Electric engine, control method, related device, motor controller and aircraft

Abstract

The invention provides an electric engine, a control method, a related device, a motor controller and an aircraft, and relates to the technical field of aircrafts. The electric engine comprises a power motor, a heat dissipation system and a control module, a cavity is formed in the power motor, the control module is integrated in the cavity, the space occupied by the electric engine is reduced, and therefore the size of the aircraft is reduced; the control module comprises at least three integrated driving modules, part of the driving modules are electrically connected with the power motor so as to control the power motor, part of the driving modules are electrically connected with a variable pitch motor of the propeller so as to control the variable pitch motor, and part of the driving modules are electrically connected with a heat dissipation motor in the heat dissipation system so as to control the heat dissipation motor. The performance and efficiency of the electric engine are improved through unified integrated control over the power motor, the heat dissipation motor and the variable pitch motor. And through a unified control architecture, the system design is simplified, the development and maintenance cost is reduced, and the maintainability of the electric engine is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to an electric engine and control method, related devices, a motor controller and an aircraft. Background Art

[0002] In the field of aircraft, especially electric vertical take-off and landing (eVTOL) aircraft and other aircraft, high efficiency and performance requirements are placed on electric engines. Therefore, it is crucial to improve the efficiency and performance of electric engines.

[0003] In the related art, aircraft mostly use distributed control for different types of motors, which has problems of low efficiency and poor performance. Summary of the invention

[0004] The present application provides an electric engine and control method, related devices, a motor controller and an aircraft, so as to realize a high-efficiency and high-performance electric engine.

[0005] In a first aspect, the present application provides an electric engine, comprising:

[0006] A power motor, wherein the power motor has a cavity, and the power motor is used to be connected to the propeller to drive the propeller to rotate;

[0007] The heat dissipation system includes a heat dissipation motor and a heat dissipation component. The heat dissipation motor is used to drive the heat dissipation component to dissipate heat from the power motor;

[0008] A control module, the control module is integrated in the cavity of the power motor, and the control module includes at least three integrated drive modules, wherein some drive modules are electrically connected to the power motor to control the power motor, some drive modules are electrically connected to the variable pitch motor of the propeller to control the variable pitch motor, and some drive modules are electrically connected to the heat dissipation motor to control the heat dissipation motor.

[0009] In a possible implementation, the control module includes a first motor controller and a second motor controller, and the first motor controller and the second motor controller are arranged in the cavity side by side with spacing or side by side without spacing along a first direction to form a double-redundancy configuration;

[0010] The first motor controller and the second motor controller each include at least three drive modules, and the first motor controller and the second motor controller are electrically connected to the power motor, the variable pitch motor and the heat dissipation motor respectively;

[0011] The first direction is perpendicular to the axial direction of the power motor.

[0012] In a possible implementation manner, the first motor controller and the second motor controller are arranged side by side with an interval or side by side without an interval along the first direction in the cavity, including:

[0013] The first motor controller and the second motor controller are arranged symmetrically, spaced or not spaced relative to the central axis of the power motor in the cavity;

[0014] Alternatively, the first motor controller and the second motor controller are arranged radially, spaced or non-spaced along the central axis of the power motor in the cavity.

[0015] In a possible implementation manner, the first motor controller further includes: a first main control board, and the at least three driving modules of the first motor controller include a first driving module, a second driving module, and a third driving module electrically connected to the first main control board;

[0016] The second motor controller further includes: a second main control board, and at least three driving modules corresponding to the second motor controller include a fourth driving module, a fifth driving module, and a sixth driving module electrically connected to the second main control board;

[0017] The first drive module and the fourth drive module are both electrically connected to the power motor;

[0018] The second drive module and the fifth drive module are both electrically connected to the variable pitch motor;

[0019] The third driving module and the sixth driving module are both electrically connected to the heat dissipation motor.

[0020] In a possible implementation, the heat dissipation assembly includes a fan and a radiator, the radiator is located between the fan and the power motor or the fan is located between the radiator and the power motor;

[0021] The heat dissipation motor includes: a fan motor, the fan motor is connected to the fan drive, and the radiator is used to dissipate heat from the power motor;

[0022] The fan motors are electrically connected to the third drive module and the sixth drive module.

[0023] In a possible implementation, a liquid cooling channel is provided in the power motor, and the radiator and the liquid cooling channel form a cooling medium circulation loop;

[0024] A circulation pump is provided on the circulation loop;

[0025] The heat dissipation motor also includes: a circulation pump motor, or the fan motor is a pump motor, and the circulation pump is driven by the circulation pump motor or the pump motor.

[0026] In a possible implementation manner, the third driving module and the sixth driving module each include a fan motor driving module and a circulating pump motor driving module, the fan motor is electrically connected to the fan motor driving modules of the first motor controller and the second motor controller, and the circulating pump motor is electrically connected to the circulating pump motor driving modules of the first motor controller and the second motor controller;

[0027] Alternatively, the third driving module and the sixth driving module both include a pump motor driving module, and the pump motor is electrically connected to the pump motor driving modules of the first motor controller and the second motor controller to drive the circulation pump and the fan.

[0028] In a possible implementation, the heat dissipation assembly further includes: a first cooling heat conducting plate and a second cooling heat conducting plate, the first cooling heat conducting plate being used to conduct heat to a heating part of the first motor controller, and the second cooling heat conducting plate being used to conduct heat to a heating part of the second motor controller;

[0029] The radiator includes two liquid inlets and a liquid outlet;

[0030] The circulation loop includes a first circulation loop and a second circulation loop in parallel, both liquid inlets are connected to the liquid cooling channel, and the liquid outlet is connected to the first cooling heat conduction plate and the second cooling heat conduction plate, so that the radiator, the first cooling heat conduction plate and the liquid cooling channel form a first circulation loop, and the radiator, the second cooling heat conduction plate and the liquid cooling channel form a second circulation loop.

[0031] In one possible implementation, the power motor, variable pitch motor, fan motor, and circulating pump motor all include a first winding and a second winding; each drive module of the first motor controller is electrically connected to the first winding of each motor, and each drive module of the second motor controller is electrically connected to the second winding of each motor.

[0032] In a possible implementation manner, the first motor controller and the second motor controller both further include: a bus capacitor and at least three power modules, the bus capacitor being electrically connected to a battery pack and a main control board of the electric motor,

[0033] The power module is electrically connected to the drive module and the windings of each motor accordingly.

[0034] In a possible implementation, the power motor includes a motor housing and a stator and a rotor mounted on the motor housing, the rotor is located at the outer periphery of the stator, and the inner periphery of the stator forms a cavity;

[0035] The control module is located in the cavity;

[0036] The radiator, the fan, the circulation pump, the first cooling heat conducting plate and the second cooling heat conducting plate are all fixedly connected to the motor housing, so that the heat dissipation system and the power motor form an integrated electric motor.

[0037] In a second aspect, the present application provides an electric engine control method, comprising:

[0038] Receive control instructions sent by the flight control system;

[0039] Determine the control object targeted by the control instruction, which is a variable pitch motor or a power motor;

[0040] The controlled object is controlled based on the control instruction and the configuration type of the controlled object, wherein the configuration type includes a dual winding configuration.

[0041] In a possible implementation manner, determining a control object targeted by a control instruction includes:

[0042] If the control instruction is a power instruction, then determining that the control object targeted by the control instruction is a power motor;

[0043] If the control instruction is a propeller pitch change instruction, it is determined that the control object targeted by the control instruction is the pitch change motor.

[0044] In a possible implementation manner, the power command is used to indicate any one of working power, working current, working speed and working torque.

[0045] In a possible implementation, controlling the control object based on the control instruction includes:

[0046] If the controlled object is a power motor, the power motor drive module is controlled to invert the DC power into three-phase AC power to provide electrical energy to the winding of the power motor, so as to control the power motor to output power according to the control instruction;

[0047] If the controlled object is a variable pitch motor, the variable pitch motor drive module is controlled to invert DC power into three-phase AC power to provide electrical energy to the winding of the variable pitch motor, so as to control the variable pitch motor to output torque according to the control instruction.

[0048] In a possible implementation, controlling the controlled object based on the control instruction and the configuration type of the controlled object includes:

[0049] If the control object is a dual-winding configuration, then based on the control instruction, each winding in the dual winding is controlled to output a corresponding proportion;

[0050] If the control object is a single winding configuration, the winding is controlled to output a full ratio based on the control command.

[0051] In a possible implementation, the electric engine control method further includes:

[0052] Perform fault detection on electric motors;

[0053] If a fault in one of the dual windings is detected, the other of the dual windings is controlled to output a full ratio based on a control instruction.

[0054] In one possible implementation, the motor controller is a dual-redundancy configuration, wherein different windings in the dual-winding configuration are respectively controlled by different motor controllers of the dual-redundancy configuration;

[0055] The electric engine control method further includes:

[0056] The motor controllers in dual-redundancy configuration perform fault detection on the electric motors respectively;

[0057] If a redundant motor controller detects a fault, the fault information is synchronized to another redundant motor controller;

[0058] Another redundant motor controller responds to receiving the fault information and controls the winding controlled by it based on the control instruction, and performs a full-proportional output based on the control instruction;

[0059] If no fault is detected, the redundant motor controllers work in coordination, and the coordination includes synchronizing fault information.

[0060] In a possible implementation manner, the motor controller is further used to control the heat dissipation motor, and the electric engine control method further includes:

[0061] Monitor the operation of the electric engine and obtain the operation information of the electric engine;

[0062] According to the operating information, the operating parameters of the heat dissipation motor are adjusted to control the operating temperature of the electric motor.

[0063] In a possible implementation, adjusting the operating parameters of the heat dissipation motor according to the operating information includes:

[0064] The speed of the heat dissipation motor output is adjusted according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller, wherein the heat dissipation motor includes a pump motor, and the pump motor provides power for the circulation pump, or the pump motor provides power for the circulation pump and the fan at the same time; or the heat dissipation motor includes a circulation pump motor and a fan motor.

[0065] In a third aspect, the present application provides an electric engine control device, comprising:

[0066] A receiving module is used to receive control instructions sent by the flight control system;

[0067] A determination module, used to determine a control object targeted by a control instruction, the control object being a variable pitch motor or a power motor;

[0068] The control module is used to control the control object based on the control instruction and the configuration type of the control object, wherein the configuration type includes a dual winding configuration.

[0069] In a fourth aspect, the present application provides a motor controller, comprising: a processor, and a memory communicatively connected to the processor;

[0070] The memory is used to store computer-executable instructions;

[0071] The processor is used to execute the computer-executable instructions to implement the method as described in any one of the second aspects.

[0072] In a fifth aspect, the present application provides an electric propulsion device, comprising: a propeller and an electric engine as described in any one of the first aspects, wherein the power motor of the electric engine is transmission-connected to the propeller, and part of the drive module in the control module of the electric engine is electrically connected to the variable pitch motor of the propeller.

[0073] In a possible implementation, the propeller includes: blades, a hub, and a fairing. The blades and the fairing are connected to the hub, and the hub is connected to the rotor of the power motor; a variable pitch motor and a variable pitch mechanism are connected in the hub, and the variable pitch mechanism is connected to the blades.

[0074] In a sixth aspect, the present application provides an aircraft comprising a fuselage, wings, a tail, and an electric propulsion device as described in any one of the fifth aspects, wherein the electric propulsion device is arranged on the wings and / or the fuselage and / or the tail.

[0075] In a possible embodiment, the aircraft also includes a tilt mechanism and a tilt drive module. The tilt mechanism is connected to the electric propulsion device so that the aircraft can transition between a take-off and landing configuration and a cruising configuration. The tilt drive module is integrated with the tilt mechanism and installed on the wings and / or fuselage and / or tail, and is located outside the electric engine.

[0076] In a seventh aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the method as described in any one of the second aspects.

[0077] In an eighth aspect, the present application provides a computer program product, including a computer program, which implements the method described in any one of the second aspects when the computer program is executed.

[0078] The electric engine and control method, related device, motor controller and aircraft provided by the present application, the electric engine includes a power motor, a heat dissipation system and a control module, the power motor has a cavity, the control module is integrated in the cavity, which can be beneficial to reduce the space occupied by the electric engine, thereby reducing the volume of the aircraft; and the control module includes at least three integrated drive modules, wherein some drive modules are electrically connected to the power motor to control the power motor, some drive modules are used to be electrically connected to the variable pitch motor of the propeller to control the variable pitch motor, and some drive modules are electrically connected to the heat dissipation motor in the heat dissipation system to control the heat dissipation motor. Through unified integrated control of the power motor, the heat dissipation motor and the variable pitch motor, the delay of signal transmission and processing is reduced, the response speed of the electric engine is improved, the coordination of the control of the electric engine is enhanced, and the power motor and the variable pitch motor work together in various flight states, thereby improving the performance and efficiency of the electric engine. In addition, through a unified control architecture, the system design is simplified, the cost of development and maintenance is reduced, and the maintainability of the electric engine is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0080] Figure 1 The structure of the electric engine provided in the embodiment of the present application is shown in FIG. Figure 1 ;

[0081] Figure 2 A schematic cross-sectional view of the electric engine provided in an embodiment of the present application;

[0082] Figure 3 The structure of the electric engine provided in the embodiment of the present application is shown in FIG. Figure 2 ;

[0083] Figure 4 A schematic diagram of the structure of the control module provided in the embodiment of the present application;

[0084] Figure 5 Schematic diagram of the structure of the electric propulsion device provided in the embodiment of the present application Figure 1 ;

[0085] Figure 6 A schematic flow chart of an electric engine control method provided in an embodiment of the present application;

[0086] Figure 7 A schematic diagram of the structure of an electric engine control device provided in an embodiment of the present application;

[0087] Figure 8 A schematic diagram of the structure of a motor controller provided in an embodiment of the present application;

[0088] Fig. 9 Schematic diagram of the structure of the electric propulsion device provided in the embodiment of the present application Figure 2 ;

[0089] Fig.10 A schematic diagram of the structure of an aircraft provided in an embodiment of the present application.

[0090] Description of reference numerals:

[0091] 10: Electric engine;

[0092] 11: Power motor;

[0093] 11a: liquid cooling channel; 111: rear cover;

[0094] 12: Cooling system;

[0095] 123: heat dissipation motor;

[0096] 1231: circulation pump motor; 1232: fan motor;

[0097] 122: radiator; 121: fan; 124: first liquid return pipe; 125: second liquid return pipe;

[0098] 126: first cooling heat conduction plate; 127: second cooling heat conduction plate; 128: circulation pump; 129: liquid supply pipe;

[0099] 121a: air inlet side; 121b: air outlet side;

[0100] 1241: first liquid inlet; 1242: second liquid inlet; 1243: liquid outlet;

[0101] 13: Control module;

[0102] 131: a first motor controller; 132: a second motor controller;

[0103] 1311: first main control board; 1312: first driving module; 1313: second driving module; 1314: third driving module; 1321: second main control board; 1322: fourth driving module; 1323: fifth driving module; 1324: sixth driving module;

[0104] 131a: first bus capacitor; 132a: second bus capacitor; 131b: first inverter module; 132b: second inverter module; 131c: first motor drive board; 132c: second motor drive board;

[0105] 14: variable pitch motor;

[0106] 50: electric engine control device; 51: receiving module; 52: determining module; 53: control module;

[0107] 60: motor controller; 61: processor; 62: memory; 63: communication component; 64: bus;

[0108] 70: electric propulsion device; 71: propeller;

[0109] 711: blade; 712: hub; 713: fairing;

[0110] 7121: Pitch-changing mechanism;

[0111] 800: aircraft; 801: fuselage; 802: wing; 803: tail; 804: first arm; 805: second arm; 806: nacelle.

[0112] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0113] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0114] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0115] In this application, unless otherwise clearly specified and limited, the terms "installation", "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be a connection between two elements or an interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0116] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0117] In the above description, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0118] First, the terms involved in this application are explained:

[0119] Propeller: A device that converts the power of an engine or electric motor into thrust (pull or lift) by rotating the blades in the air or water (liquid). It has a wide range of applications. As an important thrust (pull or lift) mechanism in aircraft, it is widely used in eVTOL aircraft, helicopters, drones and other fields; it is also widely used in ships, submarines and other fields.

[0120] Pitch-changing mechanism: To improve propeller efficiency, a pitch-changing mechanism is usually added inside the propeller to change the propeller blade angle under different speeds and thrust (pulling or lift) requirements, so that the propeller can achieve optimal efficiency. The pitch-changing mechanism of the propeller can achieve propeller pitch adjustment, which requires a power source to provide a pitch-changing torque and be able to control the pitch-changing torque to achieve accurate blade angle control.

[0121] Electric motor: A system consisting of an electric motor, motor controller, cables, etc. and its accessories that can convert electrical energy into mechanical energy. In actual implementation, an electric motor can also be called an electric propulsion system.

[0122] Lift / thrust assembly: consists of an electric engine, propeller, etc. and their accessories.

[0123] Electric propulsion device: consists of power batteries, electric engines, propellers, etc. and their accessories.

[0124] At present, the electric engines, pitch-changing mechanisms and cooling circulation systems used in electric aviation are arranged in a distributed manner. Various motors and their corresponding motor controllers are arranged separately, and the electric engines, propeller pitch, water pump pressure and cooling fan speed are controlled separately by the flight system (such as the flight computer). Although each subsystem can be independently controlled, this decentralized control method increases the response time and delay of the aircraft system, especially when multiple subsystem parameters need to be adjusted quickly. In addition, the subsystems lack coordination. In addition, the decentralized control method increases the complexity of the aircraft system, resulting in higher failure rates and maintenance costs. The above problems lead to low overall system efficiency and performance.

[0125] In order to solve the above technical problems, the present application provides an electric engine, which integrates and controls the power motor, the heat dissipation motor and the variable pitch motor in a unified manner, realizes an integrated electric engine, and reduces the size of the electric engine while improving the response speed of the electric engine, enhancing the coordination of the electric engine control, thereby improving the performance and efficiency of the electric engine, and achieving high performance and precise control. Through a unified control architecture, the system design is simplified, the development and maintenance costs are reduced, and the maintainability of the electric engine is improved.

[0126] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0127] Figure 1 The structure of the electric engine provided in the embodiment of the present application is shown in FIG. Figure 1 , Figure 2 This is a schematic cross-sectional view of the electric engine provided in the embodiment of the present application. Figure 1 and Figure 2 As shown, the electric engine 10 includes a power motor 11 , a cooling system 12 and a control module 13 .

[0128] The power motor 11 has a cavity therein, and the power motor 11 is used to communicate with the propeller 71 (see below). Fig. 9 ) to drive the propeller 71 to rotate, the power motor 11 is connected to the propeller 71, and the power motor 11 provides power to the propeller 71, thereby providing thrust for the aircraft. In the eVTOL aircraft, the power motor 11 can provide vertical lift, so that the aircraft can overcome gravity and fly in the air. The power motor 11 may include a rear cover 111 for protecting the power motor 11.

[0129] The heat dissipation system 12 includes a heat dissipation motor 123 and a heat dissipation component. The heat dissipation motor 123 is used to drive the heat dissipation component to dissipate heat from the power motor 11. Since the power motor 11 generates a large amount of heat during operation, the heat generated by the power motor 11 during operation needs to be taken away by the heat dissipation system 12.

[0130] The control module 13 is integrated in the cavity of the power motor 11, and the control module 13 includes at least three integrated drive modules (see Figure 3 ), wherein part of the drive module is electrically connected to the power motor 11 to control the power motor 11, part of the drive module is electrically connected to the variable pitch motor 14 of the propeller 71 to control the variable pitch motor 14, and part of the drive module is electrically connected to the heat dissipation motor 123 to control the heat dissipation motor 123.

[0131] It should be noted that the integrated electric engine is an integrated structure formed by integrating the power motor 11 and the heat dissipation system 12. In the embodiment of the present application, the control module 13 is integrated in the cavity of the power motor 11, and the heat dissipation system 12 can be integrated below the power motor 11. Therefore, the structure of the integrated electric engine is compact, which is conducive to saving space in the aircraft, thereby helping to reduce the size of the aircraft. In addition, the integration of the power motor 11, the heat dissipation system 12 and the control module 13 can also facilitate the assembly of the aircraft, which is conducive to reducing the assembly process and improving the assembly efficiency. The heat dissipation system 12 is arranged below the power motor 11, and part of the airflow generated by the propeller 71 can be effectively utilized to improve the heat dissipation performance.

[0132] In addition, by unified integrated control of the power motor 11, the heat dissipation motor 123 and the variable pitch motor 14, the delay of signal transmission and processing is reduced, the response speed of the electric engine 10 is improved, and the coordination of the control of the electric engine 10 is enhanced, so that the power motor 11, the variable pitch motor 14 and the heat dissipation motor 123 work together in various flight states, thereby improving the performance and efficiency of the electric engine 10. In addition, through a unified control architecture, the system design is simplified, the cost of development and maintenance is reduced, and the maintainability of the electric engine 10 is improved.

[0133] Figure 3 The structure of the electric engine provided in the embodiment of the present application is shown in FIG. Figure 2 .in, Figure 3 The electric motor shown is for illustration only and does not constitute a limitation on the specific structure and shape of the electric motor.

[0134] In some embodiments, see Figure 3 As shown, the control module 13 includes a first motor controller 131 and a second motor controller 132. The first motor controller 131 and the second motor controller 132 are arranged along a first direction ( Figure 3 The first direction is parallel to the axial direction of the power motor 11 ( Figure 3 The first motor controller 131 and the second motor controller 132 each include at least three drive modules, and the first motor controller 131 and the second motor controller 132 are electrically connected to the power motor 11, the variable pitch motor 14 and the heat dissipation motor 123, respectively.

[0135] The first motor controller 131 and the second motor controller 132 are arranged side by side, and can be spaced (i.e., there is a certain distance between the two motor controllers) or non-spaced (i.e., the two motor controllers are closely adjacent). In addition, when the first motor controller 131 and the second motor controller 132 are spaced apart in the cavity of the power motor 11, the first motor controller 131 and the second motor controller 132 can be physically separated by adding a fireproof diaphragm. By arranging side by side, an efficient motor controller layout can be achieved in a limited space, and the design is compact, thereby saving space.

[0136] It should be noted that a fireproof diaphragm is set between the dual redundant motor controllers, or no fireproof diaphragm is set. Setting a fireproof diaphragm can prevent the overheating problem from spreading between the two motor controllers, which has high safety. The fireproof diaphragm can also use high temperature resistant materials to reduce heat propagation; not setting a fireproof diaphragm can simplify the system structure and reduce the overall cost of the system. In addition, the design of non-interval setting makes the structure of the control module more compact, the power motor occupies less space, and the volume of the electric engine is smaller. It should be noted that whether to set a fireproof diaphragm or not can be selected according to the actual application scenario, space requirements, system safety requirements, performance requirements and cost, and whether to set it at intervals is not limited in the embodiments of the present application.

[0137] The first motor controller 131 and the second motor controller 132 respectively control the operation of the power motor 11, the variable pitch motor 14 and the heat dissipation motor 123. It can be understood that two relatively independent motor controllers are arranged in the cavity of the power motor 11. For example, when any motor controller fails and cannot work, another normal motor controller completely takes over the control of the operation of the power motor 11, the variable pitch motor 14 and the heat dissipation motor 123. By designing the motor controllers redundantly, the reliability and fault tolerance of the electric engine are improved.

[0138] The first direction is perpendicular to the axial direction of the power motor 11 , and can be regarded as an arrangement direction of the motor controller forming a 90-degree angle with the rotation axis of the power motor 11 , thereby optimizing space utilization and wiring.

[0139] In some embodiments, the first motor controller 131 and the second motor controller 132 are arranged side by side with intervals or side by side without intervals in the cavity along the first direction, including the following two implementation methods:

[0140] In one implementation, the first motor controller 131 and the second motor controller 132 are arranged symmetrically, spaced or non-spaced relative to the central axis of the power motor 11 in the cavity. The symmetrical arrangement can more effectively utilize the space in the cavity and simplify the wiring. The symmetry of the first motor controller 131 and the second motor controller 132 helps to balance the weight distribution and thermal management of the electric engine 10. It can adapt to different equipment layouts and installation requirements.

[0141] The two motor controllers provide redundant control capabilities. When one controller fails, the other controller can take over the control task to ensure the continuous operation of the electric engine 10. This symmetry helps to balance the weight distribution and thermal management of the electric engine 10.

[0142] In another implementation, the first motor controller 131 and the second motor controller 132 are arranged radially, at intervals or non-at intervals along the central axis of the power motor 11 in the cavity. Figure 4 A schematic diagram of the structure of the control module provided in the embodiment of the present application is shown in FIG. Figure 4 As shown, the first motor controller 131 and the second motor controller 132 are radially distributed around the central axis (rotation axis) of the power motor 11 .

[0143] The radial arrangement enables the motor controller to be compactly arranged around the power motor 11, maximizing the use of the available space in the cavity. Especially in a limited cavity, the radial arrangement helps to evenly distribute heat, reduce the risk of local overheating, improve the heat dissipation efficiency of the electric motor 10, make the overall structure more balanced and stable, and simplify wiring.

[0144] In some embodiments, see Figure 3 As shown, the first motor controller 131 also includes: a first main control board 1311, and at least three driving modules of the first motor controller 131 include a first driving module 1312, a second driving module 1313, and a third driving module 1314 electrically connected to the first main control board 1311; the second motor controller 132 also includes: a second main control board 1321, and at least three driving modules corresponding to the second motor controller 132 include a fourth driving module 1322, a fifth driving module 1323, and a sixth driving module 1324 electrically connected to the second main control board 1321.

[0145] That is, the first motor controller 131 and the second motor controller 132 each include a main control board and at least three drive modules, wherein the main control board, as the core of the motor controller, is responsible for processing control logic, signal processing and communication tasks. The drive module is electrically connected to the main control board and is responsible for converting the instructions of the main control board into power signals required for motor operation.

[0146] Correspondingly, the first drive module 1312 and the fourth drive module 1322 are both electrically connected to the power motor, and the first drive module 1312 and the fourth drive module 1322 are responsible for providing the drive signal required by the power motor 11 to realize the main power output function; the second drive module 1313 and the fifth drive module 1323 are both electrically connected to the variable pitch motor 14, and the second drive module 1313 and the fifth drive module 1323 are responsible for providing the drive signal required by the variable pitch motor 14 to realize the adjustment of certain mechanical parameters of the aircraft system (such as the pitch of the propeller); the third drive module 1314 and the sixth drive module 1324 are both electrically connected to the heat dissipation motor 123, and the third drive module 1314 and the sixth drive module 1324 are responsible for driving the heat dissipation fan or other heat dissipation equipment to maintain the temperature of the power motor 11 within a safe range.

[0147] The embodiment of the present application has high flexibility through modular design, and multiple drive modules can process different tasks in parallel, thereby improving the response speed and processing capability of the electric engine system. By connecting different drive modules to specific motor types, the electric engine system can achieve more efficient operation and more precise control. Through modularization, dedicated drive design and redundant design, the stable operation and efficient performance of the electric engine system are ensured.

[0148] At present, many high-power heat-generating moving devices, such as the drive motors of new energy vehicles and the engines of fuel vehicles, generate a lot of heat during operation, so they are usually equipped with a cooling system (radiator and fan). The airflow generated by the fan blows through the radiator, thereby taking away the heat generated by the moving devices. For motors and engines such as automobiles, the heat dissipation is relatively spacious because of the structural layout and no rigid quality requirements. Therefore, in order to meet the heat dissipation requirements, there will not be too much research and development on the size of the radiator and the size of the fan, and usually the front end of the radiator will not be very tight and too much shielding. In order to meet the requirements of weight and layout space, the current electric vertical take-off and landing (eVTOL) aircraft usually requires the design of products to be small and precise, and to ensure the achievement of performance. In this way, the air inlet of the radiator will be blocked by the motor and pump. This layout will inevitably cause new problems that do not occur in other industries, such as uneven distribution of the air inlet, which will seriously cause a large amount of heat reflux in the middle area of ​​the radiator.

[0149] Therefore, in some embodiments, see Figure 2 As shown, the heat dissipation component in the heat dissipation system 12 includes a fan 121 and a radiator 122. In one implementation, the radiator 122 is located between the fan 121 and the power motor 11; in another implementation, the fan 121 is located between the radiator 122 and the power motor 11 (such as Figure 2 As shown). The heat dissipation motor 123 includes: a fan motor, the fan motor is connected to the fan transmission, and the radiator 122 is used to dissipate heat from the power motor 11; the fan motor is electrically connected to the third drive module and the sixth drive module (as shown Figure 3 As shown in , the heat dissipation motor is a fan motor, and the fan motor is electrically connected to the third driving module 1314 and the sixth driving module 1324).

[0150] Among them, the fan 121, the radiator 122 and the heat dissipation motor 123 (for example, a fan motor) are arranged axially along the central axis of the power motor 11, the fan 121 can be located between the radiator 122 and the power motor 11, and the radiator 122 can also be located between the fan 121 and the power motor 11. Preferably, the fan 121 is arranged adjacent to the radiator 122. The radiator 122 can be connected to the power motor 11 for heat transfer. The heat generated by the power motor 11 during operation can be transferred to the radiator 122, so as to achieve heat dissipation for the power motor 11 through the radiator 122.

[0151] The fan motor is connected to the fan 121 by transmission, and the fan motor is fixed on the housing of the power motor 11. For example, the fan motor is fixedly connected to the housing of the power motor 11. The fan 121 can be arranged on the side of the fan motor facing away from the power motor 11, and the fan motor can drive the fan 121 to rotate through the transmission shaft. In this way, the fan 121 can drive the air flow and form an airflow, so that the airflow passes through the radiator 122. The airflow formed when the fan 121 is working will take away the heat of the power motor 11 absorbed by the radiator 122, so that the radiator 122 can be cooled and dissipated by air through the fan 121, and the heat release on the radiator 122 can be accelerated. The air inlet side 121a of the fan 121 and the air outlet side 121b of the fan 121, the air inlet side 121a can refer to the side of the fan 121 facing the power motor 11, and the air outlet side 121b can refer to the side of the fan 121 facing the radiator 122.

[0152] Optionally, the heat sink may have a larger heat dissipation surface for quickly releasing heat to the external environment; alternatively, ventilation holes, heat fins, physical modules containing heat dissipation materials or heat conductive materials, etc. may be added to the surface of the heat sink to improve the heat dissipation efficiency. For example, a physical module of heat conductive material is set on the surface, inside or at any position of the heat sink to absorb or conduct heat and improve the heat conduction efficiency. The heat conductive material includes thermal paste, thermal pad and thermal adhesive, etc. The heat dissipation material includes phase change material, metal-based composite material, etc. The heat dissipation fin is a thin sheet attached to the heat sink body to increase the surface area and enhance the heat dissipation effect.

[0153] Furthermore, the fan motor is electrically connected to the third drive module 1314, and the fan motor is also electrically connected to the sixth drive module 1324. The fan motor is driven jointly by the third drive module 1314 and the sixth drive module 1324 so that the fan motor outputs corresponding power, speed, etc.

[0154] In the embodiment of the present application, by reasonably arranging the fan and the radiator, the heat dissipation system can form an effective airflow path to quickly remove the heat generated by the power motor, so that the power motor can effectively dissipate the heat. The effective heat dissipation design helps to maintain the power motor operating within the optimal temperature range, improve its efficiency and life, and thus improve the performance and reliability of the electric engine.

[0155] In some embodiments, see Figure 1 A liquid cooling channel 11a is provided in the power motor 11, and the radiator 122 and the liquid cooling channel 11a form a cooling medium circulation loop; a circulation pump is provided on the circulation loop; the heat dissipation motor 123 also includes: a circulation pump motor, or the fan motor is a pump motor, and the circulation pump is driven by the circulation pump motor or the pump motor.

[0156] Since the radiator 122 and the liquid cooling channel 11a can form a cooling medium circulation loop, and the liquid cooling channel 11a is located in the power motor 11, the cooling medium can flow through the power motor 11 and the radiator 122 during the flow of the cooling medium in the cooling medium circulation loop, so that the heat generated by the power motor 11 during operation is transferred to the radiator 122 through the circulation of the cooling medium. The airflow generated by the fan 121 can be used to remove the heat from the radiator 122, thereby achieving heat dissipation for the power motor 11.

[0157] In one implementation, a circulation pump is provided on the cooling medium circulation loop, and the heat dissipation motor 123 also includes a circulation pump motor. By providing the circulation pump motor on the cooling medium circulation loop, the circulation pump motor is used to drive the circulation pump to operate, so that the cooling medium can flow in the cooling medium circulation loop, ensuring the effective circulation of the cooling medium, thereby taking away the heat of the radiator 122, and ensuring the normal operation of the electric engine 10, wherein the circulation pump motor is fixed to the housing of the power motor 11. For example, the circulation pump motor is fixedly connected to the housing of the power motor 11. In other words, the fan and the circulation pump are driven by the circulation pump motor and the fan motor respectively, and the circulation pump motor and the fan motor are arranged near the radiator, for example, they can be arranged on the same side or different sides of the radiator 122 respectively.

[0158] In another implementation, the fan motor is a pump motor, and the fan motor (pump motor) drives the circulation pump to operate, so that the cooling medium can flow in the cooling medium circulation loop, ensuring the effective circulation of the cooling medium, thereby taking away the heat of the radiator 122 and ensuring the normal operation of the electric engine 10. In other words, the fan and the circulation pump share the same motor, and the fan motor is arranged near the radiator 122.

[0159] It should be noted that the fan motor can be used as a pump motor to drive the cooling medium to flow in the cooling medium circulation loop. And the fan motor can also be used to drive the fan 121 to rotate. Since the fan motor can achieve the above two functions, compared with the fan 121 and the flow of the cooling medium driven by two independent motors, on the one hand, the number of parts in the electric engine 10 can be reduced, which is conducive to reducing the manufacturing cost of the electric engine 10. On the other hand, it can reduce the possibility that the two motors occupy a large space, resulting in an increase in the volume and weight of the electric engine 10.

[0160] In the embodiment of the present application, the fan motor and the circulating pump motor are designed as the same motor, which can reduce the overall volume and weight of the electric engine, reduce costs, simplify the design of the electric engine, reduce maintenance requirements, and also reduce noise and vibration. By designing the fan motor and the circulating pump motor as different motors, flexibility is higher, and the performance of the motor is optimized to a certain extent, thereby improving the heat dissipation efficiency.

[0161] It should be noted that a suitable implementation method can be selected according to actual needs and design requirements, and the embodiments of the present application do not limit this.

[0162] On the basis of the above embodiments, in some achievable methods, when the fan motor and the circulating pump motor are designed as different motors, the third driving module 1314 and the sixth driving module 1324 both include a fan motor driving module and a circulating pump motor driving module, the fan motor is electrically connected to the fan motor driving modules of the first motor controller 131 and the second motor controller 132, and the circulating pump motor is electrically connected to the circulating pump motor driving modules of the first motor controller 131 and the second motor controller 132.

[0163] In other feasible embodiments, when the fan motor and the circulating pump motor are designed as the same motor, the third driving module 1314 and the sixth driving module 1324 both include a pump motor driving module, and the pump motor is electrically connected to the pump motor driving modules of the first motor controller 131 and the second motor controller 132 to drive the circulating pump and the fan.

[0164] In the embodiments of the present application, by connecting different drive modules to specific motor types, the electric engine system can achieve more efficient operation and more precise control, and the stable operation and efficient performance of the electric engine system are ensured through modularization, dedicated drive design and redundant design.

[0165] Figure 5 Schematic diagram of the structure of the electric propulsion device provided in the embodiment of the present application Figure 1 .

[0166] In some embodiments, see Figure 5 As shown, the heat dissipation assembly also includes: a first cooling heat conduction plate 126 and a second cooling heat conduction plate 127. The first cooling heat conduction plate 126 is used to conduct heat to the heating part of the first motor controller 131, and the second cooling heat conduction plate 127 is used to conduct heat to the heating part of the second motor controller 132.

[0167] Among them, the heat-generating parts of each motor controller can be indirectly bonded to the outer surface of the tube wall of the cooling heat-conducting plate through heat-conducting materials, and can also be directly installed on the cooling heat-conducting plate to achieve an integrated design.

[0168] It should be noted that when the first motor controller 131 and the second motor controller 132 are arranged side by side without interval along the first direction in the cavity of the power motor 11, the first motor controller 131 and the second motor controller 132 can be centrally designed on the same cooling heat conduction plate. When the cooling medium flows through the cooling heat conduction plate, the motor controllers are cooled, the number of components is reduced, and the space occupied by the power motor 11 is reduced.

[0169] Further, see Figure 5The radiator 122 includes two liquid inlets (a first liquid inlet 1241 and a second liquid inlet 1242) and a liquid outlet 1243; the circulation loop includes a first circulation loop and a second circulation loop in parallel, both liquid inlets are connected to the liquid cooling channel 11a, and the liquid outlet 1243 is connected to the first cooling heat conductive plate 126 and the second cooling heat conductive plate 127, so that the radiator 122, the first cooling heat conductive plate 126 and the liquid cooling channel 11a form a first circulation loop, and the radiator 122, the second cooling heat conductive plate 127 and the liquid cooling channel 11a form a second circulation loop.

[0170] For example, see Figure 1 and Figure 5 As shown, the radiator 122 is rigidly connected to the power motor through two liquid return pipes (a first liquid return pipe 124 and a second liquid return pipe 125). It can be seen that the two liquid return pipes can constitute a support structure to fix the radiator 122 on the power motor 11. One end of the two liquid return pipes is fixedly connected to the radiator 122, and the other end is connected to the liquid cooling channel 11a. One end of the liquid supply pipe 129 is fixedly connected to the radiator 122, and the other end is connected to the circulation pump 128. After the coolant is driven by the circulation pump 128, it is connected to the first cooling heat conduction plate 126 and the second cooling heat conduction plate 127 through the coolant pipeline. Then a first circulation loop and a second circulation loop in parallel are formed.

[0171] The liquid supply pipe 129 can provide a low-temperature cooling medium to the power motor 11. The low-temperature cooling medium flows in the liquid cooling channel in the power motor 11, and can absorb the heat of the power motor (including the heat generated by the winding of the power motor and the heat generating part of the motor controller). At this time, the temperature of the cooling medium increases to form a high-temperature cooling medium. The high-temperature cooling medium can flow into the radiator 122 through the first liquid return pipe 124 and the second liquid return pipe 125.

[0172] Since the radiator 122 has a heat dissipation surface, and under the action of the airflow generated by the fan 121, the high-temperature cooling medium in the radiator 122 can be heat-dissipated. The temperature of the cooling medium in the radiator 122 can be gradually reduced to form a low-temperature cooling medium. The low-temperature cooling medium can flow into the liquid cooling channel 11a of the power motor 11 through the liquid supply pipe 129 again to continue to be used for heat dissipation of the power motor 11. In summary, the cooling medium can circulate in the first circulation loop and the second circulation loop to be used for continuous heat dissipation of the power motor 11, thereby ensuring the normal operation of the aircraft.

[0173] It should be noted that after the cooling medium flows into the liquid cooling channel 11a of the power motor through the liquid supply pipe 129 and the coolant pipeline, the motor controller and the power motor can be endothermally cooled in series (first cool the heating part of the motor controller, and then cool the winding of the power motor), or the motor controller and the power motor can be independently endothermally cooled in parallel, which is not limited in the embodiments of the present application.

[0174] In the embodiment of the present application, the heat dissipation system can cool multiple heat sources at the same time through a parallel dual-circuit design, thereby improving the overall heat dissipation efficiency. The first and second circulation loops are configured in parallel, so that each loop can operate independently, improving the flexibility and reliability of the system; the radiator is combined with multiple circulation loops through liquid cooling technology to achieve efficient thermal management, which is particularly suitable for aircraft application scenarios that require efficient heat dissipation.

[0175] In some embodiments, the power motor, variable pitch motor, fan motor, and circulating pump motor all include a first winding and a second winding; each drive module of the first motor controller is electrically connected to the first winding of each motor, and each drive module of the second motor controller is electrically connected to the second winding of each motor.

[0176] like Figure 5 As shown, the electric engine includes a control module 13, a power motor 11, a variable pitch motor 14, a circulation pump motor 1231 and a fan motor 1232. The control module 13 includes a first motor controller 131 and a second motor controller 132 to form a double redundancy configuration. The power motor 11, the variable pitch motor 14, the circulation pump motor 1231 and the fan motor 1232 each include a first winding and a second winding to form a double winding configuration.

[0177] The first motor controller 131 includes a first main control board 1311, a fan motor drive module A, a circulating pump motor drive module A, a variable pitch motor drive module A, and a power motor drive module A. The fan motor drive module A is electrically connected to the first winding of the fan motor 1232, the circulating pump motor 1231 drive module A is electrically connected to the first winding of the circulating pump motor 1231, the variable pitch motor drive module A is electrically connected to the first winding of the variable pitch motor 14, and the power motor drive module A is electrically connected to the first winding of the power motor 11. Among them, the fan motor drive module A and the circulating pump motor drive module A are the third drive modules described above, the variable pitch motor drive module A is the second drive module described above, and the power motor drive module A is the first drive module described above.

[0178] The second motor controller 132 includes a second main control board 1321, a fan motor drive module B, a circulating pump motor drive module B, a variable pitch motor drive module B, and a power motor drive module B. The fan motor drive module B is electrically connected to the second winding of the fan motor 1232, the circulating pump motor drive module B is electrically connected to the second winding of the circulating pump motor 1231, the variable pitch motor drive module B is electrically connected to the second winding of the variable pitch motor 14, and the power motor drive module B is electrically connected to the second winding of the power motor 11. Among them, the fan motor drive module B and the circulating pump motor drive module B are the sixth drive module described above, the variable pitch motor drive module B is the fifth drive module described above, and the power motor drive module B is the fourth drive module described above.

[0179] In some embodiments, see Figure 3 As shown, the first motor controller 131 and the second motor controller 132 also include: a bus capacitor and at least three power modules, the bus capacitor is electrically connected to the battery pack and the main control board of the electric motor, and the power module is electrically connected to the drive module and the windings of each motor accordingly.

[0180] Among them, the bus capacitor is like the capacitor module in the figure, and the power module is like the inverter module in the figure. The high-voltage DC power provided by the battery pack is stabilized by the bus capacitor and then connected to the power modules corresponding to each motor. The power module is responsible for converting the DC power into AC power to drive each AC motor.

[0181] The first motor controller 131 includes a heat dissipation motor inverter module A, a variable pitch motor inverter module A and a power motor inverter module A. The second motor controller 132 includes a heat dissipation motor inverter module B, a variable pitch motor inverter module B and a power motor inverter module B.

[0182] The power module is electrically connected to the drive module and the windings of each motor. In a specific implementation, for example, the first main control board 1311 controls the second drive module 1313 to drive the variable pitch motor inverter module A, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the first winding of the variable pitch motor 14, so as to drive the first winding of the variable pitch motor 14 to rotate and output a certain torque; the second main control board 1321 controls the fifth drive module 1323 to drive the variable pitch motor inverter module B, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the second winding of the variable pitch motor 14, so as to drive the second winding of the variable pitch motor 14 to rotate and output a certain torque.

[0183] The first main control board 1311 controls the first drive module 1312 to drive the power motor inverter module A, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the first winding of the power motor 11, so as to drive the first winding of the power motor 11 to rotate and output a certain speed, torque, power or current; the second main control board 1321 controls the fourth drive module 1322 to drive the power motor inverter module B, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the second winding of the power motor 11, so as to drive the second winding of the power motor 11 to rotate and output a certain speed, torque, power or current.

[0184] The first main control board 1311 controls the third drive module 1314 to drive the heat dissipation motor inverter module A, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the first winding of the heat dissipation motor 123, so as to drive the first winding of the heat dissipation motor 123 to rotate and output a certain speed; the second main control board 1321 controls the sixth drive module 1324 to drive the heat dissipation motor inverter module B, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the second winding of the heat dissipation motor 123, so as to drive the second winding of the heat dissipation motor 123 to rotate and output a certain speed.

[0185] Still available Figure 4 The structure of the control module is further described, such as Figure 4 As shown, the control module 13 is a dual-redundancy design, including a first motor controller 131 and a second motor controller 132. The control module 13 is mainly composed of a first bus capacitor 131a, a second bus capacitor 132a, a first cooling heat conduction plate 126, a second cooling heat conduction plate 127, a first inverter module 131b, a second inverter module 132b, a first motor drive board 131c, a second motor drive board 132c, a first main control board 1311 and a second main control board 1321. Among them, the first motor drive board 131c includes the drive modules of the motor controlled by the power motor, for example, the first drive module 1312, the second drive module 1313 and the third drive module 1314; the second motor drive board 132c includes the drive modules of the motor controlled by the power motor, for example, the fourth drive module 1322, the fifth drive module 1323 and the sixth drive module 1324; the first inverter module 131b includes the power modules of the motor controlled by the power motor, for example, the heat dissipation motor inverter module A, the variable pitch motor inverter module A and the power motor inverter module A. The second inverter module 132b includes the power modules of the motor controlled by the power motor, for example, the heat dissipation motor inverter module B, the variable pitch motor inverter module B and the power motor inverter module B.

[0186] The first motor controller 131 and the second motor controller 132 are distributed around the central axis (rotation axis) of the power motor 11 , for example, in a circular or partial circular shape.

[0187] In the embodiment of the present application, by integrating bus capacitors and power modules, the electric engine system can more effectively manage the distribution and conversion of electric energy, and the power module can quickly respond to control signals, achieve precise motor speed and torque control, and achieve efficient operation of the motor. The modular design makes the system easy to integrate and expand to meet different application requirements.

[0188] In some embodiments, the power motor includes a motor housing and a stator and a rotor mounted on the motor housing, the rotor is located on the outer periphery of the stator, and the inner periphery of the stator forms a cavity; the control module is located in the cavity; the radiator, fan, circulation pump, first cooling heat conduction plate and second cooling heat conduction plate are all fixedly connected to the motor housing, so that the heat dissipation system and the power motor form an integrated electric engine.

[0189] The motor housing refers to the external structure of the motor, which provides mechanical protection and support. The control module can be designed with the power motor in the same housing, or the control module also has a separate housing, which is nested in the motor housing. The radiator, fan, circulation pump, first and second cooling heat conduction plates are all fixedly connected to the motor housing to form a tightly integrated electric engine system.

[0190] In the embodiment of the present application, the structure of the power motor and the heat dissipation system are integrated into a compact unit to form an integrated electric engine. This integrated design optimizes space utilization, reduces overall volume and weight, reduces the number of independent components, reduces system complexity, and is suitable for space-constrained application scenarios; the integrated design improves heat dissipation efficiency and enhances the overall performance of the system. Through effective heat dissipation, it protects the control module and other electronic components from overheating damage, and improves the reliability and stability of the system.

[0191] The above embodiments illustrate the structure and implementation of the electric motor. Next, the electric motor control method will be described through multiple embodiments.

[0192] Figure 6 Schematic diagram of a flow chart of an electric engine control method provided in an embodiment of the present application. An electric engine control method is provided in an embodiment of the present application, which can be applied to any electric engine described above. Figure 6 As shown, the electric engine control method includes:

[0193] S601: Receive a control instruction sent by a flight control system.

[0194] The flight control system controls the electric motor to output thrust according to the thrust demand of the aircraft, and the flight control system sends control instructions to the electric motor. The electric motor uses the built-in motor controller as a unified entrance for receiving control instructions. The main control board in the motor controller communicates with the flight control system through wired or wireless means to receive control instructions sent by the flight control system. The motor controller is the control module mentioned above.

[0195] For example, the control instruction carries information such as the identifier of the control object, instruction type, parameter value, timestamp, etc. The identifier of the control object is unique. The instruction type is used to indicate the operation that the aircraft needs to perform, such as takeoff pitch change, cruise pitch change, emergency braking pitch change, landing current, takeoff power, cruise speed, etc.

[0196] S602. Determine a control object according to a control instruction, wherein the control object is a variable pitch motor or a power motor.

[0197] The variable pitch motor provides variable pitch power for the propeller pitch changing mechanism. The power motor provides thrust for the aircraft, enabling it to overcome gravity and fly in the air. In eVTOL aircraft, the power motor can provide vertical lift and also control the speed of the aircraft by adjusting the output power.

[0198] For example, an instruction parsing module is implemented in the main control board of the motor controller, which is responsible for receiving and parsing all incoming control instructions. The module can parse the identifier and / or instruction type of the control object according to the control instruction content or encoding rules, thereby determining the control object of the control instruction.

[0199] S603. Control the controlled object based on the control instruction and the configuration type of the controlled object, wherein the configuration type includes a dual winding configuration.

[0200] The corresponding control logic is executed according to the identifier and / or instruction type of the control object and the configuration type of the control object.

[0201] For example, the control instruction includes an instruction type of speed instruction, a parameter value of 1200 revolutions per minute (RPM), and the configuration type of the control object is a dual winding configuration. The motor controller controls the winding of the power motor to output a speed of 1200RPM according to the instruction. The control instruction includes a parameter value of 1200RPM, and the configuration type of the control object is a dual winding configuration. The motor controller controls the two windings of the power motor to coordinately output a speed of 1200RPM according to the instruction. For example, one winding outputs 500RPM and the other winding outputs 700RPM. The above values ​​are only used as an example.

[0202] It should be noted that the motor controller in the embodiment of the present application can be a dual-redundancy configuration or a single-redundancy configuration. If it is a dual-redundancy configuration, the control logic executed for each motor controller is the same. In addition, in actual application scenarios, the single-redundancy motor controller can control the operation of a single winding, and can also control the coordinated operation of dual windings. Each motor controller in the dual-redundancy motor controller independently controls one of the dual windings of the corresponding motor. It should be noted that the embodiment of the present application does not limit the configuration of the motor controller, and the method of the embodiment of the present application is also applicable to the control of motors with single winding configurations.

[0203] In the embodiment of the present application, a motor controller receives control instructions from a flight control system, performs unified integrated control of the power motor and the variable pitch motor, reduces delays in signal transmission and processing, improves the response speed of the electric engine system, enhances the coordination of the electric engine control, enables the power motor and the variable pitch motor to work together under various flight conditions, and achieves high performance and precise control by accurately determining the control object of the control instruction and further controlling based on the configuration type of the control object, thereby improving the performance and efficiency of the electric engine. In addition, through a unified control instruction entry, the architecture design is simplified, the development and maintenance costs are reduced, and the maintainability of the electric engine is improved.

[0204] In some embodiments, determining the control object according to the control instruction includes: if the control instruction is a power instruction, determining the control object to be a power motor; if the control instruction is a propeller pitch change instruction, determining the control object to be a pitch change motor.

[0205] For example, for a power motor, it may involve adjusting the power, speed, current or torque of the power motor, and the power command is used to control the operating state of the aircraft power system. For a variable pitch motor, it may involve adjusting the pitch angle of the propeller to change the lift or thrust, and the propeller variable pitch command is used to control the pitch angle of the propeller blades to optimize the performance of the aircraft.

[0206] As a unified entry for receiving control instructions from the flight control system, the motor controller needs to parse the control instructions. For example, the control instructions are parsed through an instruction parsing module. When the parsing result shows that the instruction type is a power instruction, the control object is determined to be a power motor. When the parsing result shows that the instruction type is a propeller pitch change instruction, the control object is determined to be a pitch change motor.

[0207] The embodiment of the present application accurately determines the corresponding control object by parsing the control instructions, ensures that the instructions are correctly transmitted and executed, improves the reliability and control accuracy of the electric engine control, and thus ensures the stable, safe and efficient operation of the aircraft.

[0208] In some embodiments, the power command is used to indicate any one of the operating power, the operating current, the operating speed, and the operating torque.

[0209] It can be understood that the power command is a power command, or a current command, or a speed command, or a torque command. The motor controller can control the current output to the corresponding motor according to any one of the power command, current command, speed command and torque command to control the corresponding motor to achieve the corresponding output power, current, speed or torque. For different models of electric motors, control schemes are designed based on different power commands. Usually, after receiving the speed command or torque command, the motor controller controls the current output to the power motor to control the power motor to output the corresponding speed or torque.

[0210] In some embodiments, the control object is controlled based on the control instructions and the configuration type of the control object, including: if the control object is a power motor, controlling the power motor drive module to invert DC power into three-phase AC power to provide electrical energy to the windings of the power motor, so as to control the power motor to output power according to the control instructions; if the control object is a variable pitch motor, controlling the variable pitch motor drive module to invert DC power into three-phase AC power to provide electrical energy to the windings of the variable pitch motor, so as to control the variable pitch motor to output torque according to the control instructions.

[0211] Among them, the motor controller includes bus capacitors, power motor drive modules, variable pitch motor drive modules and their corresponding power devices (i.e., the power modules mentioned above). After the high-voltage DC power supply is stabilized by the bus capacitor, it is connected to the power device (also called the inverter module). The main control board controls the motor drive module, and the motor drive module controls the corresponding power device. The three-phase AC power is transmitted to the corresponding motor through the three-phase inverter bridge circuit, and the motor is controlled by the current to output the power or torque corresponding to the control instruction. The power output of the power motor can be expressed as any one of the output power, current, speed and torque.

[0212] In one example, the main control board in the motor controller receives the speed, torque, power or current control instructions issued by the flight control system. The main control board controls the power motor drive module to drive the power motor inverter module, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the winding of the power motor to drive the power motor to rotate and output the corresponding speed, torque, power or current. For example, the speed instruction requires 1200RPM, and the motor controller controls the power motor to reach 1200RPM according to the speed instruction. The size of the power output of the power motor is adjusted according to the size of the three-phase AC power delivered to the power motor by the motor controller. The larger the three-phase AC power, the greater the output power.

[0213] In another example, the main control board in the motor controller receives the propeller pitch change command issued by the flight control system. The main control board controls the pitch change motor drive module to drive the pitch change motor inverter module, and inverts the DC power into three-phase AC power (U phase, V phase, W phase) to the winding of the pitch change motor to drive the pitch change motor to rotate and output the corresponding torque to change the propeller blade angle. For example, the propeller pitch change command requires 30 degrees, and the motor controller controls the pitch change motor to reach 30 degrees according to the propeller pitch change command. The output torque of the pitch change motor is adjusted according to the size of the three-phase AC power supplied to the pitch change motor by the motor controller. The larger the three-phase AC power, the larger the output torque.

[0214] In the embodiments of the present application, precise control of the variable pitch motor or the power motor is achieved based on control instructions, and the operating parameters of the variable pitch motor or the power motor are adjusted through control instructions to meet the energy requirements of the aircraft in different flight phases (such as take-off, cruising, and acceleration), adapt to different load conditions and flight missions, and ensure the optimal performance of the aircraft in various flight conditions.

[0215] In some embodiments, the control object is controlled based on the control instructions and the configuration type of the control object, and also includes: if the control object is a dual-winding configuration, then based on the control instructions, each winding in the dual winding is controlled to output a corresponding proportion; if the control object is a single-winding configuration, then based on the control instructions, the winding is controlled to output a full proportion.

[0216] It can be understood that each winding in the dual winding receives and executes control instructions independently. The different motor winding configurations (dual windings or single windings) will affect the control strategy of the motor controller and the performance of the electric engine. The output ratio is adjusted according to the motor winding configuration. Optionally, under the dual winding configuration, the motor controller can also dynamically adjust the current supplied to the winding according to the operating status of each winding (such as winding temperature, load changes, etc.), thereby dynamically controlling the output ratio of each winding.

[0217] Example 1: The power motor is configured with dual windings. When both windings are normal, the dual windings work simultaneously. For example, the control instruction instructs the power motor to output 100KW of power. The motor controller provides three-phase AC power to the two windings of the power motor according to the control instruction, and controls each winding to stably output 50% of the power, that is, 50KW. Alternatively, according to the operating status of the windings, one winding outputs 40% and the other winding outputs 60%. It should be noted that the embodiment of the present application does not limit the output ratio of the two windings.

[0218] Example 2: The power motor is a single-winding configuration. For example, the control instruction instructs the power motor to output 100KW of power. The motor controller provides three-phase AC power to the winding of the power motor according to the control instruction, and controls the winding to stably output 100% of the power, that is, the full power of 100KW.

[0219] Example three, the variable pitch motor is configured with dual windings. When both windings are normal, the dual windings work simultaneously. For example, the control instruction instructs the variable pitch motor to output a torque of 50 degrees. The motor controller provides three-phase AC power to the two windings of the variable pitch motor according to the control instruction, and controls each winding to stably output 50% torque, or, according to the operating status of the winding, one winding outputs 40% and the other winding outputs 60%. It should be noted that the embodiment of the present application does not limit the output ratio of the two windings.

[0220] Example 4: The variable pitch motor is a single winding configuration. For example, the control instruction instructs the variable pitch motor to output a torque of 50 degrees. The motor controller provides three-phase AC power to the winding of the variable pitch motor according to the control instruction to control the winding to stably output 100% torque.

[0221] The embodiments of the present application accurately control the output ratio of the motor winding based on the configuration type of the control object, flexibly distribute the output power or torque, optimize the motor performance, and have high flexibility, so that the electric engine can achieve optimal performance and efficiency in a variety of application scenarios, adjust the load distribution of the winding under different operating conditions, and improve the adaptability of the system.

[0222] In some embodiments, the electric engine control method further includes: performing fault detection on the electric engine; if the control object is a dual winding configuration, when a fault in one winding of the dual winding is detected, based on a control instruction, controlling the other winding of the dual winding to output in full proportion.

[0223] Among them, fault detection of the electric engine includes fault detection of the hardware and software of the motor controller in the electric engine (for example, overvoltage, overtemperature, overcurrent, offset of collected data, etc. of the motor controller), as well as fault detection of the winding of the motor controlled by the motor controller. All faults are uniformly judged and reported by the motor controller in the electric engine, and optionally reported to the flight control system, so that relevant personnel can grasp the fault information of the electric engine in real time, and diagnose and repair it in time.

[0224] For example, the main control board in the motor controller can detect motor controller failure, power motor failure and variable pitch motor failure. In the scenario where the motor controller is configured with single redundancy, when any of the dual windings fails, the motor controller controls the other normal winding to continue working, and increases the power output to run at full power to compensate for the power loss caused by the faulty winding. For example, during the flight of the aircraft, the motor controller detects that one of the dual windings of the power motor fails, and the motor controller controls the other normal winding to double the power output to ensure that the aircraft lands safely within a certain period of time.

[0225] The embodiment of the present application performs fault detection on the electric engine. When a winding fault is detected, the other normal winding in the dual winding is controlled to bear the entire load, thereby enhancing fault tolerance, reducing the risk of electric engine operation, ensuring that the electric engine continues to operate normally, and significantly improving the reliability and safety of the electric engine, thereby ensuring the safe flight of the aircraft.

[0226] In some embodiments, the motor controller is a dual-redundant configuration, wherein different windings in the dual-winding configuration are respectively controlled by different motor controllers of the dual-redundant configuration.

[0227] It can be understood that the dual-redundancy motor controller independently controls the operation of the dual windings of the controlled motor.

[0228] For example, the first redundant motor controller controls the first winding of the power motor and the first winding of the variable pitch motor, and the second redundant motor controller controls the second winding of the power motor and the second winding of the variable pitch motor.

[0229] Accordingly, the electric engine control method further includes:

[0230] Step 1.1: The motor controllers of the dual-redundancy configuration respectively perform fault detection on the electric motors.

[0231] For example, the first redundant motor controller detects faults in any of its own hardware or software, as well as the first winding of the power motor and the first winding of the variable pitch motor, and the second redundant motor controller detects faults in any of its own hardware or software, as well as the second winding of the power motor and the second winding of the variable pitch motor.

[0232] In addition, the first redundant motor controller and the second redundant motor controller exchange information, read the fault information detected by the other party in real time, or send the detected fault information to the other party in real time.

[0233] Step 1.2: If a redundant motor controller detects a fault, it sends fault information to another redundant motor controller; in response to receiving the fault information, the other redundant motor controller controls the winding it controls based on the control instruction and performs full-proportional output based on the control instruction.

[0234] Example 1: When the first redundant motor controller detects that the first winding of the power motor has a fault, it sends the relevant fault information to the second redundant motor controller. The second redundant motor controller controls the power motor drive module B to continue to drive the second winding of the power motor to increase the power output (full power output), compensate for part of the power loss caused by the fault of the first winding of the power motor, and drive the propeller to run by only the second winding of the power motor, thereby providing traction or lift for the aircraft and reducing the operation risk of the electric engine.

[0235] Example 2: When the first redundant motor controller detects that the main control board A is faulty, at this time, the motor drive modules controlled by the main control board A all fail (for example, the power motor drive module A and the variable pitch motor drive module A both fail), causing the windings controlled by them to stop working (for example, the first winding of the power motor and the first winding of the variable pitch motor both stop working). The main control board A sends the relevant fault information to the second redundant motor controller. The second redundant motor controller controls the operation of the windings controlled by it (for example, the second winding of the power motor and the second winding of the variable pitch motor) based on the control instructions, and increases the power output (full power output) to compensate for part of the power loss caused by the failure of the first redundant motor controller.

[0236] It can be understood that if the main control board in a redundant motor controller fails, the motor drive modules controlled by the main control board will all fail, and another redundant motor controller will take over the work and control the windings controlled by it to output in full proportion based on the control instructions. If any motor drive module in a redundant motor controller fails (for example, the power motor drive module A fails), the main control board and other motor drive modules in the redundant motor controller are still valid, and the second redundant motor controller controls the second winding of the power motor to output in full proportion, and the windings controlled by other motor drive modules still output in corresponding proportions.

[0237] Step 1.3: If no fault is detected, the redundant motor controllers work together, and the collaborative work includes synchronizing fault information.

[0238] For example, the first redundant motor controller and the second redundant motor controller perform fault information synchronization in real time or periodically.

[0239] Furthermore, the collaborative work also includes receiving control instructions sent by the flight control system at the same time when each redundant motor controller has not detected a fault, and controlling the windings controlled by each of them respectively, and outputting corresponding proportions based on the control instructions. When the first redundant motor controller and the second redundant motor controller have not detected a fault, the first redundant motor controller and the second redundant motor controller both work normally, that is, the main control board A of the first redundant motor controller and the main control board B of the second redundant motor controller both receive the control instructions sent by the flight control system at the same time, and after receiving the control instructions, the main control board A and the main control board B determine the control object, and control the two windings of the control object respectively based on the control instructions.

[0240] For example, after the main control board A and the main control board B receive the power command, they determine that the control object is the power motor. The main control board A controls the power motor drive module A to drive the power motor inverter module A to invert the DC power into three-phase AC power (U phase, V phase, W phase) to the first winding of the power motor, so as to drive the first winding of the power motor to stably output 50% of the power; the main control board B controls the power motor drive module B to drive the power motor inverter module B to invert the DC power into three-phase AC power (U phase, V phase, W phase) to the second winding of the power motor, so as to drive the second winding of the power motor to stably output 50% of the power. It should be noted that the embodiment of the present application does not limit the output ratio of the two windings.

[0241] In the embodiment of the present application, by detecting faults of the electric motor and synchronizing fault information between the dual redundant motor controllers, it is ensured that when one redundant motor controller or one winding fails, the other redundant motor controller continues to work and controls the winding it controls to output full proportion, thereby enhancing fault tolerance, achieving high-efficiency control and high redundancy effects, and thus improving the reliability and safety of the electric motor and ensuring the safe and stable operation of the aircraft. If no fault is detected, the coordinated work strategy ensures the stable operation of the electric motor, reduces the risk of failure, and achieves more efficient and flexible electric motor control.

[0242] In some embodiments, the motor controller is further used to control the heat dissipation motor, and the electric engine control method further includes:

[0243] Step 2.1: Monitor the operation of the electric engine and obtain the operation information of the electric engine.

[0244] The operation information includes but is not limited to the motor temperature of the power motor, the component temperature of the heat-generating components in the motor controller, the power motor speed, the operation time, the fault status, the torque, the voltage, the load, etc.

[0245] For example, sensors are deployed in the electric motor to monitor the motor temperature of the power motor, the component temperature of the heat-generating components in the motor controller and the speed of the power motor, or by installing photoelectric encoders, magnetic encoders to detect the motor speed, etc., so as to obtain the operation information of the electric motor.

[0246] Step 2.2: According to the operation information, adjust the operation parameters of the heat dissipation motor to control the operating temperature of the electric motor.

[0247] The heat dissipation motor is used to control the heat dissipation component to cool the heating components of the electric engine and control the operating temperature of the electric engine.

[0248] For example, the heat dissipation motor provides rotational power for the fan and the circulating pump, that is, the fan and the circulating pump rotate coaxially, thereby driving the fan blades to rotate and the circulating pump to output a suitable speed, promoting air flow by driving the fan, assisting the radiator to accelerate heat exchange, and driving the circulating pump to promote the flow of coolant in the cooling pipe of the electric engine, thereby effectively taking away the heat generated by the heat-generating device.

[0249] For example, when the motor controller detects that the operating temperature of the electric engine is high, it controls the heat dissipation motor to output more power, drives the circulation pump and / or fan to rotate faster, increases the heat dissipation of the electric engine, and controls the operating temperature of the electric engine. Under low load or low temperature conditions, the output power of the heat dissipation motor is reduced, thereby reducing the speed of the fan and circulation pump, or temporarily turning off the fan to save energy.

[0250] The embodiment of the present application monitors the operating information of the electric engine and dynamically adjusts the operating parameters of the heat dissipation motor to ensure that the electric engine operates within the optimal operating temperature range and prevent overheating. At the same time, unnecessary energy consumption is reduced and the overall efficiency of the electric engine is improved, thereby ensuring efficient, safe and stable operation of the electric engine.

[0251] In some embodiments, the operating parameters of the heat dissipation motor are adjusted according to the operating information, including: adjusting the output speed of the heat dissipation motor according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller, wherein the heat dissipation motor includes a pump motor, and the pump motor provides power for the circulation pump, or the pump motor provides power for the circulation pump and the fan respectively; or the heat dissipation motor includes a circulation pump motor and a fan motor.

[0252] In one example, the heat dissipation motor includes a circulation pump motor and a fan motor, that is, the motor controller integrates the control of the circulation pump motor and the fan motor, the circulation pump motor provides power for the circulation pump, and the fan motor provides power for the fan.

[0253] In another example, the heat dissipation motor includes a pump motor, and the motor controller integrates the control of the circulation pump but does not integrate the control of the fan. It can be understood that the fan is not provided in the electric engine, that is, the heat dissipation capacity of the electric engine is provided by the pump motor, and other methods are used to replace the heat dissipation capacity provided by the fan, for example, attaching heat dissipation materials to the radiator, optimizing the radiator structure, etc. to accelerate the heat exchange of the radiator.

[0254] In another example, the heat dissipation motor includes a pump motor, and the motor controller integrates control of the circulation pump and the fan. The circulation pump and the fan are powered by the pump motor. It can be considered that the circulation pump and the fan rotate coaxially.

[0255] The speed of the circulating pump motor output is adjusted according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller. For example, a pre-calibrated electric engine operating condition-circulating pump speed table is stored in the motor controller, which stores the corresponding speeds of the circulating pump motor under different operating conditions (including different electric engine temperatures and power motor speeds).

[0256] In the specific implementation, a speed sensor is deployed on the power motor to collect the speed of the power motor, a temperature sensor is deployed on the power motor to collect the motor temperature of the power motor, and a temperature sensor is deployed on the heat-generating component (power device) in the motor controller to collect the component temperature of the heat-generating component. After the motor controller monitors the component temperature and the motor temperature, the motor temperature and the component temperature are compared, and the maximum value of the two is taken as the electric engine temperature. Furthermore, the electric engine operating condition-circulation pump speed table is queried according to the electric engine temperature and the power motor speed, and the speed of the corresponding circulation pump motor is obtained, and the circulation pump motor is controlled to run at this speed.

[0257] The speed of the fan motor output is adjusted according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller. For example, a pre-calibrated electric engine operating condition-fan speed table is stored in the motor controller, which stores the corresponding speeds of the circulating pump motor under different operating conditions (including electric engine temperature and power motor speed).

[0258] In the specific implementation, a speed sensor is deployed on the power motor to collect the speed of the power motor, a temperature sensor is deployed on the power motor to collect the motor temperature of the power motor, and a temperature sensor is deployed on the heat-generating component (power device) in the motor controller to collect the component temperature of the heat-generating component. After the motor controller monitors the component temperature and the motor temperature, the motor temperature and the component temperature are compared, and the maximum value of the two is taken as the electric engine temperature. Furthermore, the electric engine operating condition-fan speed table is queried according to the electric engine temperature and the power motor speed, and the speed of the corresponding fan motor is obtained, and the circulating pump motor is controlled to run at the speed.

[0259] The embodiment of the present application dynamically adjusts the rotation speed of the heat dissipation motor by combining multiple indicators, optimizes the heat dissipation efficiency, reduces unnecessary energy consumption, improves the energy efficiency of the entire electric engine, and achieves more efficient thermal management and performance optimization.

[0260] The above embodiment describes the electric engine control method. Next, the present application also provides an electric engine control device. Figure 7 Schematic diagram of the structure of the electric engine control device provided in the embodiment of the present application. For example, the electric engine control device is applied to the electric engine as described above. Figure 7As shown, the electric engine control device 50 includes: a receiving module 51, a determining module 52 and a control module 53. Among them:

[0261] The receiving module 51 is used to receive the control instructions sent by the flight control system;

[0262] A determination module 52, used to determine a control object according to a control instruction, where the control object is a variable pitch motor or a power motor;

[0263] The control module 53 is used to control the control object based on the control instruction and the configuration type of the control object, wherein the configuration type includes a dual winding configuration.

[0264] In a possible implementation, the determination module 52 is specifically used to: if the control instruction is a power instruction, determine that the control object is a power motor; if the control instruction is a propeller pitch change instruction, determine that the control object is a pitch change motor.

[0265] In a possible implementation manner, the power command is used to indicate any one of working power, working current, working speed and working torque.

[0266] In one possible implementation, the control module 53 is specifically used for: if the control object is a power motor, then controlling the power motor drive module to invert DC power into three-phase AC power to provide electrical energy to the windings of the power motor, so as to control the power motor to output power according to the control instructions; if the control object is a variable pitch motor, then controlling the variable pitch motor drive module to invert DC power into three-phase AC power to provide electrical energy to the windings of the variable pitch motor, so as to control the variable pitch motor to output torque according to the control instructions.

[0267] In a possible implementation, the control module 53 is also used to: if the control object is a dual winding configuration, then based on the control instruction, control each winding in the dual winding to output a corresponding proportion; if the control object is a single winding configuration, then based on the control instruction, control the winding to output a full proportion.

[0268] In a possible implementation, the control module 53 is further used to: perform fault detection on the electric motor; if a fault is detected in one of the dual windings, control the other winding in the dual winding to output full proportion based on a control instruction.

[0269] In one possible embodiment, the motor controller is a dual-redundancy configuration, wherein different windings in the dual-winding configuration are respectively controlled by different motor controllers of the dual-redundancy configuration; the control module 53 is also used for: the motor controllers of the dual-redundancy configuration respectively perform fault detection on the electric motor; if one redundant motor controller detects a fault, it sends fault information to another redundant motor controller; the other redundant motor controller responds to receiving the fault information, controls the winding it controls based on the control instruction, and performs a full-proportional output based on the control instruction; if no fault is detected, the redundant motor controllers work in coordination, and the coordinated work includes synchronizing fault information.

[0270] In a possible implementation, the motor controller is also used to control the heat dissipation motor, and the control module 53 is also used to: monitor the operation of the electric engine to obtain the operation information of the electric engine; and adjust the operation parameters of the heat dissipation motor according to the operation information to control the operating temperature of the electric engine.

[0271] In a possible implementation, the control module 53 is also used to: adjust the speed of the heat dissipation motor output according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller, wherein the heat dissipation motor includes a pump motor, and the pump motor provides power for the circulation pump, or the pump motor provides power for the circulation pump and the fan respectively; or the heat dissipation motor includes a circulation pump motor and a fan motor.

[0272] The electric engine control device provided in the embodiment of the present application can execute the technical solution shown in the above-mentioned electric engine control method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0273] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the control module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above-mentioned module is determined. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0274] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0275] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, referred to as DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, a data center, etc. that contains one or more available media integrated. Available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, Digital Video Discs (DVDs)), or semiconductor media (eg, solid state disks (SSDs)).

[0276] Figure 8 This is a schematic diagram of the structure of the motor controller provided in the embodiment of the present application. Figure 8As shown, the motor controller 60 provided in this embodiment includes: at least one processor 61 and a memory 62. Optionally, the motor controller 60 also includes a communication component 63. The processor 61, the memory 62 and the communication component 63 are connected via a bus 64.

[0277] In a specific implementation process, at least one processor 61 executes the computer-executable instructions stored in the memory 62, so that at least one processor 61 executes the above method.

[0278] The specific implementation process of the processor 61 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0279] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present application may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0280] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0281] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0282] The implementation principle and technical effects of the motor controller provided in the embodiments of the present application can be found in the aforementioned embodiments and will not be repeated here.

[0283] Fig. 9 Schematic diagram of the structure of the electric propulsion device provided in the embodiment of the present application Figure 2 .

[0284] See also Fig. 9 and Figure 5 The electric propulsion device 70 provided in the embodiment of the present application includes: a propeller 71 and the electric engine 10 described above, the power motor of the electric engine 10 is transmission-connected to the propeller 71, and some drive modules in the control module of the electric engine 10 are electrically connected to the variable pitch motor of the propeller 71.

[0285] The electric motor 10 is connected to the propeller 71 by transmission, and the electric motor 10 is an integrated electric motor. The electric motor 10 can be used to drive the propeller 71 to rotate. The rotating propeller 71 can provide power for the aircraft.

[0286] In some embodiments, the propeller 71 includes: blades 711, a hub 712, and a fairing 713. The blades 711 and the fairing 713 are both connected to the hub 712, and the hub 712 is connected to the rotor of the power motor 11; the hub 712 is provided with a connected variable pitch motor 14 and a variable pitch mechanism 7121, and the variable pitch mechanism 7121 is connected to the blades 711.

[0287] In the embodiment of the present application, the electric propulsion device 70 includes a propeller 71 and an integrated electric engine 10. The electric engine 10 has a compact structure, which is conducive to reducing the space occupied by the electric engine 10, reducing the volume of the electric propulsion device 70, and thus reducing the volume of the aircraft. The integrated electric engine is used to realize a high-efficiency and high-performance electric propulsion device.

[0288] Fig.10 This is a schematic diagram of the structure of an aircraft provided in an embodiment of the present application. Fig.10 The aircraft 800 shown is for illustration only and does not constitute a limitation on the specific structure and shape of the aircraft 800 .

[0289] See also Fig.10 As shown, the aircraft 800 may include a fuselage 801 , wings 802 , a tail 803 , and an electric propulsion device 70 .

[0290] Among them, the fuselage 801 can be a symmetrical structure. The remaining structure and shape of the fuselage 801 are not limited, and can refer to the fuselage structure of an existing aircraft. Wings 802 are provided on both sides of the fuselage 801. The structure of the wing 802 can also refer to the fixed wing structure of an existing aircraft, and will not be repeated here. A tail 803 is provided at the tail of the fuselage 801. The tail 803 is integrally formed or mechanically connected with the fuselage 801 and is a symmetrical structure. The structure of the tail 803 can also refer to the tail structure of an existing aircraft, and will not be repeated here.

[0291] The electric propulsion device 70 may be symmetrically arranged on at least one of the tail 803, the wing 802 and the fuselage 801, for example Fig.10 As shown, electric propulsion devices 70 may be provided on both the wing 802 and the tail 803 .

[0292] When the aircraft takes off and lands vertically, the electric propulsion device 70 rotates at high speed to generate upward lift, so that the aircraft 800 overcomes gravity to take off and land. In the cruising stage, the wings 802 take on the lift task, and the electric propulsion device 70 provides the aircraft with forward pulling force, so that the aircraft 800 can fly long distances at a higher speed.

[0293] In the embodiment of the present application, the stable operation of the aircraft 800 can be achieved through the electric propulsion device 70. In addition, such a small and precise electric propulsion device structure can help reduce the demand for layout space and improve the space utilization rate of the aircraft.

[0294] In some embodiments, the aircraft 800 may further include an arm. The arm may be connected to the wing 802. The electric propulsion device 70 may be fixed to the wing 802 through the arm. In this embodiment of the application, the arm may be divided into a first arm 804 and a second arm 805.

[0295] In some embodiments, the aircraft 800 may further include a nacelle 806. The nacelle 806 may be connected to the tail 803.

[0296] In some embodiments, the aircraft 800 also includes a tilt mechanism and a tilt drive module. The tilt mechanism is connected to the electric propulsion device so that the aircraft can transition between the take-off and landing configuration and the cruising configuration. The tilt drive module is integrated with the tilt mechanism and installed on the wing 802 and / or the fuselage 801 and / or the tail 803, and is located outside the electric engine 10.

[0297] The tilt drive module is installed near the tilt mechanism, and the tilt mechanism includes a tilt motor, and the control of the tilt motor is independent of the electric motor 10, that is, the electric motor 10 does not integrate the control of the tilt motor.

[0298] In the embodiment of the present application, the tilt mechanism and the control of the tilt motor are independently present outside the electric engine 10, making the structure of the electric engine 10 lighter. In addition, the independent system design allows greater flexibility, and the configuration of the tilt mechanism can be adjusted according to different aircraft application requirements without affecting the design of the electric engine.

[0299] The present application also provides a computer program product, including a computer program, which implements the above method when executed.

[0300] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, the above method is implemented.

[0301] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0302] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0303] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0304] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0305] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0306] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0307] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

Claims

1. An electric motor, characterized in that: include: A power motor, wherein the power motor has a cavity therein, and the power motor is used to be connected to a propeller to drive the propeller to rotate; A heat dissipation system, the heat dissipation system comprising a heat dissipation motor and a heat dissipation component, the heat dissipation motor is used to drive the heat dissipation component to dissipate heat from the power motor; A control module, the control module is integrated in the cavity of the power motor, and the control module includes at least three integrated drive modules, wherein some of the drive modules are electrically connected to the power motor to control the power motor, some of the drive modules are electrically connected to the variable pitch motor of the propeller to control the variable pitch motor, and some of the drive modules are electrically connected to the heat dissipation motor to control the heat dissipation motor.

2. The electric motor according to claim 1, characterized in that: The control module includes a first motor controller and a second motor controller, wherein the first motor controller and the second motor controller are arranged in the cavity side by side with an interval or side by side without an interval along a first direction to form a double-redundancy configuration; The first motor controller and the second motor controller each include at least three of the drive modules, and the first motor controller and the second motor controller are electrically connected to the power motor, the variable pitch motor and the heat dissipation motor respectively; The first direction is perpendicular to the axial direction of the power motor.

3. The electric motor according to claim 2, characterized in that: The first motor controller and the second motor controller are arranged in the cavity side by side with an interval or side by side without an interval along a first direction, comprising: The first motor controller and the second motor controller are arranged symmetrically, spaced or not spaced relative to the central axis of the power motor in the cavity; Alternatively, the first motor controller and the second motor controller are arranged radially, at intervals or non-at intervals along the central axis of the power motor in the cavity.

4. The electric motor according to claim 2, characterized in that: The first motor controller further comprises: a first main control board, wherein the at least three driving modules of the first motor controller comprise a first driving module, a second driving module and a third driving module electrically connected to the first main control board; The second motor controller further includes: a second main control board, and the at least three driving modules corresponding to the second motor controller include a fourth driving module, a fifth driving module, and a sixth driving module electrically connected to the second main control board; The first driving module and the fourth driving module are both electrically connected to the power motor; The second drive module and the fifth drive module are both electrically connected to the variable pitch motor; The third driving module and the sixth driving module are both electrically connected to the heat dissipation motor.

5. The electric motor according to claim 4, characterized in that The heat dissipation assembly includes a fan and a radiator, wherein the radiator is located between the fan and the power motor or the fan is located between the radiator and the power motor; The heat dissipation motor comprises: a fan motor, the fan motor is connected to the fan transmission, and the radiator is used to dissipate heat from the power motor; The fan motors are electrically connected to the third driving module and the sixth driving module.

6. The electric motor according to claim 5, characterized in that A liquid cooling channel is provided in the power motor, and the radiator and the liquid cooling channel form a cooling medium circulation loop; The circulation loop is provided with a circulation pump; The heat dissipation motor further includes: a circulation pump motor, or the fan motor is a pump motor, and the circulation pump is driven by the circulation pump motor or the pump motor.

7. The electric motor according to claim 6, characterized in that The third driving module and the sixth driving module each include a fan motor driving module and a circulating pump motor driving module, the fan motor is electrically connected to the fan motor driving modules of the first motor controller and the second motor controller, and the circulating pump motor is electrically connected to the circulating pump motor driving modules of the first motor controller and the second motor controller; Alternatively, the third driving module and the sixth driving module each include a pump motor driving module, and the pump motor is electrically connected to the pump motor driving modules of the first motor controller and the second motor controller to drive the circulation pump and the fan.

8. The electric motor according to claim 6, characterized in that The heat dissipation assembly further includes: a first cooling heat conduction plate and a second cooling heat conduction plate, wherein the first cooling heat conduction plate is used to conduct heat to the heating part of the first motor controller, and the second cooling heat conduction plate is used to conduct heat to the heating part of the second motor controller; The radiator comprises two liquid inlets and a liquid outlet; The circulation loop includes a first circulation loop and a second circulation loop in parallel, the two liquid inlets are both connected to the liquid cooling channel, and the liquid outlet is connected to the first cooling heat conduction plate and the second cooling heat conduction plate, so that the radiator, the first cooling heat conduction plate and the liquid cooling channel form the first circulation loop, and the radiator, the second cooling heat conduction plate and the liquid cooling channel form the second circulation loop.

9. The electric motor according to claim 6, characterized in that: The power motor, the variable pitch motor, the fan motor, and the circulating pump motor all include a first winding and a second winding; each drive module of the first motor controller is electrically connected to the first winding of each motor, and each drive module of the second motor controller is electrically connected to the second winding of each motor.

10. The electric motor according to any one of claims 5 to 9, characterized in that: The first motor controller and the second motor controller both further include: a bus capacitor and at least three power modules, wherein the bus capacitor is electrically connected to the battery pack and the main control board of the electric motor, The power module is electrically connected to the drive module and the windings of each motor accordingly.

11. The electric motor according to any one of claims 5 to 9, characterized in that: The power motor comprises a motor housing and a stator and a rotor mounted on the motor housing, wherein the rotor is located at the outer periphery of the stator, and the inner periphery of the stator forms the cavity; The control module is located in the cavity; The radiator, the fan, the circulation pump, the first cooling heat conduction plate and the second cooling heat conduction plate are all fixedly connected to the motor housing, so that the heat dissipation system and the power motor form an integrated electric engine.

12. An electric engine control method, characterized in that: include: Receive control instructions sent by the flight control system; Determining a control object according to the control instruction, wherein the control object is a variable pitch motor or a power motor; The controlled object is controlled based on the control instruction and the configuration type of the controlled object, wherein the configuration type includes a dual winding configuration.

13. The electric engine control method according to claim 12, characterized in that: The determining the control object according to the control instruction comprises: If the control instruction is a power instruction, determining that the control object is the power motor; If the control instruction is a propeller pitch change instruction, the control object is determined to be the pitch change motor.

14. The electric engine control method according to claim 13, characterized in that: The power instruction is used to indicate any one of working power, working current, working speed and working torque.

15. The electric engine control method according to any one of claims 12 to 14, characterized in that: The controlling the controlled object based on the control instruction and the configuration type of the controlled object includes: If the control object is a power motor, the drive module corresponding to the power motor is controlled to invert direct current into three-phase alternating current to provide electrical energy to the winding of the power motor, so as to control the power motor to output power according to the control instruction; If the control object is a variable pitch motor, the drive module corresponding to the variable pitch motor is controlled to invert DC power into three-phase AC power to provide electrical energy to the winding of the variable pitch motor, so as to control the variable pitch motor to output torque according to the control instruction.

16. The electric engine control method according to any one of claims 12 to 14, characterized in that: The controlling the controlled object based on the control instruction and the configuration type of the controlled object further includes: If the control object is a dual winding configuration, then based on the control instruction, each winding in the dual winding is controlled to output a corresponding proportion; If the control object is a single winding configuration, the winding is controlled to output a full ratio based on the control instruction.

17. The electric engine control method according to claim 16, characterized in that: The electric engine control method further includes: performing fault detection on the electric motor; If the control object is a dual-winding configuration, when a fault in one of the dual windings is detected, the other of the dual windings is controlled to output a full ratio based on the control instruction.

18. The electric engine control method according to claim 16, characterized in that: The motor controller is a dual-redundancy configuration, wherein different windings in the dual-winding configuration are respectively controlled by different motor controllers of the dual-redundancy configuration; the electric engine control method further includes: The motor controllers of the dual-redundancy configuration respectively perform fault detection on the electric motors; If a redundant motor controller detects a fault, the fault information is synchronized to another redundant motor controller; In response to receiving the fault information, the other redundant motor controller controls the winding controlled by it based on the control instruction, and performs full-proportional output based on the control instruction; If no fault is detected, the redundant motor controllers work in coordination, and the coordination includes synchronizing fault information.

19. The electric engine control method according to any one of claims 12 to 14, characterized in that: The motor controller is also used to control the heat dissipation motor, and the electric engine control method further includes: monitoring the operation of the electric engine to obtain operation information of the electric engine; According to the operating information, the operating parameters of the heat dissipation motor are adjusted to control the operating temperature of the electric motor.

20. The electric engine control method according to claim 19, characterized in that: The step of adjusting the operating parameters of the heat dissipation motor according to the operating information includes: The speed of the heat dissipation motor output is adjusted according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller, wherein the heat dissipation motor includes a pump motor, and the pump motor provides power for a circulation pump, or the pump motor provides power for both the circulation pump and the fan; or the heat dissipation motor includes a circulation pump motor and a fan motor.

21. An electric engine control device, characterized in that: include: A receiving module is used to receive control instructions sent by the flight control system; A determination module, used to determine a control object according to the control instruction, wherein the control object is a variable pitch motor or a power motor; A control module is used to control the control object based on the control instruction and the configuration type of the control object, wherein the configuration type includes a dual winding configuration.

22. A motor controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executable instructions; The processor is configured to execute the computer-executable instructions to implement the method according to any one of claims 12 to 20.

23. An electric propulsion device, characterized in that: include: A propeller and an electric engine as described in any one of claims 1 to 11, wherein the power motor of the electric engine is transmission-connected to the propeller, and part of the drive module in the control module of the electric engine is electrically connected to the variable pitch motor of the propeller.

24. The electric propulsion device according to claim 23, characterized in that The propeller comprises: blades, a hub, and a fairing, wherein the blades and the fairing are connected to the hub, and the hub is connected to the rotor of the power motor; A pitch-changing motor and a pitch-changing mechanism are connected in the hub, and the pitch-changing mechanism is connected to the blades.

25. An aircraft, characterized in that: It comprises a fuselage, wings, a tail wing and an electric propulsion device as described in claim 23 or 24, wherein the electric propulsion device is arranged on the wings and / or the fuselage and / or the tail wing.

26. The aircraft according to claim 25, characterized in that The aircraft also includes a tilt mechanism and a tilt drive module, wherein the tilt mechanism is connected to the electric propulsion device so that the aircraft can transition between a take-off and landing configuration and a cruising configuration, and the tilt drive module is integrated with the tilt mechanism and installed on the wing and / or the fuselage and / or the tail, and is located outside the electric engine.

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