CN118220493A - Icing monitoring method, program product and equipment for movable platform rotor wing - Google Patents
Icing monitoring method, program product and equipment for movable platform rotor wing Download PDFInfo
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- CN118220493A CN118220493A CN202410649894.0A CN202410649894A CN118220493A CN 118220493 A CN118220493 A CN 118220493A CN 202410649894 A CN202410649894 A CN 202410649894A CN 118220493 A CN118220493 A CN 118220493A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D15/00—De-icing or preventing icing on exterior surfaces of aircraft
- B64D15/20—Means for detecting icing or initiating de-icing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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Abstract
The embodiment of the application provides an icing monitoring method, a program product and equipment for a rotor wing of a movable platform, wherein the movable platform is provided with a motor, and the motor is used for driving the rotor wing; the method comprises the following steps: determining real-time torque of the rotor wing based on input current and no-load parameters of the motor; the idle load parameter is used for indicating the state of the motor when the motor runs idle; determining a real-time torque coefficient of the rotor wing based on the size parameter, the real-time torque and the real-time rotating speed of the motor of the rotor wing; and monitoring whether the rotor wing is frozen or not based on the real-time torque coefficient and the non-icing torque coefficient. Because in the operation process of the movable platform, the torque coefficient of the rotor wing can be influenced by whether the rotor wing is frozen or not, whether the rotor wing is frozen or not can be monitored in real time by comparing the monitored real-time torque coefficient with the torque coefficient which is not frozen.
Description
Technical Field
The application relates to the technical field of movable platforms, in particular to an icing monitoring method, a program product and equipment for a rotor wing of a movable platform.
Background
Mobile platforms such as Unmanned (AERIAL VEHICLE, UAV), unmanned vehicles, robots, etc. have been widely used in a variety of fields. Taking unmanned aerial vehicle as an example, in many rotor unmanned aerial vehicle's flight, especially under cold high wet weather condition, rotor blade's windward side and afterbody are frozen easily, influence many rotor unmanned aerial vehicle's driving system performance then, make many rotor unmanned aerial vehicle face the potential safety hazard, can cause the explosion machine accident even when serious. Therefore, monitoring the icing state of the rotor wings of the flying platform such as the unmanned aerial vehicle is an important ring for guaranteeing the flying safety.
Disclosure of Invention
The embodiment of the application aims to provide an icing monitoring method, program product and equipment for a rotor wing of a movable platform, which are used for realizing the technical effect of timely finding icing of the rotor wing of the movable platform.
An embodiment of the application provides an icing monitoring method for a rotor wing of a movable platform, wherein the movable platform is provided with a motor, and the motor is used for driving the rotor wing; the method comprises the following steps:
Determining a real-time torque of the rotor wing based on an input current of the motor and an idle parameter; wherein the idle load parameter is used for indicating a state of the motor when the motor runs idle;
Determining a real-time torque coefficient of the rotor based on the dimensional parameter of the rotor, the real-time torque, and the real-time rotational speed of the motor;
monitoring whether the rotor is frozen based on the live torque coefficient and the non-icing torque coefficient.
In the implementation process, as the torque coefficient of the rotor wing can be influenced by whether the rotor wing is frozen or not in the operation process of the movable platform, whether the rotor wing is frozen or not can be monitored in real time by comparing the monitored real-time torque coefficient with the non-frozen torque coefficient. Therefore, in the operation process of the movable platform, the icing state of the rotor wing can be timely and effectively monitored, and corresponding measures can be timely taken to reduce the potential safety hazard of the movable platform running in the icing state of the rotor wing.
Further, the motor is connected with an electronic speed regulator, and the electronic speed regulator is used for controlling the rotating speed of the motor; the method further comprises the steps of:
determining an output current of the electronic governor based on an input voltage, an input current, and an output voltage of the electronic governor; the output current is an input current of the motor.
In the implementation process, the input current of the motor is determined through the electric power parameters fed back by the electronic speed regulator, so that an additional device is not required to be introduced into the movable platform to obtain the input current of the motor, the manufacturing cost of the movable platform is reduced, and the dead weight of the movable platform is also lightened.
Further, the no-load parameters include a nominal no-load voltage, a nominal no-load current, a motor internal resistance, and a motor KV value.
In the implementation process, the real-time torque of the rotor wing is calculated through the input current of the motor and the idle parameters, and the real-time torque coefficient of the rotor wing is determined by the real-time torque, so that whether the rotor wing is frozen or not can be determined by comparing the real-time torque coefficient with the non-frozen torque coefficient, and the real-time monitoring function of the frozen state of the rotor wing is realized.
Further, the real-time torque coefficient is obtained after the environmental parameter is corrected; the environmental parameter is used to characterize the environment of the movable platform.
In the implementation process, the torque coefficient of the rotor wing is corrected by using the environmental parameters, so that the difference caused by real-time torque change due to air density change is made up, and whether the rotor wing is frozen or not can be monitored by the movable platform under different environments based on the real-time torque coefficient and the non-icing torque coefficient of the rotor wing.
Further, the real-time torque coefficient is obtained after filtering processing.
In the implementation process, the disturbance of noise on the real-time torque coefficient of the rotor can be reduced through filtering processing, and then the accuracy of a monitoring result is improved.
Further, the monitoring whether the rotor is frozen based on the real-time torque coefficient and the non-icing torque coefficient includes:
acquiring the ratio between the real-time torque coefficient and the non-icing torque coefficient;
if the ratio is greater than a preset ratio threshold, determining that the rotor wing is frozen;
And if the ratio is smaller than or equal to the ratio threshold, determining that the rotor wing is not frozen.
In the implementation process, whether the rotor wing is frozen is judged based on the ratio between the real-time torque coefficient and the non-icing torque coefficient and the magnitude relation between the ratio threshold, so that the icing condition of the rotor wing can be monitored in real time in the working process of the movable platform, and the icing can be found in time.
Further, the method further comprises:
and if the duration of the rotor wing icing exceeds a preset time threshold, generating the rotor wing icing alarm information.
In the implementation process, the rotor wing icing continues to be in a period of time and then alarms, so that the accuracy of icing alarm can be improved, and icing erroneous judgment is avoided.
A second aspect of an embodiment of the application provides a computer program product comprising a computer program which, when executed by a processor, implements the method of any of the first aspects.
A third aspect of an embodiment of the present application provides an icing monitoring device, including:
A processor;
a memory for storing processor-executable instructions;
wherein the processor, when invoking the executable instructions, performs the operations of the method of any of the first aspects.
A fourth aspect of an embodiment of the present application provides a movable platform, including:
The power system comprises a motor and a rotor wing which are electrically connected; the power system is used for driving the movable platform to move in space;
and an icing monitoring device according to the third aspect.
A fifth aspect of the embodiments of the present application provides a computer readable storage medium having stored thereon computer instructions which when executed by a processor implement the steps of any of the methods of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic architecture diagram of a movable platform provided by an embodiment of the present application;
Fig. 2 is a schematic flow chart of a method for monitoring icing of a rotor wing with a movable platform according to an embodiment of the present application;
Fig. 3 is a flow chart of another icing monitoring method for a rotor wing with a movable platform according to an embodiment of the present application;
fig. 4 is a flow chart of another icing monitoring method for a rotor wing with a movable platform according to an embodiment of the present application;
Fig. 5 is a block diagram of an icing monitoring device according to an embodiment of the present application;
FIG. 6 is a hardware configuration diagram of an icing monitoring device according to an embodiment of the present application;
Fig. 7 is a hardware structure diagram of a mobile platform according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
A mobile platform refers to any device capable of moving and may include, but is not limited to, land vehicles, water vehicles, air vehicles, and other types of motorized vehicles. As examples, the movable platform may be an unmanned aerial vehicle, an unmanned vehicle, a robot, or the like. Mobile platforms have found widespread use in a number of fields. The movable platform can be provided with a rotor wing to control the movement of the movable platform. Taking the unmanned aerial vehicle as an example, the unmanned aerial vehicle can control the movement of the unmanned aerial vehicle through the rotor wings, including advancing, stopping, steering, ascending, landing and the like. Unmanned aerial vehicles that are loaded with rotors are also commonly referred to as multi-rotor unmanned aerial vehicles.
Fig. 1 shows a schematic architecture diagram of a mobile platform 100, the mobile platform 100 being equipped with a communicatively connected control system 110 and power system 120. Wherein the control system 110 comprises a controller 111. Of course, the control system 110 may also include other components required to effect control, such as a sensing system, and the like. In unmanned aerial vehicles, control system 110 is also referred to as a flight control system. The controller 111 is also called a flight controller (for short, flight control) and is responsible for controlling, navigating and stabilizing the flight attitude of the unmanned aerial vehicle.
Power system 120 may include an electronic governor (referred to simply as an electric governor) 121, a motor 122, and a rotor 123. Wherein rotor 123 may include one or more. In an unmanned aerial vehicle, for example, rotor 123 may include four. The number of motors 122 corresponds to the number of rotors 123. The electronic governor 121 may include one or more. For example, one electronic governor 121 may correspond to one or more motors 122.
The electronic governor 121 is configured to receive a driving signal generated by the control system 110 and provide a driving current to the motor 122 according to the driving signal, so as to control the rotation speed of the motor 122. The motor 122 is used to drive rotation of the rotor 123 to power movement of the movable platform 100, which may enable movement of the movable platform 100 in one or more degrees of freedom.
Since the rotor is used to control the movement of the movable platform, if the rotor is frozen in cold weather, normal operation of the movable platform is affected, and even damage to the movable platform is caused in severe cases.
Taking an unmanned aerial vehicle as an example, in order to avoid flying in a rotor icing state, in the related art, for example, a judgment may be made according to weather conditions before taking off. If the air temperature is low and/or the humidity is high, the unmanned aerial vehicle is not allowed to fly. However, because of the large temperature difference between the ground and the high altitude, even if the weather condition of the ground is suitable for flying, the rotor wing cannot be ensured not to be frozen when the unmanned aerial vehicle works at high altitude. In fact, the phenomenon that the unmanned aerial vehicle starts icing in the air is frequent, so that the problem that the rotor wing of the unmanned aerial vehicle is icing in the flight cannot be solved by such measures.
For another example, since the rotor increases the load of the motor after icing, it can be determined whether the rotor is icing by detecting whether the motor load exceeds a maximum load limit. However, if there is a margin in the unmanned aerial vehicle load, for example, the unmanned aerial vehicle hovers, even if the rotor wing icing increases the motor load, the maximum load limit is not necessarily exceeded, and thus the problem that the rotor wing icing cannot be found in time is caused.
Based on the above, the application finds that the torque coefficient of the rotor wing is irrelevant to the working state of the movable platform in the process of the application. That is, the torque coefficient of the rotor is not changed to be constant regardless of the mode in which the movable platform is operated, moving or hovering. Moreover, the torque coefficient of the rotor is related to the shape and mass of the rotor. It is known that the shape of the rotor of the movable platform is substantially impossible to change during daily operations, but the mass of the rotor increases due to icing. That is, during operation of the mobile platform, the torque coefficient of the rotor is only affected by the rotor mass, which is changed by icing the rotor. Therefore, when the movable platform operates, whether the rotor wing is frozen or not can be effectively and timely found by monitoring the torque coefficient of the rotor wing.
Based on the method, the application provides an icing monitoring method for the rotor wing of the movable platform. In some embodiments, the icing monitoring method may comprise steps 210-230 as shown in fig. 2, based on the movable platform 100 as shown in fig. 1. The icing monitoring method can be executed when the movable platform runs, for example, according to a preset monitoring period. The icing monitoring method may be performed by a controller in the mobile platform.
Step 210: real-time torque of the rotor is determined based on the input current of the motor and an idle parameter.
Wherein the idle load parameter is used for indicating a state of the motor when the motor is in idle running.
In the mobile platform, the output shaft of the motor is connected to the rotor to transmit torque to the rotor to drive the rotor to rotate. After connection with the rotor, the electromagnetic torque Te of the motor may comprise two parts: the idle torque T 0 and the rotor torque M.
The electromagnetic torque Te refers to the torque generated by the motor under the input current I 1, and is the torque that the motor can provide under the drive of the input current I 1. The electromagnetic torque Te is in direct proportional relation to the input current I 1. Specifically, the relationship of the electromagnetic torque Te and the input current I 1 can be expressed as: te=k T·I1. Wherein K T is the torque constant of the motor, and the unit is Newton-meter/ampere (N.m/A).
The no-load torque T 0 refers to the torque corresponding to the no-load operation of the motor. The no-load operation refers to an operation when no load is connected to the output end of the motor. Specifically, the no-load torque T 0 may be calculated by an no-load parameter of the motor. The no-load parameter is a calibration parameter obtained when the motor leaves the factory and is used for indicating the state of the motor when the motor runs in the no-load state.
Rotor torque M refers to the torque transmitted by the motor to the rotor. Since the electromagnetic torque Te of the motor includes the no-load torque T 0 and the rotor torque M. Therefore, based on the input current I 1 of the motor and the no-load parameter of the motor, the real-time torque transmitted by the motor to the rotor, that is, the real-time torque M of the rotor, can be obtained. The real-time torque M is, for example, positively correlated with the input current I 1 of the electric machine, for example in a proportional relationship. Therefore, during the operation of the movable platform, when the magnitude of the input current I 1 of the motor changes, the magnitude of the real-time torque M of the rotor also changes accordingly.
Step 220: and determining a real-time torque coefficient of the rotor based on the dimension parameter of the rotor, the real-time torque and the real-time rotating speed of the motor.
Illustratively, the dimensional parameter includes a diameter d of the rotor, which refers to the diameter of a circle drawn by the tip of the rotor as the rotor rotates. The dimensional parameters of the rotor are calibrated parameters obtained when the rotor or the mobile platform leaves the factory.
Alternatively, the real-time rotational speed N of the motor may be obtained by an electronic governor electrically connected to the motor.
Illustratively, the real-time torque coefficient C of the rotor is positively correlated with the real-time torque M of the rotor, negatively correlated with the square N 2 of the real-time rotational speed of the motor, and negatively correlated with the 5 th power d 5 of the diameter of the rotor. Specifically, the relationship between the live torque coefficient C and the live torque M, the live rotation speed N, and the diameter d can be expressed as:
wherein the real-time torque coefficient C is a dimensionless torque coefficient.
Step 230: monitoring whether the rotor is frozen based on the live torque coefficient and the non-icing torque coefficient.
For example, the non-icing torque factor may be obtained by calibration when the rotor is not icing. The calibration can be a pre-calibration or a real-time calibration. The specific calibration process will be developed below. Therefore, whether the rotor wing of the movable platform is frozen or not can be judged by comparing the real-time torque coefficient with the non-icing torque coefficient.
It can be known that, according to the icing monitoring method for the rotor wing of the movable platform provided by the embodiment, because the torque coefficient of the rotor wing can be affected by whether the rotor wing is iced or not in the operation process of the movable platform, whether the rotor wing is iced or not can be monitored in real time by comparing the monitored real-time torque coefficient with the non-iced torque coefficient. Therefore, in the operation process of the movable platform, the icing state of the rotor wing can be timely and effectively monitored, and corresponding measures can be timely taken to reduce the potential safety hazard of the movable platform running in the icing state of the rotor wing.
Regarding the manner of obtaining the input current of the motor, as an example, the input current may be obtained by a current detection module provided at the input terminal of the motor. Wherein the current detection module may be a hardware device, such as an ammeter; or it may be a module that implements the current sensing function by a combination of dedicated hardware and computer instructions.
As another example, as shown in fig. 1, the motor 122 is connected to the electronic governor 121, and the electronic governor 121 can control the rotation speed of the motor 122. Based on the input power of the electronic governor being equal to the output power, the input current of the motor can be calculated.
Based on this, the icing monitoring method may further include the steps of:
determining an output current of the electronic governor based on an input voltage, an input current, and an output voltage of the electronic governor; the output current is an input current of the motor.
The electronic governor has a data feedback function, so that the electronic governor can send its own input voltage U 2, input current I 2, and output voltage U 1 to the controller.
Subsequently, an input power P 2 of the electronic governor may be determined based on the input voltage U 2 and the input current I 2, and an input power P 2 of the electronic governor is equal to the output power P 1, then an output current I 1 of the electronic governor may be determined from the output power P 1 and the output voltage U 1. The output current I 1 of the electronic speed regulator is the equivalent input current I 1 of the motor. The equivalent input current is a current value corresponding to when the ac power supplied from the electronic governor to the motor is equivalent to dc power.
As such, the relationship between the input current I 1 of the motor and the input voltage U 2, the input current I 2, and the output voltage U 1 can be expressed as:
because the electronic speed regulator is usually a required component of the movable platform, and the embodiment determines the input current of the motor through the electric power parameter fed back by the electronic speed regulator, no additional device is required to be introduced into the movable platform to acquire the input current of the motor, so that the manufacturing cost of the movable platform is reduced, and the dead weight of the movable platform is also lightened.
Regarding the no-load parameter in step 210, in some embodiments, the no-load parameter indicates a state of the motor when it is in an empty operation. Illustratively, the no-load parameters include at least: nominal no-load voltage, nominal no-load current, internal resistance of motor, and motor KV value.
The nominal no-load voltage U 0 and the nominal no-load current I 0 refer to the voltage value and the current value when the motor is in an idle operation, respectively. The motor KV value refers to the rotation speed of the motor at each volt voltage when the motor is in idle load, and the unit is Rotations Per Minute (RPM) per volt (V).
Based on this, the real-time torque of the rotor is determined in step 210 based on the input current and the idle parameters of the motor, and the following steps are performed:
As described above, the electromagnetic torque Te of the known motor includes the no-load torque T 0 and the rotor torque M, that is, te=t 0 +m. And electromagnetic torque te=k T·I1,T0= KT·I0 is known. Then it can be seen that m=k T·( I1- I0).
Furthermore, the following relationship is known to be satisfied between the nominal no-load voltage U 0, the back electromotive force constant K E, the motor KV value, the nominal no-load current I 0, and the motor internal resistance R:
And because the back electromotive force constant K E and the torque constant K T of the motor satisfy:
thus, the following relationship is satisfied between the real-time torque M of the rotor, the input current I 1 of the motor, and the no-load parameter:
It is known that, since the nominal no-load voltage U 0, the nominal no-load current I 0, the internal resistance R of the motor, and the KV value of the motor are constant, they are calibration parameters obtained when the motor leaves the factory, and therefore, the real-time torque M of the rotor is actually a linear function of the input current I 1 of the motor. The real-time torque M of the rotor can in turn be expressed as:
Where a is a first idle constant and b is a second idle constant, collectively referred to as idle constants. The idle constant may be determined based on idle parameters and pre-stored in memory. As such, the step 210 may specifically include:
determining a real-time torque of the rotor wing based on an input current of the motor and a pre-stored no-load constant; wherein the no-load constant is determined according to an no-load parameter of the motor, the no-load parameter being used to indicate a state of the motor when the motor is in an idle operation.
It can be known that in this embodiment, the real-time torque of the rotor is calculated through the input current and the no-load parameter of the motor, and the real-time torque coefficient of the rotor is determined by using the real-time torque subsequently, so that whether the rotor is frozen or not can be determined by comparing the real-time torque coefficient with the non-frozen torque coefficient, and the real-time monitoring function of the frozen state of the rotor is realized.
In addition, the real-time torque of the rotor is also affected by the air density. It will be appreciated that the greater the air density, the greater the resistance of the air to the rotation of the rotor and, correspondingly, the greater the real-time torque of the rotor and vice versa.
In some scenarios, if the air density is substantially consistent within the operating range of the movable platform, or the air density of the environment in which the movable platform is actually operating is substantially consistent with the air density when the non-icing torque coefficient is calibrated, then the impact of environmental factors on the real-time torque may be ignored.
Thus, in some embodiments, after calculating the real-time torque of the rotor based on the input current and the idle parameters of the motor, and calculating the real-time torque coefficient of the rotor based on the real-time torque, it may be determined whether the rotor is frozen directly based on the real-time torque coefficient and the non-frozen torque coefficient.
In other scenarios, the mobile platform may operate in different atmospheric environments. Taking the unmanned aerial vehicle as an example, when the unmanned aerial vehicle performs a task at high altitude, the air density at high altitude is different from the air density at the ground. In other words, the air density of the environment where the rotor torque coefficient of the unmanned aerial vehicle is calibrated is different from the air density of the environment where the unmanned aerial vehicle works, and at this time, the influence of the environment on icing monitoring needs to be considered.
For example, when the unmanned aerial vehicle works at high altitude, since the high altitude air density is smaller than the air density of the ground, the monitoring value of the real-time torque of the rotor at high altitude is smaller than the monitoring value at the ground under the condition that the rotor is not frozen, and then the real-time torque coefficient of the rotor is reduced. At this time, even if the rotor of the unmanned aerial vehicle is frozen in the high air, the real-time torque and the real-time torque coefficient are increased, it may not be possible to find that the rotor is frozen by comparing with the non-frozen torque coefficient. It is therefore necessary to modify the real-time torque coefficient of the rotor so that the modified real-time torque coefficient is inversely related to the air density. That is, when the air density is reduced, the corrected real-time torque coefficient is increased, so that the difference caused by the reduction of the real-time torque due to the reduction of the air density is compensated.
In some embodiments, the correction may be performed using environmental parameters, and the real-time torque coefficient of the rotor is obtained after the correction of the environmental parameters. Wherein the environmental parameter is used to characterize the environment of the mobile platform. That is, the real-time torque coefficient obtained after the environmental parameter correction and the non-icing torque coefficient are used in step 230 to monitor whether the rotor is icing.
Step 220 may specifically include:
Determining a real-time torque coefficient of the rotor based on the dimensional parameter of the rotor, the real-time torque, the real-time rotational speed of the motor, and an environmental parameter;
for example, an initial torque coefficient may be determined based on the dimensional parameter of the rotor, the live torque, and the live rotational speed of the motor, and then corrected using the environmental parameter to obtain the live torque coefficient of the rotor.
Illustratively, the environmental parameters include at least: altitude and temperature. Wherein the altitude h can be measured by a barometer on the movable platform; the temperature t may be measured by a temperature sensor on the movable platform.
Illustratively, the real-time torque coefficient C of the rotor is inversely related to the air density ρ. Specifically, the relationship between the live torque coefficient C and the live torque M, the air density ρ, the live rotation speed N, and the diameter d can be expressed as:
(equation 1)
The known air density ρ can be expressed as:
Wherein the unit of the temperature t is degrees centigrade, ρ 0 is standard atmospheric density, and Pa is atmospheric pressure. Further, the relationship between the atmospheric pressure Pa and the altitude h and temperature t is known as:
From this, the air density ρ is a function of altitude h and temperature t, and can be expressed as:
(equation 2)
Thus, in this embodiment, after obtaining the dimension parameter, the real-time torque, the real-time rotational speed of the motor, and the environmental parameter of the rotor, the real-time torque coefficient of the rotor may be determined based on the above formula 1 and formula 2.
That is, a first torque coefficient is determined based on a dimensional parameter of the rotor, the real-time torque, and a real-time rotational speed of the motor, an atmospheric density of an environment in which the movable platform is located is determined based on an environmental parameter, and the real-time torque coefficient of the rotor is determined based on the first torque coefficient and the atmospheric density.
It can be known that, in this embodiment, the environmental parameter is used to correct the torque coefficient of the rotor wing, so that the difference caused by the real-time torque change due to the air density change is compensated, and the movable platform can monitor whether the rotor wing is frozen or not based on the real-time torque coefficient and the non-icing torque coefficient of the rotor wing in different environments.
Furthermore, in some embodiments, the real-time torque coefficients described in step 220 and step 230 may be obtained after filtering.
In step 220, as an example, a first torque coefficient may be determined based on the dimension parameter of the rotor, the real-time torque, and the real-time rotational speed of the motor, and then the first torque coefficient may be filtered to obtain the real-time torque coefficient of the rotor.
As another example, a first torque coefficient may be determined based on the size parameter of the rotor, the real-time torque, and the real-time rotational speed of the motor, the first torque coefficient may be corrected using an environmental parameter to obtain a second torque coefficient, and the second torque coefficient may be filtered to obtain the real-time torque coefficient of the rotor.
Alternatively, the filtering process may be a first order filtering process. For specific processing procedures of the first-order filtering, see the related art, and this embodiment is not developed here.
In the embodiment, the disturbance of noise to the real-time torque coefficient of the rotor can be reduced through filtering processing, so that the accuracy of a monitoring result is improved.
Regarding the calibration process of the non-icing torque factor, in some embodiments, steps 310-320 may be included as shown in FIG. 3.
Step 310: when a rotor wing of the movable platform is not frozen and the movable platform runs, determining the working torque of the rotor wing based on the input current and the idle load parameters of a motor;
Step 320: determining an iceless torque coefficient of the rotor based on the dimensional parameter of the rotor, the operating torque, and the operating rotational speed of the motor.
The execution of steps 310-320 is similar to that of steps 210-220 in the above embodiment, and the description of this embodiment is omitted here.
With respect to the implementation of step 230, in some embodiments, the monitoring of whether the rotor is frozen based on the real-time torque coefficient and the non-icing torque coefficient may specifically include steps 231-233 as shown in fig. 4.
Step 231: and acquiring the ratio of the real-time torque coefficient to the non-ice-formation torque coefficient.
For example, the ratio of the live torque coefficient C to the non-icing torque coefficient C 0 may be determined to be C/C 0.
Step 232: and if the ratio is greater than a preset ratio threshold, determining that the rotor wing is frozen.
Illustratively, the ratio threshold may be obtained through a rotor icing test. If the ratio C/C 0 is greater than the ratio threshold, this indicates that the real-time torque coefficient of the rotor is greater at this time, and therefore it can be determined that the rotor is icing.
Step 233: and if the ratio is smaller than or equal to the ratio threshold, determining that the rotor wing is not frozen.
Otherwise, if the ratio C/C 0 is less than or equal to the ratio threshold, this indicates that the real-time torque coefficient of the rotor is small at this time, so it can be determined that the rotor is not frozen.
Of course, besides the above-mentioned judging method, it is also possible to judge whether the rotor is frozen or not by comparing the difference between the real-time torque coefficient and the non-frozen torque coefficient with a preset difference threshold.
For example, if the difference is greater than the difference threshold, determining that the rotor is icing; and if the difference is smaller than or equal to the difference threshold value, determining that the rotor wing is not frozen.
It can be known that, this embodiment is based on the ratio between real-time torque coefficient and the non-icing torque coefficient, and the magnitude relation between the ratio threshold value judges whether the rotor is frozen for can real-time supervision rotor's icing condition in movable platform working process, in time discover icing.
Furthermore, in some embodiments, the icing monitoring method may further comprise the steps of:
and if the duration of the rotor wing icing exceeds a preset time threshold, generating the rotor wing icing alarm information.
For example, after determining that the rotor is icing, if the duration of icing exceeds a preset time threshold, generating warning information of rotor icing. The alarm information can be transmitted back to a control end in communication connection with the movable platform, so that the control end takes corresponding measures according to the alarm information.
According to the embodiment, the rotor wing icing continues to be in a period of time and then alarms, so that the accuracy of icing alarm can be improved, and icing misjudgment is avoided.
In addition, the application also provides a rotor wing icing monitoring method of the unmanned aerial vehicle. The unmanned aerial vehicle is loaded with a flight controller, an electronic speed regulator, a motor and a rotor wing. The electronic speed regulator is used for controlling the rotating speed of the motor according to the indication of the flight controller, and the motor is used for driving the rotor wing. The specific implementation process of the icing monitoring method is as follows:
During operation of the unmanned aerial vehicle, in response to triggering a preset monitoring condition (for example, reaching a preset monitoring period, or receiving an icing monitoring command), the input current I 1 of the motor is calculated based on the input voltage U 2, the input current I 2 and the output voltage U 1 fed back by the electronic speed regulator.
And calculating the real-time torque M of the rotor wing based on the input current I 1 and a pre-stored no-load constant. Wherein the no-load constant comprises a first no-load constant a and a second no-load constant b, and the no-load constant is determined based on no-load parameters of the motor. The no-load parameters comprise a nominal no-load voltage U 0, a nominal no-load current I 0, a motor internal resistance R and a motor KV value.
Then, the current altitude h of the unmanned aerial vehicle is determined based on the barometer carried by the unmanned aerial vehicle, and the temperature t of the environment in which the unmanned aerial vehicle is located is determined based on the temperature sensor carried by the unmanned aerial vehicle.
And calculating a real-time torque coefficient C of the rotor based on the diameter d of the rotor, the real-time rotating speed N of the motor fed back by the electronic speed regulator, the real-time torque M of the rotor and the environmental parameter, and performing first-order filtering on the real-time torque coefficient C of the rotor. Wherein the environmental parameters include the altitude h and the temperature t. Specifically, the relationship between the real-time torque coefficient C of the rotor, the diameter d of the rotor, the real-time rotational speed N of the motor, the real-time torque M of the rotor and the environmental parameter can be seen from the above equations 1 and 2.
After obtaining the first order filtered live torque coefficient C, a ratio C/C 0 between the live torque coefficient C and the non-icing torque coefficient C 0 is determined. If the ratio C/C 0 is larger than the ratio threshold, determining that the rotor wing of the unmanned aerial vehicle is frozen; if the ratio C/C 0 is less than or equal to the ratio threshold, determining that the rotor wing of the unmanned aerial vehicle is not frozen.
Under the condition that the rotor wing is determined to be frozen, if the duration time of the rotor wing to be frozen exceeds a preset time threshold value, the unmanned aerial vehicle generates warning information of the rotor wing to be frozen and returns the warning information to a control end in communication connection with the unmanned aerial vehicle, so that the control end takes corresponding measures.
It can be known that, by the icing monitoring method provided by the embodiment, the icing state of the rotor wing can be monitored in real time when the unmanned aerial vehicle flies, and an alarm prompt is given so as to reduce the potential safety hazard of the unmanned aerial vehicle flying in the icing state of the rotor wing.
Based on any embodiment, the application further provides an icing monitoring device of the rotor wing of the movable platform. The device is applied to a movable platform, for example, a controller of the movable platform. As shown in fig. 5, the icing monitoring device 500 may comprise:
A torque calculation module 510 for determining a real-time torque of the rotor based on an input current of the motor and an idle parameter; wherein the idle load parameter is used for indicating a state of the motor when the motor runs idle;
A torque coefficient calculation module 520 configured to determine a real-time torque coefficient of the rotor based on the dimensional parameter of the rotor, the real-time torque, and the real-time rotational speed of the motor;
A monitoring module 530 is configured to monitor whether the rotor is frozen based on the live torque coefficient and the non-icing torque coefficient.
In some embodiments, the motor is connected to an electronic governor for controlling the rotational speed of the motor; the torque calculation module 510 is also configured to:
determining an output current of the electronic governor based on an input voltage, an input current, and an output voltage of the electronic governor; the output current is an input current of the motor.
In some embodiments, the no-load parameters include a nominal no-load voltage, a nominal no-load current, an internal resistance of the motor, and a motor KV value.
In some embodiments, the real-time torque coefficient is obtained after modification of an environmental parameter; the environmental parameter is used to characterize the environment of the movable platform.
In some embodiments, the real-time torque coefficient is obtained after a filtering process.
The icing monitoring device 500 further comprises a filtering module, configured to perform filtering processing on the real-time torque coefficient.
In some embodiments, the monitoring module 530 is specifically configured to:
acquiring the ratio between the real-time torque coefficient and the non-icing torque coefficient;
if the ratio is greater than a preset ratio threshold, determining that the rotor wing is frozen;
And if the ratio is smaller than or equal to the ratio threshold, determining that the rotor wing is not frozen.
In some embodiments, the monitoring module 530 is further to:
and if the duration of the rotor wing icing exceeds a preset time threshold, generating the rotor wing icing alarm information.
The implementation process of the functions and roles of each module in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
The application also provides a computer program product comprising one or more computer programs or instructions for a method for icing monitoring a rotor of a mobile platform according to any of the embodiments described above. The computer program or instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. The computer program, when executed by a processor, implements a method for monitoring icing on a rotor of a mobile platform according to any of the embodiments described above.
Based on the icing monitoring method of the rotor wing with the movable platform in any embodiment, the application further provides a structural schematic diagram of the icing monitoring device shown in fig. 6. At the hardware level, as in fig. 6, the icing monitoring device comprises a processor, an internal bus, a network interface, a memory and a non-volatile storage, possibly also the hardware required for other services. The processor reads the corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to realize the icing monitoring method for the rotor wing of the movable platform according to any embodiment.
Based on the icing monitoring method of the rotor wing of the movable platform according to any of the above embodiments, the present application further provides a schematic structural diagram of the movable platform as shown in fig. 7. At the hardware level, as in fig. 7, the mobile platform includes a power system, and an icing monitoring device as shown in fig. 6. Wherein the power system comprises an electric motor and a rotor which are electrically connected, and of course, the power system can also comprise hardware required by other businesses. The power system is used for driving the movable platform to move in space.
The application also provides a computer storage medium, wherein the storage medium stores a computer program, and the computer program can be used for executing the icing monitoring method of the movable platform rotor wing according to any embodiment when being executed by a processor.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. The icing monitoring method of the rotor wing of the movable platform is characterized in that the movable platform is provided with a motor, and the motor is used for driving the rotor wing; the method comprises the following steps:
Determining a real-time torque of the rotor wing based on an input current of the motor and an idle parameter; wherein the idle load parameter is used for indicating a state of the motor when the motor runs idle;
Determining a real-time torque coefficient of the rotor based on the dimensional parameter of the rotor, the real-time torque, and the real-time rotational speed of the motor;
monitoring whether the rotor is frozen based on the live torque coefficient and the non-icing torque coefficient.
2. The method of claim 1, wherein the motor is coupled to an electronic governor, the electronic governor being configured to control a rotational speed of the motor; the method further comprises the steps of:
determining an output current of the electronic governor based on an input voltage, an input current, and an output voltage of the electronic governor; the output current is an input current of the motor.
3. The method of claim 1, wherein the no-load parameters include a nominal no-load voltage, a nominal no-load current, an internal resistance of the motor, and a motor KV value.
4. The method of claim 1, wherein the real-time torque coefficient is obtained after modification of an environmental parameter; the environmental parameter is used to characterize the environment of the movable platform.
5. The method of claim 1, wherein the real-time torque coefficient is obtained after a filtering process.
6. The method of claim 1, wherein the monitoring whether the rotor is iced based on the live torque coefficient and an uncracked torque coefficient comprises:
acquiring the ratio between the real-time torque coefficient and the non-icing torque coefficient;
if the ratio is greater than a preset ratio threshold, determining that the rotor wing is frozen;
And if the ratio is smaller than or equal to the ratio threshold, determining that the rotor wing is not frozen.
7. The method of claim 6, wherein the method further comprises:
and if the duration of the rotor wing icing exceeds a preset time threshold, generating the rotor wing icing alarm information.
8. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a processor, implements the method of any of claims 1-7.
9. An icing monitoring device comprising:
A processor;
a memory for storing processor-executable instructions;
Wherein the processor, when invoking the executable instructions, implements the method of any of claims 1-7.
10. A movable platform, comprising:
The power system comprises a motor and a rotor wing which are electrically connected; the power system is used for driving the movable platform to move in space;
And an icing monitoring device as claimed in claim 9.
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