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通过直流电动机模型推导出PWM波的占空比与电机转速的模型,根据功率守恒方程和上述模型得出电机内阻、反电动势、自身力矩系数和螺旋翼的升力系数的计算方法。通过试验的方法测试安装有螺旋翼电动机的输入电流有效值、占空比和转速,并计算电动机的参数,最后带入到占空比与电机转速的关系模型中,验证以上推导出的模型和计算方法的合理性。结果表明模型的相对误差在3%左右。
The model of PWM wave duty cycle and motor speed is deduced from the model of DC motor. According to the power conservation equation and the above model, the calculation method of the motor internal resistance, back electromotive force, self-torque coefficient and the lift coefficient of the spiral wing is obtained. Test the effective value of input current, duty cycle and speed, and calculate the parameters of the motor through the test method, and finally bring it into the relation model of duty cycle and motor speed to verify the model and Calculate the rationality of the method. The results show that the relative error of the model is about 3%.