設計控制無人機馬達的ESC模組

作者 : Maurizio Di Paolo Emilio,EEWeb

無人機的設計關鍵是要能控制馬達的速度和旋轉,因此ESC模組成為無人機的基本組成部分。本文將探討設計ESC時需考慮的關鍵要素…

無人機的設計關鍵是要能夠控制其馬達的速度和旋轉,因此電子速度控制(ESC)模組成為無人機的基本組成部分。在本文中,我們將探討在設計ESC和市場研發方案時要考慮的關鍵要素,設計ESC時需要對以下特性進行仔細的評估和分析:

  • 安裝在無人機上的電池;
  • 馬達:為了使馬達能夠平穩運作,ESC必須能夠處理由電池供給的電流;
  • 螺旋槳:螺旋槳的選擇也將影響ESC的功率設置。無人機是使用3英吋、4英吋、5英吋還是6英吋螺旋槳?想要哪種性能,並選擇合適類型的螺旋槳螺距?
  • 電壓:選擇DC/DC轉換器配置以正確的為ESC供電。
  • 韌體:ESC從飛行控制器接收加速訊號。電子高速無人機控制器使用板載微控制器(MCU),因此需要韌體來控制硬體。
  • 尺寸和重量,以及預算。

無人機的用處越來越多,應用涵蓋了從商業到軍事的各項領域。大多數無人機由無刷直流(BLDC)馬達驅動,要求對速度和旋轉方向進行適當且持續的調節。ESC可滿足這些功能要求,並包含電源級、電流檢測電路、微控制器,以及飛行控制系統的通訊介面。

無人機必須具有高水準的穩定性和效率,才能勝任那些為它們設計的應用,使他們即使在最危險和最惡劣的天氣條件下也能工作。對於由馬達驅動並由電池供電的無人機這一特定情況來說(到目前為止這是最常見的方案,當然前提是不考慮軍事領域),每個充滿電的電池組都必須確保盡可能長的執行時間。

無人機的主要優點之一是它們可以被遠端操作,在人類有困難、危險或不方便到達的區域上空飛行。商業應用包括農業、工廠車間和建築物監控(安全、監控視訊和預防),甚至包括包裹、藥品或其他必需品的運輸。許多人認為,無人機的誕生是一場革命,其影響在未來幾年將變得更加明顯。Amazon和Facebook這兩家網際網路巨頭從一開始就押注無人機的巨大潛力,前者研發出使用無人飛行器(UAV)為偏遠且難以送達的地區運送產品,而後者則利用無人機為偏遠地區提供網際網路連接服務。

馬達控制

無人機上可以安裝兩種類型的無刷馬達:無刷直流馬達和無刷交流(BLAC)馬達,也稱為永磁同步馬達(PMSM)。使用哪種類型的馬達受所選控制演算法的影響,該演算法可以是梯形控制或磁場定向控制(FOC)。梯形馬達控制演算法具有以下主要特徵:

  • 基於六步換相序列的馬達控制;
  • 對轉子磁角的檢測,用於確認電角度,每步對應一個60°電角度;
  • 在無感測器控制系統中,透過測量反電動勢(EMF)相電壓來估算切換角度。

而FOC控制演算法具有以下功能特性:

  • 透過正弦相電壓或電流進行馬達控制;
  • 最小精確度為1°~5°的轉子角檢測,從而確保演算法始終能夠提供最大扭矩。

在無感測器控制系統中,馬達的磁角是根據馬達的相電壓和電流來估算。它的位置透過監測馬達的某些特定電氣參數確定,而無需使用其他感測器。無人機裡最常用的馬達類型是無刷直流馬達,因為它體積小、成本相對較低,而且具有高耐用性和強健性。

大多數無人機至少有四個馬達,最常用的就是四馬達版本。ESC負責控制每個馬達的速度,因此最常見的無人機架構包含各個馬達專用的ESC。所有ESC都必須能夠透過飛行控制器直接或間接地相互通訊,以便輕鬆控制無人機。每個馬達旋轉的方向也很重要:在四旋翼機(quadcopter,亦稱為四軸飛行器)中,一對馬達沿著一個方向旋轉,而另一對馬達則沿相反方向旋轉。

ESC製造商最常用的馬達控制技術是磁場FOC,這是一種控制馬達轉矩(即為扭力)和速度的技術。如果運用正確,FOC甚至可以承受急劇的加速變化而不會產生不穩定的情況,從而使無人機能夠執行複雜的調派,同時最大程度地提高效率。

圖1的框架圖展示了一個FOC架構,包含以下元件:

  • 電流控制器由兩個積分比例(PI)控制器組成;
  • 可選的外部迴路速度控制器和參考電流產生器;
  • Clarke、Park和Park逆變換,可實現從靜止到旋轉坐標系的轉換;
  • 一種空間向量調變器演算法,可將vα和vβ命令轉換為應用於定子繞組的脈衝寬度調變(PWM)訊號;
  • 保護和協助工具,包括啟動和關機邏輯;
  • 當需要使用無感測器控制時,可選觀測器用來估測轉子角位置。

 

圖1:磁場定向控制FOC示意圖。

(來源:Mathworks)

 

設計FOC的馬達控制工程師要執行多項任務,包括開發控制器架構,連帶著用於電流迴路的兩個PI控制器,最佳化所有PI控制器的增益以滿足性能要求,以及設計空間向量調變器來控制PWM。

一旦選擇了控制演算法(梯形或FOC),下一步就是在開迴路或閉迴路控制系統之間進行選擇。在開迴路控制中,同步馬達(無刷直流或無刷交流)透過控制訊號驅動,並且預設遵循動作的控制指令。在閉迴路控制系統中,電路能夠檢查馬達是否依照著預期運作。如果不是,則控制系統將自動透過減小或增大電流來彌補過度運動或運動不足。

當使用閉迴路或開迴路(無感測器)控制系統時,必須測量電流和電壓以用作回饋訊號。圖2顯示了一個典型的測量裝置,適用於梯形和正弦控制系統。透過將梯形控制與無感測器演算法結合使用,無感測器演算法將使用三相電壓來計算轉子角度。

 

圖2:具有無感測器馬達控制的ESC。下圖是德州儀器的無人機ESC中的高速無感測器FOC參考設計,上圖是其框架圖。

(來源:德州儀器)

 

四軸飛行器動力學

無人機機械的簡便性和空氣動力學的穩定性與其馬達及機動飛行的協調使用有關。在四軸飛行器中,位於結構對角線上的一對馬達在同一方向上旋轉,另外兩個馬達在相反的方向上旋轉。如果四個馬達都以同一速度旋轉,則無人機爬升、下降或保持水平飛行。如果對角一對馬達的旋轉速度快於另一對角,則無人機將繞其重心旋轉並維持在同一水平面內(圖3)。

 

圖3:無人機使用不同旋翼速度組合來完成機動飛行。

(來源:意法半導體)

 

如果更改頭(或尾)旋翼的速度,則無人機將朝著上方或下方飛行,就像固定翼飛機向下俯衝那樣。調節左右扭矩將使無人機滾動,使其繞軸旋轉。無人機的飛行控制系統負責調整合適的旋翼速度,以此來達到所需的飛行高度。

對於控制工程師而言,速度校正是一個常見的控制迴路回饋問題,可透過比例-積分-微分(PID)控制器解決。

設計ESC

為無人機設計ESC時,需要專門設計高品質的元件,用於控制高轉速馬達(12,000 + RPM)。德州儀器(TI)開發了InstaSPIN微控制器系列,可簡化三相馬達控制應用的設計,適用於無感測器系統的InstaSPIN-FOC搭載了快速軟體編碼器,具有適用於任何三相馬達的轉矩控制和速度控制功能。InstaSPIN-MOTION適用於無感測器系統,可為任何三相馬達提供位置、速度和轉矩控制。

德州儀器提供了滿足這些要求的完整參考設計,其中包括InstaSPIN-FOC和InstaSPIN-MOTION馬達控制技術。該平台包含一個32位元的C2000 InstaSPIN微控制器。它使開發人員能夠辨識、自動調節和控制三相馬達,從而快速提供穩定且功能強大的馬達控制系統。

意法半導體(ST)提供了完整的ESC參考設計,採用無感測器FOC演算法。STEVAL-ESC001V1 ESC參考設計適用於入門級商用無人機設計,並可驅動任何由6S LiPo電池組或任何等效的直流電源供電(峰值電流最高為30A)的三相無刷馬達(或PMSM)。STEVAL-ESC001V1借助完整的預配置韌體包(STSW-ESC001V1),配置了無感測器的FOC演算法,具有三並聯電流讀數、速度控制和完全主動剎車功能,使設計人員能夠快速開發應用。

STSW-ESC001V1韌體/套裝軟體,以及STM32 PMSM FOC軟體發展套組MC庫可透過作用於STM32微控制器中嵌入的FOC參數來最佳化ESC設計,並利用意法半導體馬達分析器快速檢索相關的馬達參數。意法半導體的無感測器FOC演算法可適用於任何三相BLDC或PMSM馬達應用,可提供更長的飛行時間和最佳的動態性能(圖4和5)。

 

圖4:意法半導體的STEVAL-ESC001V1解決方案框架圖。

(來源:意法半導體)

 

圖5:意法半導體的STEVAL-ESC001V1開發板。

(來源:意法半導體)

 

HoverGames無人機開發平台是一種模組化的靈活NXP硬體/軟體方案,可用於建構從無人機、漫遊車到無人飛行器(UAV)的任何自動駕駛設備。該開發套件主要基於使用Linux和Open CV的微處理器,並帶有各種用於指導飛行的配套感測器。

飛行控制器用來確保無人機保持穩定。開發板是開源的,可以插入其他外部感測器以根據功能性來最佳化操作。

 

圖6:STEVAL-ESC001V1開發版系統結構概覽。

(來源:意法半導體)

 

圖7:STEVAL-ESC001V1板及其詳細資訊。

(來源:意法半導體)

 

LiPo電池和特定國家/地區的遙測無線通訊的實施必須選擇一種物聯網(IoT)連接。要獲得該套件的全部功能,需要在兩種遙測無線通訊中選擇一種購買。透過遙測技術,可以在飛行過程中與機器進行即時連接,並可以在飛行過程中查看無人機的狀態、進行裝載、控制自主航點並進行必要的更改。遙測資料會被發送到控制站,也會被儲存在飛行單元內。

 

圖8:RDDRONE-FMUK66飛行單元的框架圖。

(來源:NXP)

 

開發套件還包括直流電源模組、可安裝的GPS NEO-M8N模組、安全開關、蜂鳴器、明亮RGB狀態LED、SEGGER J-Link EDU Mini/FTDI USB-TTL-3V3電纜/帶電纜的調試分線板、BLDC無刷馬達2212 920kV和ESC馬達控制器40A OPTO (圖9)。

 

圖9:RDDRONE-FMUK66飛行單元俯視圖:左側是序列介面,中間的是處理器Kinetis。

(來源:NXP)

 

(參考原文:Design Fundamentals for Drone Motor Controller,by Maurizio Di Paolo Emilio)

本文同步刊登於《電子工程專輯》雜誌2021年4月號

 

 

 

 

 

 

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