Phau Ntawv Qhia Kom Paub Txog Drone Tsav Tswj Kev daws teeb meem

 

Nyob rau hauv lub drone lub hauv paus tswj system, lub cev muaj zog tsav algorithm plays lub luag hauj lwm tseem ceeb-tsis yog nyob rau hauv lub davhlau stability thiab teb, tab sis kuj nyob rau hauv endurance, suab nrov theem, thiab tag nrho cov nqi qauv. Ob txoj hauv kev tswj hwm tam sim no - FOC (kev tswj hwm kev tswj hwm) thiab kev tswj hwm square nthwv dej (rau-kauj ruam commutation) - muaj kev sib txawv hauv ntau theem ntawm drone platforms. Kab lus no yuav txheeb xyuas qhov sib txawv thiab kev hloov pauv ntawm ob txoj kev daws teeb meem no los ntawm plaub qhov loj: hauv paus ntsiab lus, kev ua tau zoo, kev siv thiab kev txhim kho.

 

FOC tswj: nrhiav qhov kawg precision thiab efficiency

FOC (Field-Oriented Control) ua tiav cov khoom siv hluav taws xob sib nqus torque los ntawm kev hloov peb-theem tam sim no mus rau hauv cov khoom sib nqus (I_d thiab I_q) hauv cov kab ke sib dhos. Nws cov txiaj ntsig tseem ceeb yog:

· Sine yoj tsav: Lub waveform tam sim no smoother thiab harmonic distortion tsawg dua 5%;

· dav ceev piv: txhawb 1: 1000 ceev tswj, npog los ntawm qis-ceev hovering mus rau high-ceev cia li ya davhlau;

· Tsis tshua muaj torque fluctuation: torque tso zis ntau linear thiab davhlau ruaj khov dua;

· Cov lus teb ceev ceev: Lub voj voog tswj txog li 50μs ua rau kev hloov pauv ceev ceev.

 

Square yoj tswj: yooj yim, ceev, raug nqi

Square yoj tswj siv lub tswv yim ruaj khov 120 ° kev sib hloov thiab feem ntau yog nyob ntawm Hall sensors los txiav txim siab txoj haujlwm rotor. Txoj kev tswj yog ntau ncaj qha tab sis muaj qhov raug txwv:

· Trapezoidal yoj excitation: tam sim no harmonic distortion tus nqi siab li 20-30%;

· Txwv ceev ntau yam: qhov sib piv yog 1:50;

· Torque ripple: pom kev vibration los yog kev hloov tam sim ntawd thaum hover los yog kev taw qhia.

· Hardware simplicity: Tsis xav tau encoder, ua rau cov khoom siv qis qis thiab txo tus nqi.

 

Noj cov qauv ntawm cov neeg siv khoom-qib drone (siv FOC) thiab nkag-theem platform (siv square yoj) ua piv txwv, cov cim tseem ceeb yog raws li hauv qab no:

Me me	Cov kev daws teeb meem (High-end)	Square nthwv dej daws (Theem Pib)
Yuj kev ruaj khov	±0.1 m	±0.5 m
Roj teeb lub neej	46 feeb	22 feeb
Suab nrov	55db	68db
Cua cuam tshuam lub sijhawm	8 ms	35 ms
Lub cev muaj zog kub nce	+18tiv kis	+32tiv kis
Per-Lub Cev Muaj Nqi	$25	$8

 

 

Ntau hom UAVs muaj cov kev cai sib txawv rau cov tshuab hluav taws xob, yog li tseem muaj qhov sib txawv pom tseeb hauv kev xaiv cov tswv yim tswj.

 

Consumer drones: nrhiav kev ruaj ntseg thiab ntsiag to

Hom xws li DJI thiab Autel feem ntau txais FOC cov kev daws teeb meem:

· High-precision hovering: FOC tuaj yeem txo qhov nyuaj ntawm PID parameter hloov thiab txhim kho qhov chaw ruaj khov;

· Roj teeb lub neej zoo dua: Kev ua haujlwm siab ua haujlwm tuaj yeem txhim kho kev siv lub zog ntawm tag nrho lub tshuab los ntawm 8-12%;

· Lub davhlau ntsiag to: Sine yoj tsav txo cov suab nrov nrov ntawm 6-10dB.

 

FPV Racing Drones: Ua ntej lub zog tawg

Hauv cov khoom uas ua raws li kev ceev thiab kev tswj hwm, xws li ya drones, square yoj tswj tau zoo dua:

· Cov lus teb ceev ceev: cov lus teb qeeb ntawm tag nrho cov zis tawm tsuas yog 0.2ms;

· Lub teeb yuag: tshem tawm cov khoom xws li encoders txo qhov hnyav ntawm lub cev.

· Tus nqi kom zoo dua: tag nrho cov nyiaj siv hluav taws xob tuaj yeem raug compressed rau ib feem peb ntawm FOC.

 

Muaj drones: stability thiab precision ua ntej

Hauv kev ua haujlwm xws li kev tshuaj tsuag ua liaj ua teb, kev tshuaj xyuas thiab daim ntawv qhia, yuav tsum muaj kev tswj xyuas qhov tseeb, thiab FOC yuav luag tus qauv:

· Muaj zog tiv thaiv kev cuam tshuam: Lub cev muaj zog tso zis ntau ruaj khov thiab tuaj yeem cuam tshuam kev co conductive;

· Lub neej ntev: Txo cov neeg kho tshuab kev poob siab thiab ua kom lub neej muaj sia los ntawm 3 mus rau 5 zaug;

· Kev tswj hwm qhov sib txawv: Cov kev tswj ceev ceev tuaj yeem tswj tau hauv ± 5RPM.

 

Hybrid Control yog Emerging raws li ib tug tshiab Trend

Qee cov tuam txhab lag luam tau qhia txog kev paub txog kev ya davhlau kom ua tiav lub sijhawm hloov pauv ntawm cov kev tswj sib txawv:

· Pab FOC thaum caij nkoj los txhim kho kev siv hluav taws xob;

· Hloov mus rau square yoj tswj kom tso tawm tam sim torque thaum lub sij hawm nrawm nrawm / kev hloov pauv;

· Kev sim ua kom pom tseeb qhia tau tias kev txhim kho ntawm ib puag ncig 9% thaum khaws ntau dua 85% ntawm kev ua haujlwm.

 

Sensorless FOC sai sai nkag mus rau hauv lub lag luam nruab nrab

Nrog kev pab los ntawm cov neeg soj ntsuam tshiab algorithms (xws li zawv zawg hom soj ntsuam, flux kwv yees), kev tswj qhov tseeb ntawm sensorless FOC tau txhim kho zoo:

· Kev ntsuas qhov yuam kev yog txo kom tsawg dua 0.5%;

· Pib torque ntawm xoom ceev tuaj yeem ncav cuag 30% ntawm qhov ntsuas torque.

· Tus nqi ib axis tau nqis mus rau $12, uas yog haum rau feem ntau mid-range UAV tej yaam num.

 

Kho vajtse innovation txuas ntxiv tsav kev hloov kho tshiab

· GaN fais fab khoom siv: Nce PWM zaus mus rau 200kHz thiab txo tam sim no ripple los ntawm 60%;

· Integrated tsav tsheb IC: Xws li TI DRV series, uas integrates tus tsav tsheb thiab MCU kom yooj yim rau kev tsim thiab txo cov nqi los ntawm 40%.

 

Txawm hais tias koj saib xyuas qhov tseem ceeb ntawm FOC qhov kev ua tau zoo thiab kev ua tau zoo lossis qhov yooj yim thiab tus nqi ntawm kev tswj hwm square yoj, lawv txhua tus nrhiav lawv qhov chaw nyob rau hauv qhov sib txawv ntawm kev ua lag luam. Cov qauv tam sim no qhia:

· Lub lag luam high-end UAV tau pib ua tiav tag nrho ntawm FOC;

· Lub lag luam nruab nrab yog tsiv mus rau sensorless FOC;

· Square yoj tswj tau maj mam tsom rau cov kev siv tshwj xeeb xws li cov khoom ua si thiab kev sib tw.

 

Qhov kev xaiv zaum kawg tseem yuav rov qab mus rau qhov khoom nws tus kheej: koj xav tau qhov tseeb li cas? Koj tuaj yeem lees txais tus nqi dab tsi? Koj puas muaj qhov xav tau meej rau roj teeb lub neej thiab lub cev muaj zog?

 

Raws li cov tswv yim tswj lub cev muaj zog hloov zuj zus mus thiab muaj peev xwm kho vajtse ua ntej, hybrid kev daws teeb meem sib txuas FOC thiab square yoj tswj tau npaj los ua tus qauv kev lag luam.