The invention discloses a steering engine self-checking method, a steering engine self-checking device, a controller, a steering engine, a movable platform and a computer readable storage medium. Thesteering engine comprises a power supply (Vcc), an H-bridge driving unit (11), drivers (12, 13) and a motor (14). The H-bridge driving unit (11) comprises a first bridge arm (111) and a second bridgearm (112), the first bridge arm (111) comprises a first upper switching tube (AH) and a first lower switching tube (AL), the second bridge arm (112) comprises a second upper switching tube (BH) and asecond lower switching tube (BL), the first upper switching tube (AH) and the second upper switching tube (BH) are jointly connected to a power supply (Vcc), a first connection point (P1) between thefirst upper switching tube (AH) and the first lower switching tube (AL) and a second connection point (P2) between the second upper switching tube (BH) and the second lower switching tube (BL) are connected to a motor (14). A first sampling point (M1) is led out from the first connection point (P1), and a second sampling point (M2) is led out from the second connection point (P2). The method comprises: obtaining a first voltage (U1) at a first sampling point (P1) and a second voltage (U2) at a second sampling point (P2) with the drivers (12, 13) turned off; and determining whether the steeringengine fails based on the first voltage (U1) and the second voltage (U2).

    一种舵机自检的方法、舵机自检装置、控制器、舵机、可移动平台及计算机可读存储介质。舵机包括电源(Vcc)、H桥驱动单元(11)、驱动器(12,13)以及电机(14)。H桥驱动单元(11)包括第一桥臂(111)和第二桥臂(112),第一桥臂(111)包括第一上开关管(AH)和第一下开关管(AL),第二桥臂(112)包括第二上开关管(BH)和第二下开关管(BL),第一上开关管(AH)和第二上开关管(BH)共同连接至电源(Vcc),第一下开关管(AL)和第二下开关管(BL)相连接,第一上开关管(AH)和第一下开关管(AL)之间的第一连接点(P1)及第二上开关管(BH)和第二下开关管(BL)之间的第二连接点(P2)连接至电机(14)。第一连接点(P1)引出第一采样点(M1),第二连接点(P2)引出第二采样点(M2)。该方法包括:在关闭驱动器(12,13)的情况下,获取第一采样点(P1)处的第一电压(U1)及第二采样点(P2)处的第二电压(U2);及基于第一电压(U1)和第二电压(U2)来确定舵机是否发生故障。


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    Title :

    Steering engine self-checking method, steering engine self-checking device, controller, steering engine, movable platform and computer readable storage medium


    Additional title:

    舵机自检的方法、舵机自检装置、控制器、舵机、可移动平台及计算机可读存储介质


    Contributors:
    CHEN XU (author) / CHEN HONGBIN (author) / ZHANG QIAN (author)

    Publication date :

    2021-02-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen



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