# US 11,993,374 B2 · Drone control system

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- Number: US 11,993,374 B2
- Document ID: US11993374B2
- Status: Granted
- Kind: B2
- Application number: 17/151,813
- Filed: 2021-01-19
- Published: 2022-04-14
- Granted: 2024-05-28
- Earliest claimed: 2020-10-13
- Applicants: Sang Chul Lee
- Inventors: Sang Chul Lee
- Web page: https://patentgrep.com/patent/US11993374B2

## CPC

- H02P 6/10: Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
- H02P 6/08: Arrangements for controlling the speed or torque of a single motor (H02P6/10, H02P6/28 take precedence)
- B64U 10/14: with four distinct rotor axes, e.g. quadcopters
- B64U 30/26: Ducted or shrouded rotors
- B64U 2201/00: UAVs characterised by their flight controls
- B64U 2201/20: Remote controls
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

According to an embodiment of the disclosure, there is provided a drone control system in which the drone user may directly adjust the torque required in the flight environment, that is, the torque required by the drone motor, with the transmitter control when controlling the transmitter stick. According to an embodiment, a drone control system comprises a flight controller receiving a stick control value from a transmitter, converting the stick control value into a motor speed value, and outputting the motor speed value and an electronic speed controller receiving the motor speed value from the flight controller, converting the motor speed value into a motor torque value, converting the motor torque value into a power driving value, and outputting the power driving value to a motor.

## Claims

### Claim 1

A drone control system in which a drone user directly adjusts torque to control the drone's motor, the system, comprising:
a flight controller receiving a stick control value from a transmitter, converting the stick control value into a motor speed value, and outputting the motor speed value; and
an electronic speed controller receiving the motor speed value from the flight controller, converting the motor speed value into a motor torque value, converting the motor torque value into a power driving value, and outputting the power driving value to the motor,
wherein the motor speed value output from the flight controller to the electronic speed controller includes a communication protocol,
wherein the electronic speed controller identifies the communication protocol and then converts the motor speed value into the motor torque value according to the identified communication protocol,
wherein the electronic speed controller includes:
a speed-torque converter converting the motor speed value into the motor torque value using a torque value characteristic for each speed of the motor uniquely designed per motor; a torque controller converting the motor torque value into a motor current value and outputting the converted motor current value; and a power converter converting the motor current value into the motor power driving value and outputting the converted motor power driving value,
wherein the torque value characteristic for each speed of the motor is TN curve,
wherein in the first section of the TN curve a motor torque is constant while a motor speed increase, and in the second section of the TN curve the motor torque and the motor speed are substantially inversely proportional to each other,
wherein the speed-torque converter scales the motor speed value to the motor torque value while reflecting the TN curve by matching maximum stick control value with maximum motor torque value according to the speed of the motor,
wherein the motor speed value is a motor speed command value according to the variation in the stick control value, and
wherein the motor torque value is a motor torque command value converted by scaling the motor speed value according to the TN curve.

### Claim 2 (depends on 1)

The drone control system of claim 1, further comprising a summing circuit between the speed-torque converter and the torque controller and receiving feedback of a current value of the motor proportional to the torque value.

### Claim 3 (depends on 1)

The drone control system of claim 1, wherein the communication protocol includes one of standard PWM, oneshot125, oneshot42, multishot, Proshot or Dshot communication protocols.

### Claim 4 (depends on 1)

The drone control system of claim 1, wherein the motor includes a motor controlled by a vector control method.

### Claim 5 (depends on 1)

The drone control system of claim 1, wherein the flight controller and the electronic speed controller are integrated into one system.

### Claim 6

A drone control system in which a drone user directly adjusts torque to control the drone's motor, the system, comprising:
a flight controller receiving a stick control value from a transmitter, converting the stick control value into a motor speed value, converting the motor speed value into a motor torque value, and outputting the motor torque value; and
an electronic speed controller receiving the motor torque value from the flight controller, converting the motor torque value into a power driving value, and outputting the power driving value to the motor,
wherein the motor speed value output from the flight controller to the electronic speed controller includes a communication protocol,
wherein the electronic speed controller identifies the communication protocol and then converts the motor speed value into the motor torque value according to the identified communication protocol,
wherein the flight controller includes a speed-torque converter converting the motor speed value into the motor torque value using a torque value characteristic for each speed of the motor uniquely designed per motor,
wherein the electronic speed controller includes: a torque controller converting the motor torque value into a motor current value and outputting the converted motor current value; and a power converter converting the motor current value into the motor power driving value and outputting the converted motor power driving value,
wherein the torque value characteristic for each speed of the motor is TN curve,
wherein in the first section of the TN curve a motor torque is constant while a motor speed increase, and in the second section of the TN curve the motor torque and the motor speed are substantially inversely proportional to each other,
wherein the speed-torque converter scales the motor speed value to the motor torque value while reflecting the TN curve by matching maximum stick control value with maximum motor torque value according to the speed of the motor,
wherein the motor speed value is a motor speed command value according to the variation in the stick control value, and
wherein the motor torque value is a motor torque command value converted by scaling the motor speed value according to the TN curve.

### Claim 7 (depends on 6)

The drone control system of claim 6, further comprising a summing circuit between the speed-torque converter and the torque controller and receiving feedback of a current value of the motor proportional to the torque value.

### Claim 8 (depends on 6)

The drone control system of claim 6, wherein the motor includes a motor controlled by a vector control method.

### Claim 9 (depends on 6)

The drone control system of claim 6, wherein the flight controller and the electronic speed controller are integrated into one system.

### Claim 10

A drone control system in which a drone user directly adjusts torque to control the drone's motor, the system, comprising:
a flight controller converting a motor speed value into a motor torque value and outputting the motor torque value; and
an electronic speed controller receiving the motor torque value from the flight controller, converting the motor torque value into a power driving value, and outputting the power driving value to the motor,
wherein the motor speed value output from the flight controller to the electronic speed controller includes a communication protocol,
wherein the electronic speed controller identifies the communication protocol and then converts the motor speed value into the motor torque value according to the identified communication protocol,
wherein the flight controller includes a speed-torque converter converting the motor speed value into the motor torque value using a torque value characteristic for each speed of the motor uniquely designed per motor,
wherein the electronic speed controller includes: a torque controller converting the motor torque value into a motor current value and outputting the converted motor current value; and a power converter converting the motor current value into the motor power driving value and outputting the converted motor power driving value,
wherein the torque value characteristic for each speed of the motor is TN curve,
wherein in the first section of the TN curve a motor torque is constant while a motor speed increase, and in the second section of the TN curve the motor torque and the motor speed are substantially inversely proportional to each other,
wherein the speed-torque converter scales the motor speed value to the motor torque value while reflecting the TN curve by matching maximum stick control value with maximum motor torque value according to the speed of the motor,
wherein the motor speed value is a motor speed command value according to the variation in the stick control value, and
wherein the motor torque value is a motor torque command value converted by scaling the motor speed value according to the TN curve.

### Claim 11 (depends on 10)

The drone control system of claim 10, wherein the flight controller and the electronic speed controller are integrated into one system.