The invention discloses a rotating speed control method, device and equipment of a folding rotor wing and a storage medium, and relates to the technical field of flight control, the method comprises the following steps: when a motor starts to drive the folding rotor wing, obtaining motor operation data and blade operation data of the folding rotor wing, and determining a motor torque based on the blade operation data and the motor operation data; the motor torque serves as low-speed feed-forward torque, and the rotating speed of the motor is controlled based on the low-speed feed-forward torque and the controller torque so as to control the folding rotor to rotate within the low rotating speed range; when the target rotating speed accords with the high rotating speed range, determining a load torque based on a load observer; determining a high-speed feed-forward torque based on the load torque; and based on the high-speed feed-forward torque and the controller torque, the rotating speed of the motor is controlled, so that the folding type rotor wing is controlled to rotate within the high rotating speed range. Through the mode, more appropriate feed-forward torque can be adopted at low rotating speed and high rotating speed, and good response performance can be obtained at different rotating speeds.
本申请公开了一种折叠式旋翼的转速控制方法、装置、设备及存储介质,涉及飞行控制技术领域,该方法包括:在电机开始驱动折叠式旋翼时,获取电机运行数据与折叠式旋翼的桨叶运行数据,基于桨叶运行数据与电机运行数据,确定电机扭矩;将电机扭矩作为低速前馈扭矩,基于低速前馈扭矩与控制器扭矩,控制电机的转速,以在低转速范围内控制折叠式旋翼进行旋转;在目标转速符合高转速范围时,基于负载观测器,确定负载扭矩;基于负载扭矩,确定高速前馈扭矩;基于高速前馈扭矩与控制器扭矩,控制电机的转速,以在高转速范围内控制折叠式旋翼进行旋转。通过上述方式,低转速和高转速可以采用更合适的前馈扭矩,不同转速都能取得良好的响应性能。
Rotating speed control method, device and equipment for folding rotor wing and storage medium
折叠式旋翼的转速控制方法、装置、设备及存储介质
2024-09-13
Patent
Electronic Resource
Chinese
IPC: | H02P CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS , Steuern oder Regeln von elektrischen Motoren, elektrischen Generatoren, dynamoelektrischen Umformern / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT |
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