Starting method and apparatus for permanent magnet synchronous motor, power system, and unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-10447185-B2
Application number	US-201815883647-A
Country	US
Kind code	B2
Filing date	Jan 30, 2018
Priority date	Nov 29, 2016
Publication date	Oct 15, 2019
Grant date	Oct 15, 2019

Abstract

Implementations of the present application relate to a starting method and apparatus for a permanent magnet synchronous motor, a power system, and an unmanned aerial vehicle (UAV). The method includes: obtaining a current motor rotational speed and motor position information of the permanent magnet synchronous motor; determining whether the current motor rotational speed is less than a preset minimum rotational speed, and if the current motor rotational speed is less than the preset minimum rotational speed, using the preset minimum rotational speed as a feedback rotational speed; otherwise, using the current motor rotational speed as a feedback rotational speed; and performing closed-loop control on the permanent magnet synchronous motor according to the feedback rotational speed and the motor position information. In this way, the starting method is simplified and simpler. Potential failure risks in various states in the prior art are avoided, thereby effectively improving reliability of a starting process.

First claim

What is claimed is:

1. A starting method for a permanent magnet synchronous motor, wherein the method is performed by a motor controller, comprising:
obtaining a current motor rotational speed and motor position information of the permanent magnet synchronous motor;
determining whether the current motor rotational speed is less than a preset minimum rotational speed, and if the current motor rotational speed is less than the preset minimum rotational speed, using the preset minimum rotational speed as a feedback rotational speed; otherwise, using the current motor rotational speed as a feedback rotational speed; and
performing closed-loop control on the permanent magnet synchronous motor according to the feedback rotational speed and the motor position information;
adjusting a value of the present minimum rotational speed when abnormal motor starting occurs.

2. The starting method according to claim 1 , wherein the abnormal motor starting comprises:
an out-of-synchronization time of the permanent magnet synchronous motor exceeds a first preset time; or
the permanent magnet synchronous motor cannot be started within a second preset time.

3. The starting method according to claim 1 , wherein the obtaining the current motor rotational speed and motor position information of the permanent magnet synchronous motor comprises:
calculating the current motor rotational speed of the permanent magnet synchronous motor; and
performing time integration on the current motor rotational speed, to obtain the motor position information.

4. The starting method according to claim 3 , wherein the calculating the current motor rotational speed of the permanent magnet synchronous comprises:
calculating the current motor rotational speed of the permanent magnet synchronous motor in a position sensorless manner.

5. An unmanned aerial vehicle, comprising:
a central housing;
an arm, wherein one end of the arm is connected to the central housing;
a motor, wherein the motor is connected to the other end of the arm;
a motor controller, wherein the motor controller is located on the arm or inside a cavity formed by the central housing, an output end of the motor controller being connected to an input end of the motor; and
a propeller, connected to the motor, wherein the propeller, driven by the motor, generates a force that moves the unmanned aerial vehicle, wherein
the motor controller is configured to:
obtain a current motor rotational speed and motor position information of the motor;
determine whether the current motor rotational speed is less than a preset minimum rotational speed, and if the current motor rotational speed is less than the preset minimum rotational speed, use the preset minimum rotational speed as a feedback rotational speed; otherwise, use the current motor rotational speed as a feedback rotational speed;
perform closed-loop control on the motor according to the feedback rotational speed and the motor position information; and
adjust a value of the preset minimum rotational speed when abnormal motor starting occurs.

6. The unmanned aerial vehicle according to claim 5 , wherein the abnormal motor starting comprises:
an out-of-synchronization time of the motor exceeds a first preset time; or
the motor cannot be started within a second preset time.

7. The unmanned aerial vehicle according to claim 5 , wherein the motor controller is specifically configured to:
calculate the current motor rotational speed of the motor; and
perform time integration on the current motor rotational speed, to obtain the motor position information.

8. The unmanned aerial vehicle according to claim 7 , wherein the motor controller is specifically configured to:
calculate the current motor rotational speed of the motor in a position sensorless manner.

9. The unmanned aerial vehicle according to claim 5 , wherein the motor is a permanent magnet synchronous motor.

Assignees

• Autel Robotics Co Ltd

Inventors

• Chen Yidong

Classifications

• B64U2201/00

  UAVs characterised by their flight controls · CPC title

• H02P2205/07

  Speed loop, i.e. comparison of the motor speed with a speed reference · CPC title

• H02P21/34

  Arrangements for starting · CPC title

• H02P21/04

  specially adapted for very low speeds · CPC title

• H02P21/0021

  using different modes of control depending on a parameter, e.g. the speed · CPC title