The embodiment of the invention discloses a control method and device for a folding propeller of a folding propeller rotor unmanned aerial vehicle, and the method comprises the steps: inputting a plurality of pieces of key data into a plurality of processing sub-modules in a target electronic speed regulator, and carrying out the processing in sequence, thereby obtaining corresponding three-phase voltages, the permanent magnet synchronous motor is controlled to rotate correspondingly based on the three-phase voltage; acquiring a second feedback position, wherein the second feedback position is a feedback position obtained by converting the magnetic encoder based on the acquired position feedback signal corresponding to the corresponding rotation of the permanent magnet synchronous motor; and sending the second feedback position to a flight controller used for controlling the target folding propeller rotor unmanned aerial vehicle, so that the flight controller controls the permanent magnet synchronous motor to stop rotating under the condition that the second feedback position is consistent with the given position, and controls the folding state of the folding propeller of the target folding propeller rotor unmanned aerial vehicle. The folding state comprises a paddle folding state of the folding paddle and a paddle unfolding state of the folding paddle.

    本申请实施例公开了一种折叠桨旋翼无人机的折叠桨的控制方法和装置,其方法包括:将多个关键数据分别输入目标电子调速器内的多个处理子模块中,依序进行处理,得到对应的三相电压,以基于三相电压控制永磁同步电机进行相应旋转;获取第二反馈位置,第二反馈位置是磁编码器基于获取的永磁同步电机的相应旋转对应的位置反馈信号进行转换处理所得到的反馈位置;以及将第二反馈位置发送至用于控制目标折叠桨旋翼无人机的飞行控制器,以通过飞行控制器在第二反馈位置与给定位置一致的情况下,控制永磁同步电机停止旋转,并控制目标折叠桨旋翼无人机的折叠桨的折叠状态,折叠状态包括折叠桨的收桨状态和折叠桨的展桨状态。


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    Title :

    Control method and device for folding propeller of folding propeller rotor unmanned aerial vehicle


    Additional title:

    一种折叠桨旋翼无人机的折叠桨的控制方法和装置


    Contributors:
    LUO JIANBIN (author) / CHEN XIA (author) / PANG ZHI (author) / XU LEI (author) / PAN RUIXIANG (author)

    Publication date :

    2023-12-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U



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