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

Patent metadata

Field	Value
Publication number	US-11005396-B2
Application number	US-201916567183-A
Country	US
Kind code	B2
Filing date	Sep 11, 2019
Priority date	Nov 29, 2016
Publication date	May 11, 2021
Grant date	May 11, 2021

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. An unmanned aerial vehicle, comprising:
a central housing;
an arm connected to the central housing;
a motor mounted on the arm;
a propeller connected to the motor, wherein the propeller is configured to generate a force that moves the unmanned aerial vehicle;
a motor controller comprising a memory and at least one microcontroller or microprocessor, wherein the motor controller is located on the arm or inside a cavity formed by the central housing; and
a flight control system configured to control flight of the unmanned aerial vehicle, wherein the flight control system is one of a processing unit, an application-specific integrated circuit, and a field programmable gate array;
wherein the flight control system is further configured to send a throttle signal to the motor controller for starting the motor;
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;
set a feedback rotational speed as the preset minimum rotational speed based on a determination that the current motor rotational speed is less than the preset minimum rotational speed; and
perform closed-loop control on the motor according to the feedback rotational speed and the motor position information.

2. The unmanned aerial vehicle according to claim 1 , wherein the motor controller is further configured to:
adjust a value of the preset minimum rotational speed.

3. The unmanned aerial vehicle according to claim 2 , wherein the motor controller is configured to increase or reduce the value of the preset minimum rotational speed.

4. The unmanned aerial vehicle according to claim 1 , wherein the motor controller is configured to adjust a value of the preset minimum rotational speed based on a determination that abnormal starting of the motor occurs.

5. The unmanned aerial vehicle according to claim 1 , wherein the motor controller is configured to adjust a value of the preset minimum rotational speed based on a determination that an out-of-synchronization time of the motor exceeds a first preset time, or that the motor cannot be started within a second preset time.

6. The unmanned aerial vehicle according to claim 1 , 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.

7. The unmanned aerial vehicle according to claim 6 , wherein the motor controller is configured to calculate the current motor rotational speed of the motor in a position sensorless manner.

8. The unmanned aerial vehicle according to claim 1 , wherein the motor is a permanent magnet synchronous motor.

9. A starting method for a motor, comprising:
obtaining, by a motor controller, a current motor rotational speed and motor position information of the motor;
determining, by the motor controller, whether the current motor rotational speed is less than a preset minimum rotational speed;
set, by the motor controller, a feedback rotational speed as the preset minimum rotational speed based on a determination that the current motor rotational speed is less than the preset minimum rotational speed; and
performing, by the motor controller, closed-loop control on the motor according to the feedback rotational speed and the motor position information.

10. The starting method according to claim 9 , further comprising:
adjusting a value of the preset minimum rotational speed.

11. The starting method according to claim 10 , wherein the adjusting the value of the preset minimum rotational speed comprises:
increasing or reducing the value of the preset minimum rotational speed.

12. The starting method according to claim 10 , wherein the adjusting the value of the preset minimum rotational speed comprises:
adjusting the value of the preset minimum rotational speed based on a determination that abnormal motor starting occurs.

13. The starting method according to claim 12 , wherein the adjusting the value of the preset minimum rotational speed comprises:
adjusting the value of the preset minimum rotational speed based on a determination that an out-of-synchronization time of the motor exceeds a first preset time, or that the motor cannot be started within a second preset time.

14. The starting method according to claim 9 , wherein the obtaining a current motor rotational speed and motor position information of the motor comprises:
calculating the current motor rotational speed of the motor; and
performing time integration on the current motor rotational speed, to obtain the motor position information.

15. The starting method according to claim 14 , wherein the calculating the current motor rotational speed comprises:
calculating the current motor rotational speed of the motor in a position sensorless manner.

16. The starting method according to claim 9 , 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

• B64U50/19

  using electrically powered motors · CPC title

• G05D1/0011

  associated with a remote control arrangement · CPC title

• H02P6/06 Primary

  Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed · CPC title

• H02P6/17

  and for generating speed information · CPC title