Motor control method, apparatus, and system

Patent metadata

Field	Value
Publication number	US-11014681-B2
Application number	US-201916654941-A
Country	US
Kind code	B2
Filing date	Oct 16, 2019
Priority date	Mar 1, 2016
Publication date	May 25, 2021
Grant date	May 25, 2021

Abstract

An unmanned aerial vehicle includes a fuselage, a motor mounted at the fuselage, and a control apparatus configured to control the motor. The control apparatus includes one or more processors configured to obtain a present electrical parameter of a battery configured to power the motor, calculate a compensation amount of a control signal of the motor according to the present electrical parameter, and modify the control signal according to the compensation amount.

First claim

What is claimed is:

1. An unmanned aerial vehicle (UAV) comprising:
a fuselage;
a motor mounted at the fuselage; and
a control apparatus configured to control the motor, the control apparatus including one or more processors configured to:
obtain a present electrical parameter of a battery configured to power the motor;
calculate a compensation amount of a control signal of the motor according to the present electrical parameter; and
modify the control signal according to the compensation amount.

2. The UAV according to claim 1 , further comprising:
an electrical parameter detection circuit electrically coupled to the one or more processors and configured to detect the present electrical parameter.

3. The UAV according to claim 2 , wherein the electrical parameter detection circuit includes at least one of a coulometer, a voltage detection circuit, an electrical current detection circuit, or a resistance detection circuit.

4. The UAV according to claim 1 , wherein the present electrical parameter includes at least one of a present charge quantity of the battery, a present voltage of the battery, a present output electrical current of the battery, or a present internal resistance of the battery.

5. The UAV according to claim 1 , wherein the control signal includes at least one of a control signal configured to control a rotation speed of the motor or a control signal configured to control an output power of the motor.

6. The UAV according to claim 1 , wherein:
the present electrical parameter of the battery includes a present voltage of the battery; and
the one or more processors are further configured to calculate the compensation amount of the control signal of the motor corresponding to a subsequent time point according to the present voltage of the battery and a preset voltage model including one-to-one correspondences between voltages of the battery and preset compensation amounts.

7. The UAV according to claim 6 , wherein the one or more processors are further configured to modify, at a present time point, the control signal according to the compensation amount.

8. The UAV according to claim 1 , wherein:
the present electrical parameter of the battery includes a present voltage of the battery; and
the one or more processors are further configured to calculate in real time the compensation amount of the control signal of the motor according to the present voltage of the battery.

9. The UAV according to claim 8 , wherein the one or more processors are further configured to:
calculate in real time a compensation amount of a voltage outputted to the motor according to the present voltage of the battery; and
modify an original voltage outputted to the motor according to the compensation amount of the voltage outputted to the motor.

10. The UAV according to claim 9 , wherein the compensation amount of the voltage is determined according to a difference between a full voltage of the battery and the present voltage of the battery.

11. An unmanned aerial vehicle (UAV) comprising:
a fuselage;
a motor mounted at the fuselage; and
a control apparatus configured to control the motor, the control apparatus including one or more processors configured to:
obtain a present electrical parameter of a battery configured to power the motor;
calculate a voltage compensation amount of the battery according to the present electrical parameter; and
compensate an output voltage of the battery according to the voltage compensation amount to maintain the output voltage of the battery stable.

12. The UAV according to claim 11 , further comprising:
an electrical parameter detection circuit electrically coupled to the one or more processors and configured to detect the present electrical parameter.

13. The UAV according to claim 12 , wherein the electrical parameter detection circuit includes at least one of a coulometer, a voltage detection circuit, an electrical current detection circuit, or a resistance detection circuit.

14. The UAV according to claim 11 , wherein the present electrical parameter of the battery includes at least one of a present charge quantity of the battery, a present voltage of the battery, a present output electrical current of the battery, or a present internal resistance of the battery.

15. The UAV according to claim 11 , wherein:
the present electrical parameter of the battery includes a present voltage of the battery; and
the one or more processors are further configured to calculate the voltage compensation amount of the battery according to the present voltage of the battery and a full voltage of the battery.

16. The UAV according to claim 15 , wherein the voltage compensation amount is calculated to be a difference between the full voltage of the battery and the present voltage of the battery.

17. The UAV according to claim 11 , further comprising:
a switch coupling the battery to an external power supply; and
the one or more processors are further configured to turn on the switch to compensate the output voltage of the battery by the external power supply.

18. The UAV according to claim 11 , wherein the one or more processors are further configured to obtain the present electrical parameter of the battery in real time or periodically.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Zhou Changxing
• Lan Qiu
• Ni Jinyun

Classifications

• B64D31/02 Primary

  Initiating means · CPC title

• B64D31/00

  Power plant control systems; Arrangement of power plant control systems in aircraft · CPC title

• H02P27/06 Primary

  using DC to AC converters or inverters (H02P27/05 takes precedence) · CPC title

• B64U10/14

  with four distinct rotor axes, e.g. quadcopters · CPC title

• B64U50/19

  using electrically powered motors · CPC title