obtain a quadrature-axis voltage value; obtaining a three-phase input voltage signal according to the direct-axis voltage value, the quadrature-axis voltage value and the rotor position angle; and driving the motor to rotate according to the three-phase input voltage signal, so that the dragging time can be effectively shortened.

Description

technical field [0001] The present invention generally relates to the field of unmanned aerial vehicles, specifically relates to the field of unmanned aerial vehicle motors, and in particular relates to a method and system for dragging an unmanned aerial vehicle motor. Background technique [0002] Due to the particularity of its structure, the UAV motor cannot use sensors to feed back the motor rotor position angle, and can only use sensorless control technology to feed back the motor rotor position angle; at the same time, because the salient polarity of the motor is relatively weak, it can only be used The rotor position observation technology based on the back electromotive force is used to detect the position of the motor rotor; on the other hand, since the back electromotive force of the motor is very small when the motor is at zero or very low speed, the UAV can only be driven by the open-loop dragging technology first. After the motor is dragged to a certain speed, t...

AI Technical Summary

Problems solved by technology

Among them, the V / F dragging capacity is very poor, the dynamic performance is poor, and it is difficult to debug. Not suitable for UAV motor drag

Therefore, the motor of the UAV can be dragged by I / F. The setting of the startup acceleration is very critical. If the acceleration is too small, the open-loop dragging time of the motor will be longer. If the acceleration is too high, it will easily fail to start.

[0004] In the existing I / F dragging technology, the acceleration value is a fixed value, and this method has the problem of long dragging time

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