Fault identification method and related device for variable pitch propeller

Abstract

The present application provides a variable pitch propeller fault identification method and related devices, and relates to the field of aircraft technology. The method includes: controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to a self-test waveform to obtain a motion waveform, determining self-test data corresponding to a plurality of self-test indicators according to the self-test waveform and the motion waveform, wherein the plurality of self-test indicators include indicators of a plurality of dimensions related to the input command response, and further determining whether the variable pitch propeller has a fault according to the self-test data corresponding to the plurality of self-test indicators. The present application realizes accurate monitoring of the operating state of the variable pitch propeller by controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform, and determining the self-test data corresponding to the plurality of self-test indicators, and comprehensively evaluating the operating state of the propeller from multiple dimensions according to the self-test data, accurately identifying whether the variable pitch propeller has a fault, reducing the possibility of misjudgment or missed judgment, and thus improving the accuracy of fault identification.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to a variable pitch propeller fault identification method and related devices. Background Art

[0002] Electric Vertical Take-Off and Landing (eVTOL) aircraft uses electricity as a power source for flight. Compared with traditional aircraft, eVTOL has significant advantages in safety, intelligence, economy and environmental protection. Compared with the restrictions on flight speed and range imposed by fixed-pitch propellers, variable-pitch propellers greatly improve the power utilization of propellers, increase the flight range of aircraft and save energy consumption. Therefore, eVTOL mostly uses variable-pitch propellers.

[0003] Based on this structure, when performing fault identification, it is usually determined whether the variable pitch propeller has a fault based on the pitch angle, and relevant warnings are issued for the existing fault.

[0004] However, existing solutions are prone to misjudgment or missed judgment, and have low accuracy in fault identification. Summary of the invention

[0005] The present application provides a variable pitch propeller fault identification method and related devices, which are used to solve the problem in the prior art that fault identification is prone to misjudgment or missed judgment and has low fault identification accuracy.

[0006] In a first aspect, the present application provides a method for identifying a fault of a variable pitch propeller, comprising:

[0007] Controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform to obtain a motion waveform;

[0008] Determine, according to the self-test waveform and the motion waveform, self-test data corresponding to a plurality of self-test indicators, wherein the plurality of self-test indicators include indicators of a plurality of dimensions related to the input command response;

[0009] Determine whether the variable pitch propeller is faulty based on the self-test data corresponding to the multiple self-test indicators.

[0010] In a possible implementation, determining whether a variable pitch propeller has a fault based on self-test data corresponding to a plurality of self-test indicators includes: matching the self-test data corresponding to the plurality of self-test indicators with a plurality of preset fault judgment logics to determine whether there is a target self-test fault judgment logic that matches the self-test data corresponding to the plurality of self-test indicators; wherein each self-test fault judgment logic includes a logical relationship between each self-test indicator and calibration data; if there is a target self-test fault judgment logic, it is determined that the variable pitch propeller has a fault; if there is no target self-test fault judgment logic, it is determined that the variable pitch propeller has no fault.

[0011] In a possible implementation, each self-detection fault judgment logic also includes: a fault type corresponding to the logical relationship in the self-detection fault judgment logic; and also includes: if it is determined that a variable pitch propeller has a fault, the fault type included in the target self-detection fault judgment logic is determined as the fault type of the variable pitch propeller.

[0012] In a possible implementation, the fault types of the variable pitch propeller include at least: mechanical wear fault level 1, mechanical wear fault level 2 and control system fault; wherein the self-detection fault judgment logic corresponding to the mechanical wear fault level 2 also includes: the command value of the self-detection waveform corresponding to the logical relationship in the self-detection fault judgment logic and the feedback value of the motion waveform; the self-detection fault judgment logic corresponding to the control system fault also includes: the command value of the self-detection waveform corresponding to the logical relationship in the self-detection fault judgment logic.

[0013] In a possible implementation manner, the multiple self-test indicators include delay, hysteresis, and dead zone.

[0014] In a possible implementation, the fault identification method for a variable pitch propeller also includes: obtaining the pitch angle of each blade of the variable pitch propeller; matching the pitch angle of each blade with each blade fault judgment logic to determine whether there is a target blade fault judgment logic that matches the pitch angle of each blade; if there is a target blade fault judgment logic, it is determined that there is a fault in the blade of the variable pitch propeller; if there is no target blade fault judgment logic, it is determined that there is no fault in the blade of the variable pitch propeller.

[0015] In a possible implementation, each blade fault judgment logic also includes: a blade fault type corresponding to the logical relationship in the blade fault judgment logic; the fault identification method also includes: determining the blade fault type contained in the target blade fault judgment logic as the blade fault type of the blade of the variable pitch propeller.

[0016] In a possible implementation, the pitch angle of each blade of the variable pitch propeller is acquired by a confidence angle sensor in a dual redundant angle sensor.

[0017] In a possible embodiment, the fault identification method for a variable pitch propeller further includes: after self-test determines that there is no fault in the variable pitch propeller, selecting an angle sensor from the dual redundant angle sensors to be configured as a confident angle sensor; and / or, if the confident angle sensor fails, configuring other angle sensors in the dual redundant angle sensors as new confident angle sensors.

[0018] In a possible implementation, the variable pitch propeller fault identification method further includes: acquiring the motor angle of the variable pitch motor based on an absolute angle sensor; and determining whether the variable pitch propeller has a fault based on the angular relationship between the motor angle of the variable pitch motor and the pitch angle of each blade.

[0019] In a possible implementation, determining whether a variable pitch propeller has a fault is performed based on an angular relationship between a motor angle of the variable pitch motor and a pitch angle of each blade, including: determining a rotation angle of each blade based on the pitch angle of each blade; determining a rotation angle of the variable pitch motor based on the motor angle of the variable pitch motor; if the ratios of the rotation angle of the variable pitch motor to the rotation angle of each blade both match set values, determining that the variable pitch propeller has no fault; if, among the blade rotation angles of each blade, a blade rotation angle of a target blade is inconsistent with the blade rotation angles of other blades, and the ratio of the rotation angle of the variable pitch motor to the blade rotation angle of the target blade does not match the set value, determining that the variable pitch propeller has a fault.

[0020] In a possible implementation, the absolute angle sensor includes at least two types of absolute angle sensors, and the fault identification method also includes: determining the rotation angles of at least two variable pitch motors respectively according to the motor angles of the variable pitch motors collected by each type of absolute angle sensor; determining the rotation angle of each blade based on the pitch angle of each blade; if the rotation angles of at least two variable pitch motors are inconsistent, and the blade rotation angles of each blade are consistent, it is determined that a fault exists; if the rotation angles of at least two variable pitch motors are consistent, and the blade rotation angles of each blade are consistent, and the ratio of the rotation angle of the variable pitch motor to the blade rotation angle of each blade does not match the set value, it is determined that there is a fault in the variable pitch propeller.

[0021] In a possible implementation, acquiring the motor angle of the variable pitch motor based on the absolute angle sensor includes: determining the motor angle of the variable pitch motor based on the angle acquired by the preconfigured confidence absolute angle sensor in each type of absolute angle sensor.

[0022] In a second aspect, the present application provides a variable pitch motor controller, comprising: a processor, and a memory communicatively connected to the processor;

[0023] Memory for storing computer-executable instructions;

[0024] A processor, configured to execute computer-executable instructions stored in a memory to implement any one of the methods described in the first aspect.

[0025] In a third aspect, the present application provides an electric engine, comprising: the variable pitch motor controller described in the second aspect.

[0026] In a fourth aspect, the present application provides an aircraft, comprising: an aircraft body and the electric engine as described in the third aspect.

[0027] The variable pitch propeller fault identification method and related device provided by the present application control the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform to obtain the motion waveform, and determine the self-test data corresponding to multiple self-test indicators according to the self-test waveform and the motion waveform, wherein the multiple self-test indicators include indicators of multiple dimensions related to the input command response; and determine whether the variable pitch propeller has a fault according to the self-test data corresponding to the multiple self-test indicators. In this process, by controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform, the self-test data corresponding to the multiple self-test indicators are determined, and the operating state of the variable pitch propeller is accurately monitored. Further, according to the self-test data corresponding to the multiple self-test indicators, the operating state of the propeller is comprehensively evaluated from multiple dimensions, and the variable pitch propeller is accurately identified whether it has a fault, reducing the possibility of misjudgment or missed judgment, thereby improving the accuracy of fault identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] 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.

[0029] Figure 1 A schematic diagram of a flow chart of a method for identifying a fault of a variable pitch propeller provided by an exemplary embodiment of the present application;

[0030] Figure 2 A schematic diagram of self-check indicators provided for an exemplary embodiment of the present application;

[0031] Figure 3 Another schematic flow chart of a method for identifying a fault of a variable pitch propeller provided by an exemplary embodiment of the present application;

[0032] Figure 4 A schematic structural diagram of a variable pitch motor controller provided in an exemplary embodiment of the present application.

[0033] Reference numerals:

[0034] 40. Variable pitch motor controller; 41. Processor; 42. Memory; 43. Communication interface.

[0035] 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

[0036] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0037] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable in appropriate circumstances, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, system, product or equipment comprising a series of steps or units need not be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, products or equipment.

[0038] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0039] The pitch change of eVTOL is usually driven by a deceleration pitch motor to drive the pitch change mechanism, wherein the deceleration pitch motor provides the necessary torque and speed control, and the pitch motor controller and transmission device of the pitch change mechanism are arranged through the internal space of the hollow shaft of the power motor rotor. The pitch angle of the propeller is indirectly detected by a linear displacement sensor arranged near the power motor, and the detection result is transmitted to the pitch motor controller through a small signal analog quantity, so that the pitch motor controller drives the transmission device to drive the propeller pitch change based on the detection result. In the prior art, fault identification mainly relies on the pitch angle as the only indicator for fault judgment. Although the pitch angle can reflect certain states of the propeller, the detection method of a single indicator cannot fully capture all the operating characteristics of the propeller, which is easy to cause misjudgment or missed judgment, resulting in low accuracy of fault identification.

[0040] In order to solve the above problems, an embodiment of the present application provides a fault identification solution for a variable-pitch propeller. By introducing multiple self-test indicators, the blades of the variable-pitch propeller are controlled to perform reciprocating variable pitch motion according to the self-test waveform, and self-test data corresponding to the multiple self-test indicators are obtained. Further, based on the self-test data corresponding to the multiple self-test indicators, the variable-pitch propeller is detected from multiple dimensions, which can more comprehensively reflect the operating status of the propeller and avoid the misjudgment that may be caused by a single indicator, thereby significantly improving the accuracy and reliability of fault identification.

[0041] 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.

[0042] Figure 1 A flow chart of a method for identifying a variable pitch propeller fault provided by an exemplary embodiment of the present application. Figure 1 As shown, the variable pitch propeller fault identification method includes the following steps:

[0043] S101, controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform to obtain a motion waveform.

[0044] For example, the control system of the aircraft sends a self-test instruction to the variable pitch motor controller, and the self-test instruction carries a self-test waveform. Correspondingly, the variable pitch motor controller controls the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform to obtain a motion waveform. Among them, reciprocating variable pitch motion refers to periodically adjusting the angle of the variable pitch propeller blades, thereby adjusting the thrust characteristics of the variable pitch propeller to adapt to different operating conditions, such as speed, load and environmental changes. Accordingly, by performing this reciprocating variable pitch motion according to the self-test waveform, it can be ensured that the adjustment of the blades is accurate and effective, thereby improving the overall performance and reliability of the system.

[0045] In one implementation, the self-test waveform includes at least one of a sine wave, a triangle wave, a sawtooth wave, etc. For example, the self-test waveform is a sine wave.

[0046] In another implementation, the self-test waveform includes any combination of a sine wave, a triangle wave, a sawtooth wave, etc. For example, the self-test waveform is a combination of a sine wave, a triangle wave, and a sawtooth wave.

[0047] S102 . Determine self-test data corresponding to a plurality of self-test indicators according to the self-test waveform and the motion waveform. The plurality of self-test indicators include indicators of a plurality of dimensions related to the input command response.

[0048] For example, multiple self-check indicators include but are not limited to delay, hysteresis, dead zone, stability, linearity and repeatability, etc. Among them, delay refers to the time difference between receiving the command and the actual response; hysteresis refers to the part of the feedback exceeding the command during the response process; dead zone refers to the part that does not respond to the input command within a certain range; stability refers to the stability of the blade position under different operating conditions; linearity refers to the linear relationship between the blade position change and the input command; repeatability refers to the consistency of the blade position when multiple operations are performed under the same input conditions.

[0049] In some embodiments, the plurality of self-test indicators include delay, hysteresis, and deadband.

[0050] For example, Figure 2 This is a schematic diagram of self-check indicators provided by an exemplary embodiment of the present application. Figure 2 As shown, the blade reciprocates and changes pitch according to the self-test waveform to the extreme position. There are certain differences between the self-test waveform and the motion waveform during the reciprocating pitch motion. Accordingly, these differences can be reflected through self-test indicators such as delay, hysteresis and dead zone.

[0051] Correspondingly, a characteristic point in the self-test waveform and the motion waveform (such as the rising edge or falling edge of the waveform) is selected, and the delay time is calculated according to the time when the characteristic point appears in the self-test waveform and the time when the characteristic point appears in the motion waveform. For example, the self-test waveform reaches a specific value at a time of 1 second, and the motion waveform reaches the same value at a time of 1.2 seconds, then the delay time is 0.2 seconds; a phase diagram of the self-test waveform and the motion waveform is drawn, and it is analyzed whether there is a closed loop in the phase diagram. The area or width of the loop can represent the hysteresis phenomenon, and the area or maximum width of the hysteresis loop is calculated as a hysteresis indicator. For example, if in the phase diagram, the motion waveform forms a closed loop when the input signal increases and decreases, the area or maximum width of the loop can be used as a hysteresis indicator; in addition, the input amplitude of the self-test waveform can be gradually increased, the response of the motion waveform can be observed, and the minimum change amplitude of the input signal can be determined so that the motion waveform starts to respond. For example, if the motion waveform does not respond when the input signal of the self-test waveform changes by 0.01 degrees, and starts to respond when the angle changes by 0.02, then the dead zone range is 0.02 degrees.

[0052] S103: Determine whether the variable pitch propeller has a fault according to the self-test data corresponding to the plurality of self-test indicators.

[0053] For example, the self-test data corresponding to multiple self-test indicators such as delay, hysteresis and dead zone are comprehensively analyzed to determine whether there is a fault in the variable pitch propeller. If the self-test data of the delay, hysteresis and dead zone indicators exceed the preset tolerance range, it is determined that there is a fault in the variable pitch propeller.

[0054] The variable pitch propeller fault identification method provided in the embodiment of the present application controls the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to a self-test waveform, determines self-test data corresponding to multiple self-test indicators, and realizes accurate monitoring of the operating status of the variable pitch propeller. Further, based on the self-test data corresponding to the multiple self-test indicators, the operating status of the propeller is comprehensively evaluated from multiple dimensions, and whether the variable pitch propeller has a fault is accurately identified, reducing the possibility of misjudgment or missed judgment, thereby improving the accuracy of fault identification.

[0055] In some embodiments, determining whether a variable pitch propeller has a fault is performed based on self-test data corresponding to multiple self-test indicators, including: matching the self-test data corresponding to the multiple self-test indicators with multiple preset fault judgment logics to determine whether there is a target self-test fault judgment logic that matches the self-test data corresponding to the multiple self-test indicators; wherein each self-test fault judgment logic includes a logical relationship between each self-test indicator and the calibration data; if there is a target self-test fault judgment logic, it is determined that the variable pitch propeller has a fault; if there is no target self-test fault judgment logic, it is determined that the variable pitch propeller has no fault.

[0056] Among them, the calibration data of the delayed self-test indicator includes the calibration data D of the delay s and D s The corresponding acceptance coefficient R dn ; The calibration data of the hysteresis self-test indicator includes the calibration data of the hysteresis T s and T s The corresponding acceptance coefficient R Tn ; The calibration data of the dead zone self-test indicator includes the calibration data DB of the dead zone s and DB s The corresponding acceptance coefficient R DBn It should be noted that n represents different coefficient sequences, R dn , R Tn and R DBn It can be pre-set according to the equipment life model and equipment failure mode, etc.

[0057] For example, if the self-test data corresponding to the delay is D x , the self-test data corresponding to the hysteresis is T x , the self-test data corresponding to the dead zone is DB x Correspondingly, the self-test data corresponding to the multiple self-test indicators, such as D x 、T x and DB x Matching is performed with multiple preset fault judgment logics to determine whether there is self-test data corresponding to multiple self-test indicators, such as D x 、T x and DB x Matching target self-check fault judgment logic. For example, Table 1 is an example of a plurality of preset self-check fault judgment logics provided by an exemplary embodiment of the present application.

[0058] Table 1

[0059]

[0060] As shown in Table 1, each self-test fault judgment logic includes the logical relationship between each self-test indicator and the calibration data. Correspondingly, the self-test data corresponding to the multiple self-test indicators are matched with the multiple fault judgment logics shown in Table 1. If there is a target self-test fault judgment logic such as D x ≥R d1 D s 、T x ≤R T1 T s And DB x ≤R DB1 DB s , it is determined that the variable pitch propeller has a fault; if there is no target self-check fault judgment logic as shown in Table 1, it is determined that the variable pitch propeller has no fault.

[0061] In some embodiments, each self-detection fault judgment logic also includes: a fault type corresponding to the logical relationship in the self-detection fault judgment logic; and also includes: if it is determined that there is a fault in the variable pitch propeller, the fault type contained in the target self-detection fault judgment logic is determined as the fault type of the variable pitch propeller.

[0062] For example, as shown in Table 1, each self-check fault judgment logic also includes a fault type corresponding to the logical relationship in the self-check fault judgment logic, so that maintenance personnel can perform further inspection and repair.

[0063] In some embodiments, the fault types of the variable pitch propeller include at least: mechanical wear fault level 1, mechanical wear fault level 2 and control system fault; wherein the self-detection fault judgment logic corresponding to the mechanical wear fault level 2 also includes: the command value of the self-detection waveform corresponding to the logical relationship in the self-detection fault judgment logic and the feedback value of the motion waveform; the self-detection fault judgment logic corresponding to the control system fault also includes: the command value of the self-detection waveform corresponding to the logical relationship in the self-detection fault judgment logic.

[0064] For example, as shown in Table 1, part of the self-test fault judgment logic also includes the command value of the self-test waveform and the feedback value of the motion waveform corresponding to the logical relationship in the self-test fault judgment logic. Correspondingly, when the self-test data of the self-test indicator and the calibration data meet D x ≥R d1 D s 、T x ≤R T1 T s And DB x ≤R DB1 DB s When the self-test data and calibration data of the self-test index meet D x ≥R d2 D s 、T x ≤R T1 T s And DB x ≤R DB1 DB s When the command value is 0 or 100% and the feedback value is DB x / (100%-DB x ), the self-test data and calibration data of the self-test index meet D x ≤R d1 D s 、T x ≤R T1 T s And DBx ≥R DB1 DB s When the command value is 0 or 100% and the feedback value is DB x / (100%-DB x ), the self-test data and calibration data of the self-test index meet D x ≤R d1 D s 、T x ≤R T1 T s And DB x ≥R DB2 DB s When the command value is any value between 0 and 100%, the self-test data and calibration data of the self-test index meet the requirements of D x ≤R d1 D s 、T x ≥R T1 T s And DB x ≤R DB1 DB s When the command value is any value between 0 and 100%, the self-test data and calibration data of the self-test index meet the requirements of D x ≤R d1 D s 、T x ≥R T2 T s And DB x ≤R DB1 DB s When the command value is any value between 0 and 100%, the self-test data and calibration data of the self-test index meet the requirements of D x >R d1 D s 、T x >R T1 T s And DB x ≤R DB1 DB s When the command value is any value between 0 and 100%, the self-test data and calibration data of the self-test index meet the requirements of D x ≤R d1 D s 、T x>R T1 T s And DB x >R DB1 DB s When the command value is any value between 0 and 100%, the self-test data and calibration data of the self-test index meet D x >R d1 D s , T x >R T1 T s And DB x >R DB1 DB s It is determined that there is a fault in the variable pitch propeller, and the corresponding fault type is control system fault IV.

[0065] It should be noted that the multiple self-test fault judgment logics shown in Table 1 are only examples, wherein the various self-test fault judgment logics can also be used in combination, for example, when the instruction value is 0 or 100% and the feedback value is DB x / (100%-DB x ), the self-test data and calibration data of the self-test index meet D x ≤R d1 D s , R T2 T s ≤T x ≤R T1 T s And R DB2 DB s ≤DB x ≤R DB1 DB s When , it is determined that the variable pitch propeller has a fault, and the corresponding fault type is mechanical wear fault III, etc. It should also be noted that the multiple self-check fault judgment logics shown in Table 1 can also be expressed by other mathematical functions, and the specific type of the mathematical function is not limited here.

[0066] The embodiments of the present application, based on a plurality of preset self-check fault judgment logics, significantly improve the accuracy and reliability of fault identification through multi-dimensional self-check indicator analysis, so that the fault type of the propeller can be quickly and accurately identified and judged, thereby improving the operating efficiency and safety of the system. On the basis of the above embodiments, in some embodiments, the pitch angle of each blade of the variable pitch propeller is obtained; the pitch angle of each blade is matched with each blade fault judgment logic to determine whether there is a target blade fault judgment logic that matches the pitch angle of each blade; if there is a target blade fault judgment logic, it is determined that the blade of the variable pitch propeller is faulty; if there is no target blade fault judgment logic, it is determined that the blade of the variable pitch propeller is not faulty.

[0067] For example, assuming that a variable pitch propeller has five blades, an angle sensor is configured at the root of each blade of the variable pitch propeller, and each angle sensor collects the pitch angle of the corresponding blade in real time. For example, the collected pitch angles of the blades are A A , A B , A C , A D and A E Ideally, the pitch angle of each blade should be equal to the command value, that is, A A =A B =A C =A D =A E = Command value T A Correspondingly, the blade angle is set to A during each operation. Am , A Bm , A Cm , A Dm and A Em , where m is the running time mark; setting the pitch angle corresponds to different deviation allowance coefficients R TA1 , R TA2 ……R TAo , where o represents different coefficient sequences, R TA1 , R TA2 ……R TAo It can be preset according to the equipment life model and equipment failure mode, etc. Correspondingly, Table 2 is an example of preset multiple blade fault judgment logics provided by the exemplary embodiment of the present application.

[0068] Table 2

[0069]

[0070] As shown in Table 2, each blade fault judgment logic includes the pitch angle of each blade, such as A Am , A Bm , A Cm , ADm , A Em With the set command value T A The logical relationship between them is based on the pitch angle of each blade, for example, A Am , A Bm , A Cm , A Dm and A Em , and the multiple blade fault judgment logics shown in Table 2, determine whether there is a fault in the blade of the variable pitch propeller.

[0071] For example, the pitch angle of each blade is set to Am , A Bm , A Cm , A Dm and A Em , and match each blade fault judgment logic shown in Table 2 to determine whether there is a target blade fault judgment logic that matches the pitch angle of each blade. If there is a target blade fault judgment logic such as A Am -A Bm -A Cm -A Dm -A Em ≥R TA1 T A , it is determined that there is a fault in the blade of the variable pitch propeller; if there is no target blade fault judgment logic as shown in Table 2, it is determined that there is no fault in the blade of the variable pitch propeller.

[0072] In some embodiments, each blade fault judgment logic also includes: a blade fault type corresponding to the logical relationship in the blade fault judgment logic; the fault identification method also includes: determining the blade fault type contained in the target blade fault judgment logic as the blade fault type of the blade of the variable pitch propeller.

[0073] For example, as shown in Table 2, each blade fault judgment logic also includes a blade fault type corresponding to the logical relationship in the blade fault judgment logic. Correspondingly, if the pitch angle of each blade satisfies A Am -A Bm -A Cm -A Dm -A Em ≥R TA1 T A , it is determined that there is a fault in the blade of the variable pitch propeller, and the corresponding fault type is blade angle warning I; if the pitch angle of each blade meets A Am -A Bm -A Cm -A Dm -A Em ≥R TA2 T A, it is determined that there is a fault in the variable pitch propeller blade, and the corresponding fault type is blade angle warning II; if the pitch angle of each blade satisfies Min(A Am , A Bm , A Cm , A Dm , A Em )≥R TA3 T A , it is determined that there is a fault in the blade of the variable pitch propeller, and the corresponding fault type is blade angle warning III; if the pitch angle of each blade satisfies Min(A Am , A Bm , A Cm , A Dm , A Em )≥R TA4 T A , it is determined that there is a fault in the blade of the variable pitch propeller, and the corresponding fault type is blade angle warning IV; if the pitch angle of each blade satisfies Average (A Am , A Bm , A Cm , A Dm , A Em )≥R TA5 T A , it is determined that there is a fault in the blade of the variable pitch propeller, and the corresponding fault type is blade angle warning V; if the pitch angle of each blade satisfies Average (A Am , A Bm , A Cm , A Dm , A Em )≥R TA6 T A , it is determined that there is a fault in the blade of the variable pitch propeller, and the corresponding fault type is blade angle warning VI; if the pitch angle of each blade satisfies Max(A Am , A Bm , A Cm , A Dm , A Em )≥R TA7 T A , it is determined that there is a fault in the variable pitch propeller blade, and the corresponding fault type is blade angle warning VII; if the pitch angle of each blade satisfies Max(A Am , A Bm , A Cm , A Dm , A Em )≥R TA8 T A , it is determined that there is a fault in the variable pitch propeller blade, and the corresponding fault type is blade angle warning VIII.

[0074] It should be noted that the preset multiple blade fault judgment logics shown in Table 2 are only an example, wherein the various blade fault judgment logics can also be used in combination. For example, if the pitch angle of each blade satisfies Min(A Am , A Bm , A Cm , A Dm , A Em )≤R TA9 T A ≤Max(A Am , A Bm , A Cm , A Dm , A Em ), it is determined that there is a fault in the blade of the variable pitch propeller, and the corresponding fault type is blade angle warning IX, etc.; and the multiple blade fault judgment logics shown in Table 2 can also be expressed by other mathematical functions, and the specific type of mathematical function is not limited here. It should also be noted that other types of sensors can also be arranged near each blade of the variable pitch propeller at the same time, and the collected data of other types of sensors are used as a supplementary judgment basis for the blade fault judgment logic, where other types of sensors include but are not limited to vibration sensors or acceleration sensors, etc.

[0075] In the embodiment of the present application, the angle sensor configured near the blade collects the pitch angle in real time, ensuring that the abnormal condition of the blade can be detected in time, and combined with the preset multiple blade fault judgment logics, the fault condition of the blade can be accurately identified, reducing the possibility of misjudgment and missed judgment, and significantly improving the accuracy and reliability of fault identification. In addition, by quickly and accurately identifying and judging the fault type of the blade, the operating efficiency and safety of the system can be improved, and the maintenance cost of the aircraft can be further reduced.

[0076] In some embodiments, the variable pitch propeller fault identification method further includes: after self-checking determines that there is no fault in the variable pitch propeller, selecting an angle sensor from the dual redundant angle sensors to be configured as a trusted angle sensor.

[0077] For example, a dual-redundant angle sensor is configured at the root of each blade of the variable-pitch propeller. Each time the aircraft is powered on and started, the blades of the variable-pitch propeller are controlled to perform a certain number of reciprocating variable pitch motions according to the self-test waveform. Preferably, one of the dual-redundant angle sensors at the root of each blade is used as the trusted angle sensor for this operation. For example, the dual-redundant angle sensors are angle sensor 1 and angle sensor 2. Preferably, angle sensor 1 is the trusted angle sensor, and angle sensor 2 is the backup angle sensor.

[0078] In some embodiments, if a trusted angle sensor fails, other angle sensors in the dual redundant angle sensors are configured as new trusted angle sensors.

[0079] For example, a dual-redundant angle sensor is configured at the root of each blade of a variable pitch propeller. Each time the aircraft is powered on, the status of the default confidence angle sensor is checked. If the confidence angle sensor fails, the other angle sensors in the dual-redundant angle sensors are configured as new confidence angle sensors.

[0080] In some embodiments, the variable pitch propeller fault identification method further includes: after self-checking to determine that the variable pitch propeller does not have a fault, selecting an angle sensor from the dual redundant angle sensors to be configured as a trusted angle sensor. Further, if the trusted angle sensor fails, configuring the other angle sensors in the dual redundant angle sensors as new trusted angle sensors.

[0081] For example, a dual redundant angle sensor is configured at the root of each blade of the variable pitch propeller. When the aircraft is powered on and started each time, the blades of the variable pitch propeller are controlled to perform a certain number of reciprocating pitch changes according to the self-test waveform. Preferably, one of the dual redundant angle sensors at the root of each blade is used as the trusted angle sensor for this operation. For example, the dual redundant angle sensors are angle sensor 1 and angle sensor 2. Preferably, angle sensor 1 is the trusted angle sensor, and angle sensor 2 is the standby angle sensor. Furthermore, during the operation of the variable pitch propeller, the status of the dual redundant angle sensors is monitored in real time. If the trusted angle sensor, such as angle sensor 1, fails, angle sensor 2 is set as the trusted angle sensor.

[0082] In some embodiments, the pitch angle of each blade of the variable pitch propeller is acquired by a confidence angle sensor in a dual redundant angle sensor.

[0083] For example, each angle sensor collects the pitch angle of the corresponding blade in real time, and the variable pitch motor controller obtains the pitch angle collected by the trusted angle sensor, such as angle sensor 1, by default. Correspondingly, if angle sensor 1 fails, angle sensor 2 is set as the trusted angle sensor, and accordingly, the variable pitch motor controller obtains the pitch angle collected by angle sensor 2.

[0084] The types of the angle sensor 1 and the angle sensor 2 may be the same or different, which is not limited here. In some embodiments, the angle sensor may also be configured in a redundant configuration, such as a triple redundant configuration or a quadruple redundant configuration.

[0085] In the embodiment of the present application, dual redundant angle sensors are configured, namely a confidence angle sensor and a backup angle sensor, to ensure that when the confidence angle sensor fails or data is abnormal, the backup angle sensor can take over the work in time, thereby improving the overall reliability of the system and further improving the accuracy of fault identification.

[0086] Based on the above embodiments, in some embodiments, the motor angle of the variable pitch motor is acquired based on an absolute angle sensor; and based on the angular relationship between the motor angle of the variable pitch motor and the pitch angle of each blade, it is determined whether the variable pitch propeller has a fault.

[0087] For example, an absolute angle sensor is deployed on the central axis of the variable pitch motor. The absolute angle sensor collects the angle of the variable pitch motor in real time and transmits the collected data to the variable pitch motor controller. Correspondingly, the variable pitch motor controller obtains the motor angle based on the collected data of the absolute angle sensor. Furthermore, the variable pitch motor controller determines whether there are faults in structures such as propellers and motors, and identifies the mechanical errors of the transmission device by comparing the angle data collected by the absolute angle sensor and the angle sensor, and detects the indicator during the life cycle, thereby identifying mechanical losses.

[0088] In some embodiments, whether the variable pitch propeller has a fault is determined based on the angular relationship between the motor angle of the variable pitch motor and the pitch angle of each blade, including: determining the rotation angle of each blade based on the pitch angle of each blade; determining the rotation angle of the variable pitch motor based on the motor angle of the variable pitch motor; if the ratios of the rotation angle of the variable pitch motor to the rotation angle of each blade match the set value, it is determined that the variable pitch propeller has no fault; if among the blade rotation angles of each blade, the blade rotation angle of a target blade is inconsistent with the blade rotation angles of other blades, and the ratio of the rotation angle of the variable pitch motor to the blade rotation angle of the target blade does not match the set value, it is determined that the variable pitch propeller has a fault.

[0089] For example, assuming that the pitch angle of each blade and the motor angle of the variable pitch motor are both 0° before rotation, the rotation angle of each blade is determined based on the pitch angle of each blade, for example, if the pitch angle of blade 1 is 1°, then the rotation angle of the blade is 1°, and the rotation angle of the variable pitch motor is determined according to the motor angle of the variable pitch motor, for example, if the motor angle of the variable pitch motor is 1000°, then the rotation angle of the variable pitch motor is 1000°. Correspondingly, assuming that the transmission ratio is 1000 and the allowable error range is ±1%, if the ratio of the rotation angle of the variable pitch motor to the rotation angle of each blade is equal to 1000 or satisfies the error range of the transmission ratio, it is determined that there is no fault; if there is a blade among the blade rotation angles of each blade, such as the blade rotation angle of blade 2, which is inconsistent with the blade rotation angles of other blades, and the ratio of the rotation angle of the variable pitch motor to the rotation angle of the blade is not equal to 1000 and does not satisfy the error range of the transmission ratio, it is determined that there is a fault in the variable pitch propeller, and the corresponding fault is, for example, a Class I alarm.

[0090] In the embodiment of the present application, by acquiring the motor angle of the variable pitch motor and the pitch angle of each blade, the actual working state of the propeller can be acquired more accurately and comprehensively, and by analyzing the angular relationship between the two, the fault condition of the variable pitch propeller can be identified more accurately, reducing the possibility of misjudgment and missed judgment.

[0091] In some embodiments, the absolute angle sensor includes at least two types of absolute angle sensors, and the fault identification method also includes: determining the rotation angles of at least two variable pitch motors respectively according to the motor angles of the variable pitch motors collected by each type of absolute angle sensor; determining the rotation angle of each blade based on the pitch angle of each blade; if the rotation angles of at least two variable pitch motors are inconsistent, and the blade rotation angles of each blade are consistent, it is determined that a fault exists; if the rotation angles of at least two variable pitch motors are consistent, and the blade rotation angles of each blade are consistent, and the ratio of the rotation angle of the variable pitch motor to the blade rotation angle of each blade does not match the set value, it is determined that there is a fault in the variable pitch propeller.

[0092] For example, a type 1 absolute angle sensor and a type 2 absolute angle sensor are deployed on the central axis of the variable pitch motor. Correspondingly, it is still assumed that the pitch angle of each blade and the motor angle of the variable pitch motor are both 0° before rotation, then the pitch angle of each blade is the rotation angle of each blade, and the motor angle of the variable pitch motor is the rotation angle of the variable pitch motor. For example, the motor angle of the variable pitch motor collected by the type 1 absolute angle sensor is 1000°, and the motor angle of the variable pitch motor collected by the type 2 absolute angle sensor is 980°. The rotation angle of the variable pitch motor determined by the type 1 absolute angle sensor is 1000°, and the rotation angle of the variable pitch motor determined by the type 2 absolute angle sensor is 980°, indicating that the rotation angles of the variable pitch motor determined by the type 1 absolute angle sensor and the type 2 absolute angle sensor are inconsistent, while the blade rotation angles of each blade are consistent, for example, 1°, and it is determined that there is a fault, such as a Class II alarm. Furthermore, an angle sensor disposed near the blade is used as a confidence fault identification sensor of the system, and the system continues to perform fault monitoring through the confidence fault identification sensor.

[0093] For example, assuming that the transmission ratio is 1000 and the allowable error range is ±1%, the pitch angle of each blade and the motor angle of the pitch motor are both 0° before rotation. Correspondingly, for example, the motor angle of the pitch motor collected by the type 1 absolute angle sensor and the type 2 absolute angle sensor is 1000°, and the rotation angle of the pitch motor determined by the type 1 absolute angle sensor and the type 2 absolute angle sensor is 1000°; the pitch angle of each blade collected by the angle sensor is 2°, and the rotation angle of each blade is 2°; since the ratio of the rotation angle of the pitch motor to the blade rotation angle of each blade is not equal to 1000 and does not meet the error range of the transmission ratio, it is determined that there is a fault, such as a Class III alarm. Among them, Class III alarms are serious alarms compared to Class I and Class II alarms, such as a fault in the transmission system.

[0094] It should be noted that the above-mentioned type 1 absolute angle sensor and type 2 absolute angle sensor are only examples of multiple types of absolute angle sensors. In actual applications, multiple other types of absolute angle sensors, such as type 3 absolute angle sensor and type 4 absolute angle sensor, can also be deployed on the central axis of the variable pitch motor, which is not limited here.

[0095] It should also be noted that the above-mentioned first-category alarm, second-category alarm and third-category alarm are merely examples for distinguishing different alarm levels and are not limited here.

[0096] In the embodiment of the present application, dual redundancy detection is performed by deploying an absolute angle sensor on the variable pitch motor and an angle sensor arranged near the blade. By using two different detection methods and collecting data from multiple sensors, common mode faults can be effectively eliminated and the accuracy of fault identification can be further improved.

[0097] In some embodiments, acquiring the motor angle of the variable pitch motor based on the absolute angle sensor includes: determining the motor angle of the variable pitch motor based on the angle acquired by the pre-configured confidence absolute angle sensor in each type of absolute angle sensor.

[0098] For example, a dual-redundancy type 1 absolute angle sensor and a type 2 absolute angle sensor are configured on the central axis of the variable pitch motor. Each time the aircraft is powered on and started, one of the dual-redundancy type 1 absolute angle sensors is preferably used as the trusted type 1 absolute angle sensor for this operation, and the other type 1 absolute angle sensor is used as the backup type 1 absolute angle sensor for this operation. The dual-redundancy type 1 absolute angle sensor collects the angle of the variable pitch motor in real time, and the variable pitch motor controller obtains the angle of the variable pitch motor collected by the trusted type 1 absolute angle sensor by default. Correspondingly, if the trusted type 1 absolute angle sensor fails, the backup type 1 absolute angle sensor is set to the trusted type 1 absolute angle sensor, and accordingly, the variable pitch motor controller obtains the angle of the variable pitch motor collected by the trusted type 1 absolute angle sensor. In addition, the working principle of the dual-redundancy type 2 absolute angle sensor is similar to that of the conventional type 2 absolute angle sensor, which will not be described in detail here.

[0099] In some embodiments, the type 1 absolute value angle sensor and the type 2 absolute value angle sensor may also be configured in a redundant configuration, such as a triple redundant configuration or a quadruple redundant configuration, etc., which is not limited here.

[0100] In the embodiment of the present application, multiple types of absolute angle sensors are configured with dual redundancy to ensure that when a trusted absolute angle sensor fails or data is abnormal, a spare absolute angle sensor can take over the work in time, thereby improving the overall reliability of the system and further improving the accuracy of fault identification.

[0101] Figure 3 Another flow chart of a method for identifying a variable pitch propeller fault provided by an exemplary embodiment of the present application. Figure 3 As shown, the variable pitch propeller fault identification method includes the following steps:

[0102] S301, controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform to obtain a motion waveform.

[0103] By way of example, the self-test waveform includes at least one of a sine wave, a triangle wave, a sawtooth wave, etc., or any combination thereof.

[0104] S302 . Determine self-test data corresponding to a plurality of self-test indicators respectively according to the self-test waveform and the motion waveform. The plurality of self-test indicators include delay, hysteresis and dead zone.

[0105] S303: Determine whether the variable pitch propeller has a fault according to the self-test data corresponding to the plurality of self-test indicators.

[0106] For example, the self-test data corresponding to the multiple self-test indicators are matched with the preset multiple fault judgment logics to determine whether there is a target self-test fault judgment logic that matches the self-test data corresponding to the multiple self-test indicators. For example, according to the preset multiple self-test fault judgment logics shown in Table 1, it is determined whether the variable pitch propeller is faulty.

[0107] If not, execute S304;

[0108] If so, execute S309.

[0109] S304: Obtain the pitch angle of each blade of the variable pitch propeller.

[0110] For example, an angle sensor is configured at the root of each blade of the variable pitch propeller in dual redundancy, and each angle sensor collects the pitch angle of the corresponding blade in real time to obtain the pitch angle collected by the angle sensor of each blade.

[0111] S305. Determine whether a blade of the variable pitch propeller is faulty according to the pitch angle of each blade.

[0112] For example, according to the preset multiple blade fault judgment logics provided in Table 2, it is determined whether the blade of the variable pitch propeller has a fault.

[0113] If not, execute S306;

[0114] If so, execute S309.

[0115] S306: Obtain the motor angle.

[0116] For example, an absolute angle sensor is deployed on the central axis of the variable pitch motor. The absolute angle sensor collects the angle of the variable pitch motor in real time and transmits the collected data to the variable pitch motor controller.

[0117] S307. Determine whether the variable pitch propeller is faulty based on the angular relationship between the motor angle and the pitch angle.

[0118] If not, execute S308;

[0119] If so, execute S309.

[0120] S308. Regularly report the operating status to the control system of the aircraft.

[0121] Correspondingly, the aircraft performs the flight mission according to the preset flight decision.

[0122] S309: Send a fault warning to the control system of the aircraft, and the control system of the aircraft makes a flight decision based on the fault warning.

[0123] For example, the flight decision includes stopping for maintenance, reducing speed, lowering altitude, or landing early.

[0124] In summary, this application has at least the following advantages:

[0125] 1. By controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform, the self-test data corresponding to multiple self-test indicators are determined, so as to realize accurate monitoring of the operating status of the variable pitch propeller. Further, based on the self-test data corresponding to the multiple self-test indicators, the operating status of the propeller is comprehensively evaluated from multiple dimensions, and whether there is a fault in the variable pitch propeller is accurately identified, thereby reducing the possibility of misjudgment or missed judgment, thereby improving the accuracy of fault identification.

[0126] Second, the angle sensor configured near the blade collects the pitch angle in real time to ensure that the abnormality of the blade can be detected in time, and combined with the preset multiple blade fault judgment logic, the fault condition of the blade can be accurately identified, reducing the possibility of misjudgment and missed judgment, and significantly improving the accuracy and reliability of fault identification. In addition, by quickly and accurately identifying and judging the fault type of the blade, the operating efficiency and safety of the system can be improved, and the maintenance cost of the aircraft can be further reduced.

[0127] 3. Dual redundancy detection is performed by deploying an absolute angle sensor on the variable pitch motor and an angle sensor near the blade. Through two different detection methods and the collection of data from multiple sensors, common mode faults can be effectively eliminated and the accuracy of fault identification can be further improved.

[0128] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0129] Figure 4 This is a schematic diagram of the structure of a variable pitch motor controller provided by an exemplary embodiment of the present application. Figure 4 As shown, the variable pitch motor controller 40 of this embodiment includes:

[0130] At least one processor 41; and a memory 42 communicatively connected to the at least one processor;

[0131] The memory 42 stores instructions that can be executed by the at least one processor 41 , and the instructions are executed by the at least one processor 41 so that the variable pitch motor controller executes the method described in any of the above embodiments.

[0132] Optionally, the memory 42 may be independent or integrated with the processor 41 .

[0133] The memory 42 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0134] The processor 41 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. Specifically, when implementing the control method described in the aforementioned method embodiment, the variable pitch motor controller may be, for example, an electronic device with processing functions such as a server.

[0135] Optionally, the variable pitch motor controller may further include a communication interface 43. In a specific implementation, if the communication interface 43, the memory 42 and the processor 41 are implemented independently, the communication interface 43, the memory 42 and the processor 41 may be interconnected through a bus and communicate with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component (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., but it does not mean that there is only one bus or one type of bus.

[0136] Optionally, in a specific implementation, if the communication interface 43, the memory 42 and the processor 41 are integrated on a chip, the communication interface 43, the memory 42 and the processor 41 can communicate through an internal interface.

[0137] The implementation principle and technical effects of the variable pitch motor controller provided in this embodiment can be found in the aforementioned embodiments and will not be described in detail here.

[0138] An embodiment of the present application also provides an electric engine, including: the variable pitch motor controller described in the above embodiment.

[0139] Among them, the electric engine is a system composed of an electric motor, a motor controller, cables, etc. and their accessories, which can convert electrical energy into mechanical energy. In actual implementation, the electric engine can also be called an electric propulsion system.

[0140] The lift / thrust assembly consists of an electric engine, a propeller, and its accessories. The propeller includes a variable pitch propeller and a fixed pitch propeller.

[0141] An embodiment of the present application also provides an aircraft, comprising: an aircraft body and the electric engine as described in the above embodiment.

[0142] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0143] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for identifying faults of a variable pitch propeller, characterized in that: include: Controlling the blades of the variable pitch propeller to perform reciprocating variable pitch motion according to the self-test waveform in response to the input command, thereby obtaining a motion waveform of the blades; Determining self-test data corresponding to a plurality of self-test indicators respectively according to the self-test waveform and the motion waveform, wherein the plurality of self-test indicators include indicators of a plurality of dimensions related to the input command response; the plurality of self-test indicators include delay, hysteresis and dead zone; Determine whether the variable pitch propeller has a fault according to the self-test data corresponding to the multiple self-test indicators.

2. The fault identification method according to claim 1, characterized in that: The determining, according to the self-test data corresponding to the plurality of self-test indicators, whether the variable pitch propeller has a fault includes: Matching the self-test data corresponding to the multiple self-test indicators with the preset multiple fault judgment logics to determine whether there is a target self-test fault judgment logic that matches the self-test data corresponding to the multiple self-test indicators; wherein each self-test fault judgment logic includes a logical relationship between each self-test indicator and the calibration data; If there is a target self-check fault judgment logic, it is determined that the variable pitch propeller has a fault; If there is no target self-check fault judgment logic, it is determined that there is no fault in the variable pitch propeller.

3. The fault identification method according to claim 2, characterized in that: Each self-check fault judgment logic also includes: a fault type corresponding to the logical relationship in the self-check fault judgment logic; and also includes: If it is determined that the variable pitch propeller has a fault, the fault type included in the target self-detection fault judgment logic is determined as the fault type of the variable pitch propeller.

4. The fault identification method according to claim 3, characterized in that: The fault types of the variable pitch propeller include at least: mechanical wear fault level 1, mechanical wear fault level 2 and control system fault; wherein the self-detection fault judgment logic corresponding to the mechanical wear fault level 2 also includes: the command value of the self-detection waveform corresponding to the logical relationship in the self-detection fault judgment logic and the feedback value of the motion waveform; the self-detection fault judgment logic corresponding to the control system fault also includes: the command value of the self-detection waveform corresponding to the logical relationship in the self-detection fault judgment logic.

5. The fault identification method according to any one of claims 1 to 4, characterized in that: Also includes: Obtaining the pitch angle of each blade of the variable pitch propeller; Matching the pitch angle of each blade with each blade fault judgment logic to determine whether there is a target blade fault judgment logic that matches the pitch angle of each blade; If there is a target blade fault judgment logic, it is determined that there is a fault in the blade of the variable pitch propeller; If the target blade fault judgment logic does not exist, it is determined that there is no fault in the blade of the variable pitch propeller.

6. The fault identification method according to claim 5, characterized in that: Each blade fault judgment logic also includes: a blade fault type corresponding to the logical relationship in the blade fault judgment logic; The fault identification method further includes: The blade fault type included in the target blade fault judgment logic is determined as the blade fault type of the blade of the variable pitch propeller.

7. The fault identification method according to claim 5, characterized in that: The pitch angle of each blade of the variable pitch propeller is acquired by a confidence angle sensor in a dual redundant angle sensor.

8. The fault identification method according to claim 7, characterized in that: Also includes: After the self-check determines that the variable pitch propeller does not have a fault, selecting an angle sensor from the angle sensors with dual redundancy to be configured as a confidence angle sensor; and / or, If the confidence angle sensor fails, the other angle sensors in the dual redundant angle sensors are configured as new confidence angle sensors.

9. The fault identification method according to claim 5, characterized in that: The fault identification method further includes: Acquire the motor angle of the variable pitch motor based on the absolute angle sensor; Whether the variable pitch propeller has a fault is determined based on an angular relationship between a motor angle of the variable pitch motor and a pitch angle of each blade.

10. The fault identification method according to claim 9, characterized in that: The determining whether the variable pitch propeller has a fault according to an angle relationship between a motor angle of the variable pitch motor and a pitch angle of each blade includes: determining a rotation angle of each blade based on a pitch angle of each blade; Determining a rotation angle of the variable pitch motor according to a motor angle of the variable pitch motor; If the ratios of the rotation angle of the variable pitch motor to the rotation angle of each blade match the set value, it is determined that there is no fault in the variable pitch propeller; If the blade rotation angle of the target blade among the blade rotation angles of each blade is inconsistent with the blade rotation angles of other blades, and the ratio of the rotation angle of the variable pitch motor to the blade rotation angle of the target blade does not match the set value, it is determined that the variable pitch propeller has a fault.

11. The fault identification method according to claim 9, characterized in that: The absolute value angle sensor includes at least two types of absolute value angle sensors, and the fault identification method further includes: Determine the rotation angles of at least two variable pitch motors respectively according to the motor angles of the variable pitch motors collected by each type of absolute angle sensor; determining a rotation angle of each blade based on a pitch angle of each blade; If the rotation angles of at least two variable pitch motors are inconsistent, and the blade rotation angles of each blade are consistent, it is determined that a fault exists; If the rotation angles of at least two variable pitch motors are consistent, the blade rotation angles of each blade are consistent, and the ratio of the rotation angle of the variable pitch motor to the blade rotation angle of the blade does not match the set value, it is determined that the variable pitch propeller is faulty.

12. The fault identification method according to any one of claims 9 to 11, characterized in that: The method of acquiring the motor angle of the variable pitch motor based on the absolute value angle sensor includes: The motor angle of the variable pitch motor is determined based on the angle collected by the pre-configured confidence absolute value angle sensor in each type of absolute value angle sensor.

13. A variable pitch 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 1 to 12.

14. An electric motor, characterized in that: include: The variable pitch motor controller as claimed in claim 13.

15. An aircraft, characterized in that: include: An aircraft body and the electric engine as claimed in claim 14.

Images