Motor-driven variable pitch control system and control method

Abstract

The invention provides a motor-driven variable pitch control system and control method, and relates to the technical field of aircrafts. The system comprises a variable-pitch motor controller, a variable-pitch motor and an angle sensor, the variable-pitch motor controller is arranged adjacent to the variable-pitch motor, the variable-pitch motor controller is connected with the angle sensor, and the angle sensor is used for collecting the pitch angle of a blade; the variable pitch motor controller is used for determining the propeller pitch state of the propeller according to the propeller pitch angle, and the propeller pitch state is used for controlling propeller pitch variation. The variable-pitch motor controller is arranged adjacent to the variable-pitch motor, so that a driving circuit between the variable-pitch motor controller and the variable-pitch motor is remarkably shortened, and the problems of signal attenuation and interference caused by long-distance transmission are reduced; besides, the variable-pitch motor controller is directly connected with the angle sensor, the propeller pitch angle of the propeller blade is directly collected through the angle sensor, the propeller pitch state determined according to the propeller pitch angle is more accurate, and therefore the reliability of motor driving variable-pitch control is improved.

Description

Technical Field

[0001] The present application relates to the field of aircraft technology, and in particular to a motor-driven variable pitch control system and a control method. Background Art

[0002] Electric Vertical Take-Off and Landing (eVTOL) 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 limitations of fixed-pitch propellers on flight speed and range, variable-pitch propellers greatly improve the power utilization of propellers, increase the flight range of aircraft and save energy consumption. In the prior art, the pitch change of eVTOL is usually driven by a deceleration variable pitch motor to drive a pitch change mechanism, wherein the deceleration variable pitch motor provides the necessary torque and speed control, and the pitch change 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, and the pitch signal 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 change motor controller through a small signal analog quantity, so that the pitch change motor controller drives the transmission device to drive the propeller pitch change based on the detection result. However, the reliability of the pitch change mechanism driven by the deceleration variable pitch motor is poor.

[0003] Therefore, for aircraft, especially eVTOL, how to improve the reliability of variable pitch control driven by variable pitch motors is an important technical issue that needs to be urgently solved in the industry. Summary of the invention

[0004] The present application provides a motor-driven variable pitch control system and a control method, which are used to solve the problem of poor reliability of a variable pitch mechanism driven by a deceleration variable pitch motor in the prior art.

[0005] In a first aspect, the present application provides a motor-driven variable pitch control system, comprising:

[0006] A variable pitch motor controller, a variable pitch motor and an angle sensor, wherein the variable pitch motor controller is arranged adjacent to the variable pitch motor, and the variable pitch motor controller is connected to the angle sensor:

[0007] Angle sensor, used to collect the pitch angle of the blades;

[0008] The variable pitch motor controller is used to determine the pitch state of the propeller according to the pitch angle, and the pitch state is used to control the variable pitch of the propeller.

[0009] In a possible implementation, the variable pitch motor controller and the variable pitch motor are arranged at the hub of the propeller; and / or, the variable pitch motor controller and the variable pitch motor are arranged in an integrated manner; and / or, the angle sensor is arranged adjacent to the blades of the propeller.

[0010] In a possible implementation, the variable pitch motor controller is disposed at the shaft end of the variable pitch motor.

[0011] In a possible implementation, the angle sensor is disposed at the root position of the propeller blade.

[0012] In a possible implementation manner, at least one of the variable pitch motor controller, the variable pitch motor and the angle sensor is configured with dual redundancy.

[0013] In a possible embodiment, the motor-driven variable pitch control system also includes: a transceiver device, which is connected to the variable pitch motor controller via a power line, for receiving a control signal sent by the control system, and coupling the control signal to the power line to obtain a coupled signal, which is transmitted to the variable pitch motor controller via the power line; and / or, the variable pitch motor controller also includes a coupling transceiver for decoupling the coupled signal to obtain a control signal.

[0014] In a possible implementation, the motor-driven variable pitch control system further includes a transmission component, which includes multiple groups of carbon brushes and slip rings, wherein the slip rings in each group of carbon brushes and slip rings are deployed on the rotor shaft of the power motor, and the carbon brushes are deployed on the stator of the power motor.

[0015] In a possible embodiment, the motor-driven variable pitch control system also includes a transmission component, which is a plurality of groups of coils; wherein at least one group of the plurality of groups of coils is arranged radially along the power motor, and at least two groups of coils are arranged axially along the power motor; or, at least one group of the plurality of groups of coils is arranged axially along the power motor, and at least two groups of coils are arranged radially along the power motor.

[0016] In a possible embodiment, the motor-driven variable pitch control system also includes: an absolute angle sensor arranged on the central axis of the variable pitch motor, the absolute angle sensor being connected to the variable pitch motor controller; the absolute angle sensor being used to collect the angle of the variable pitch motor, and the angle of the variable pitch motor being used to determine the pitch state.

[0017] In a possible implementation, the variable pitch motor controller is also used to determine the pitch state of the propeller according to the angle of the variable pitch motor when the detection accuracy of the angle sensor and the absolute angle sensor are consistent; when the detection accuracy of the angle sensor and the absolute angle sensor are inconsistent, the pitch state of the blade is determined according to the mechanical indicators of the transmission device, the pitch angle and the angle of the variable pitch motor.

[0018] In a possible implementation, the number of the absolute angle sensors is at least two, and the at least two absolute angle sensors may be absolute angle sensors of different types; and / or, each type of sensor included in the absolute angle sensor is dual-redundant.

[0019] In a second aspect, the present application provides a propeller control method, which is applied to a variable pitch motor controller in a motor-driven variable pitch control system as described in any one of the first aspects, and the control method includes:

[0020] Get the pitch angle of the propeller blades;

[0021] According to the pitch angle, the pitch state of the propeller is determined;

[0022] Control the propeller pitch according to the pitch status.

[0023] In one possible implementation, controlling propeller pitch change according to the pitch state includes: sending the pitch state to a control system of the aircraft; receiving a control signal returned by the control system, wherein the control information is determined according to the pitch state; and controlling the rotation of a pitch-changing motor according to the control signal to drive the propeller pitch change.

[0024] In a possible implementation, receiving a control signal returned by a control system includes: receiving a coupling signal transmitted by a transmission component, wherein the coupling signal is a signal obtained by coupling the control signal sent by the control system to a power line by a transceiver through power line carrier technology; and decoupling the coupling signal to obtain a control signal.

[0025] In a possible implementation, sending the pitch state to a control system of the aircraft includes: sending the pitch state to the control system via a transmission component.

[0026] In a third aspect, the present application provides a variable pitch motor controller, comprising:

[0027] An acquisition module, used to acquire the pitch angle of the propeller blades;

[0028] A determination module, used to determine the pitch state of the propeller according to the pitch angle;

[0029] A control module, used for controlling the pitch change of the propeller according to the pitch state;

[0030] The coupling transceiver is used to send the pitch state to the control system of the aircraft, and decouple the received coupling signal to obtain the control signal sent by the control system.

[0031] In a fourth aspect, the present application provides an electric engine, comprising: the motor-driven variable pitch control system described in any one of the first aspects.

[0032] In a fifth aspect, the present application provides an electric propulsion device, comprising: the electric engine described in the fourth aspect.

[0033] In a sixth aspect, the present application provides an aircraft, comprising: an aircraft body and the electric propulsion device as described in the fifth aspect.

[0034] The present application provides a motor-driven variable pitch control system and a control method, wherein the motor-driven variable pitch control system includes: a variable pitch motor controller, a variable pitch motor and an angle sensor, wherein the variable pitch motor controller is arranged adjacent to the variable pitch motor, and the variable pitch motor controller is connected to the angle sensor: the angle sensor is used to collect the pitch angle of the blade; the variable pitch motor controller is used to determine the pitch state of the propeller according to the pitch angle, and the pitch state is used to control the pitch of the propeller. The present application significantly shortens the drive line between the variable pitch motor controller and the variable pitch motor by arranging the variable pitch motor controller adjacent to the variable pitch motor, thereby effectively shortening the length of the control loop and reducing the possibility of electromagnetic interference, and the shorter control loop makes the signal transmission more stable, reducing the signal attenuation and interference problems caused by long-distance transmission; in addition, the variable pitch motor controller is connected to the angle sensor, and the pitch angle of the blade is directly collected through the angle sensor, and then the pitch state of the propeller is determined according to the pitch angle collected by the angle sensor, so that the determined pitch state is more accurate, thereby improving the reliability of the motor-driven variable pitch control. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 A schematic diagram of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application;

[0037] Figure 2 A schematic diagram of the communication process of a motor-driven variable pitch control system provided for an exemplary embodiment of the present application;

[0038] Figure 3 A schematic cross-sectional view of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application;

[0039] Figure 4 Another cross-sectional schematic diagram of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application;

[0040] Figure 5 Another cross-sectional schematic diagram of a motor-driven variable pitch control system provided for an exemplary embodiment of the present application;

[0041] Figure 6 A schematic diagram of a flow chart of a propeller control method provided for an exemplary embodiment of the present application;

[0042] Figure 7A schematic structural diagram of a variable pitch motor controller provided in an exemplary embodiment of the present application.

[0043] Reference numerals:

[0044] 70. Variable pitch motor controller; 71. Acquisition module; 72. Determination module; 73. Control module; 74. Coupling transceiver.

[0045] 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

[0046] 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.

[0047] 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.

[0048] 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.

[0049] In the prior art, since the variable pitch motor and the variable pitch motor controller are usually arranged separately and may be located on different sides of the power motor or farther away, this layout results in a longer drive line between the variable pitch motor and the variable pitch motor controller. Due to the long drive line, the signal transmission process is easily interfered, especially the electromagnetic interference from the power motor, which not only affects the stability of the signal but also may cause signal attenuation and errors. In addition, when the pitch signal of the propeller is indirectly detected by a single linear displacement sensor, the transmission signal is a small signal analog quantity and the linear displacement sensor is arranged near the power motor, which makes the transmission signal susceptible to electromagnetic interference, further reducing the reliability of the variable pitch control driven by the variable pitch motor.

[0050] In order to solve the above problems, an embodiment of the present application provides a motor-driven variable pitch control solution, which arranges the variable pitch motor controller adjacent to the variable pitch motor so that the variable pitch motor controller and the variable pitch motor are closely arranged in a smaller area, significantly shortening the physical distance and signal transmission path between the variable pitch controller and the variable pitch motor, reducing the intermediate connection points and cable lengths, thereby effectively shortening the length of the control loop and reducing the possibility of electromagnetic interference. The shorter control loop makes signal transmission more stable, reducing signal attenuation and interference problems caused by long-distance transmission, thereby improving the reliability of variable pitch control driven by the variable pitch motor. In addition, the pitch angle of the blade is directly collected by an angle sensor, and considering that the digital signal transmitted by the angle sensor has a stronger anti-interference ability, the reliability of variable pitch control driven by the variable pitch motor is further improved.

[0051] 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.

[0052] Figure 1 A schematic diagram of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application. Figure 1 As shown, the motor-driven variable pitch control system includes: a variable pitch motor controller, a variable pitch motor and an angle sensor, wherein the variable pitch motor controller is arranged adjacent to the variable pitch motor, and the variable pitch motor controller is connected to the angle sensor.

[0053] For example, the physical distance between the variable pitch motor controller and the variable pitch motor meets the minimum electrical spacing requirement, so that the variable pitch motor controller and the variable pitch motor are closely arranged in a small area.

[0054] Angle sensor, used to collect the pitch angle of the blades.

[0055] For example, an angle sensor is provided on at least one blade of a propeller, and the pitch angle of the propeller blade is collected in real time by the angle sensor, and the collected pitch angle is transmitted to a variable pitch motor controller.

[0056] The variable pitch motor controller is used to determine the pitch state of the propeller according to the pitch angle, and send the pitch state to the control system of the aircraft to obtain a control signal returned by the control system, and control the rotation of the variable pitch motor according to the control signal to drive the propeller pitch change.

[0057] Correspondingly, after receiving the pitch angle, the variable pitch motor controller determines the pitch state of the propeller according to the internal state determination algorithm or the preset judgment rule. For example, if the pitch angle is within the set first angle range, the variable pitch motor controller can determine that the pitch state of the propeller is in a high pitch state; if the pitch angle is within the set second angle range, the variable pitch motor controller can determine that the pitch state of the propeller is in a low pitch state; similarly, other angle ranges can correspond to different pitch states. Further, the variable pitch motor controller sends the determined pitch state of the propeller to the control system of the aircraft through the communication interface, and the control system can make further decisions and controls according to the pitch state, and send the decisions and controls to the variable pitch motor controller through the control signal; correspondingly, the variable pitch motor controller controls the rotation of the variable pitch motor according to the control signal to drive the propeller to change pitch.

[0058] The motor-driven variable pitch control system provided by the present application significantly shortens the drive line between the variable pitch motor controller and the variable pitch motor by placing the variable pitch motor controller near the variable pitch motor, thereby effectively shortening the length of the control loop and reducing the possibility of electromagnetic interference. The shorter control loop makes signal transmission more stable, reducing signal attenuation and interference problems caused by long-distance transmission, thereby improving the reliability of the motor-driven variable pitch control. In addition, the pitch angle of the blade is directly collected through the angle sensor, and considering that the digital signal transmitted by the angle sensor has a stronger anti-interference ability, the reliability of the variable pitch control driven by the variable pitch motor is further improved.

[0059] In some embodiments, an angle sensor is provided on each blade of the propeller.

[0060] For example, still refer to Figure 1 An angle sensor is set on each blade of the propeller, and the pitch angle of the corresponding blade is collected in real time through the angle sensor, and the collected pitch angle is transmitted to the variable pitch motor controller.

[0061] The embodiment of the present application, by distributing and installing multiple angle sensors on the propeller blades, can effectively identify subtle differences between different blades, thereby reducing process requirements and processing difficulty, making it easier to adjust and monitor blade consistency, and further improving the reliability of variable pitch control driven by the variable pitch motor.

[0062] In some embodiments, the variable pitch motor controller and the variable pitch motor are arranged at the hub of the propeller; and / or, the variable pitch motor controller and the variable pitch motor are arranged in an integrated manner; and / or, the angle sensor is arranged adjacent to the blades of the propeller. By way of example, the specific implementations are as follows:

[0063] In a first implementation, the variable pitch motor controller and the variable pitch motor are arranged at the hub of the propeller.

[0064] For example, the physical distance between the variable pitch motor controller and the variable pitch motor meets the minimum electrical spacing requirement, and the variable pitch motor controller and the variable pitch motor are both arranged at the hub of the propeller.

[0065] In the second implementation, the variable pitch motor controller and the variable pitch motor are integrated.

[0066] For example, the variable pitch motor controller and the variable pitch motor are integrated into a common housing.

[0067] In a third implementation, the angle sensor is disposed adjacent to the propeller blades.

[0068] For example, the angle sensor is installed at the hub or the root of the blade of the propeller to ensure that the angle sensor can accurately detect the pitch angle change of the blade.

[0069] In a fourth implementation, the variable pitch motor controller and the variable pitch motor are disposed at the hub of the propeller; the variable pitch motor controller and the variable pitch motor are integrated; and the angle sensor is disposed adjacent to the blades of the propeller.

[0070] For example, a variable pitch motor controller and a variable pitch motor integrated in a common housing are set on the hub of the propeller; at the same time, an angle sensor is installed on the hub or the root of the blade of the propeller to ensure that the angle sensor can accurately detect the pitch angle change of the blade.

[0071] It should be noted that the various implementation methods corresponding to the embodiments of the present application include but are not limited to the above four implementation methods, and the above four implementation methods are merely examples of the various implementation methods corresponding to the embodiments of the present application.

[0072] In the embodiments of the present application, by setting the variable pitch motor controller and the variable pitch motor in the hub of the propeller, integrating the variable pitch motor controller and the variable pitch motor, or setting the angle sensor near the blades of the propeller, any one or more combinations of the settings can significantly shorten the drive line between the variable pitch motor controller and the variable pitch motor, thereby effectively shortening the length of the control loop and further improving the reliability of the motor-driven variable pitch control.

[0073] In some embodiments, the angle sensor is disposed at the root of the propeller blade.

[0074] For example, an angle sensor is set at the root position of each blade of the propeller. The angle sensor set at the root position of each blade collects the pitch angle change of the corresponding blade, and the pitch angle change of the blade is accurately detected, thereby ensuring the accuracy of the determined pitch state of the propeller, thereby improving the reliability of the motor-driven pitch control.

[0075] In some embodiments, at least one of the variable pitch motor controller, the variable pitch motor, and the angle sensor is in a dual-redundant configuration.

[0076] In a first implementation, any one of the variable pitch motor controller, the variable pitch motor and the angle sensor is configured with dual redundancy. For example, the variable pitch motor controller is configured with dual redundancy.

[0077] In the second implementation, any combination of the variable pitch motor controller, the variable pitch motor and the angle sensor is a dual-redundancy configuration. For example, the variable pitch motor controller and the variable pitch motor are both dual-redundancy configurations, or the variable pitch motor controller, the variable pitch motor and the angle sensor are all dual-redundancy configurations.

[0078] In a third implementation, any one of the variable pitch motor controller, the variable pitch motor and the angle sensor is configured with redundancy, for example, the variable pitch motor controller is configured with triple redundancy or quadruple redundancy.

[0079] In a fourth implementation, any combination of the variable pitch motor controller, the variable pitch motor, and the angle sensor is a redundant configuration. For example, the variable pitch motor controller and the variable pitch motor are all triple redundant configurations, or the variable pitch motor controller, the variable pitch motor, and the angle sensor are all triple redundant configurations.

[0080] The embodiment of the present application, through the dual-redundancy configuration of the variable pitch motor controller, the variable pitch motor and the angle sensor, can ensure that even if a single component fails, the redundantly configured components can still work normally, thereby ensuring that the variable pitch function is not affected, further improving the reliability of the motor-driven variable pitch control, and significantly reducing the risk of system failure, thereby ensuring the safety of the aircraft in various situations.

[0081] In some embodiments, the variable pitch motor controller is disposed at the shaft end of the variable pitch motor.

[0082] In one implementation, the variable pitch motor controllers of the dual-redundancy configuration are respectively arranged on one side end surface of the variable pitch motor of the dual-redundancy configuration. For example, the variable pitch motor controllers of the dual-redundancy configuration are respectively arranged above the variable pitch motor of the dual-redundancy configuration, or the variable pitch motor controllers of the dual-redundancy configuration are respectively arranged below the variable pitch motor of the dual-redundancy configuration.

[0083] In another implementation, the variable pitch motor controllers with double redundancy are respectively arranged on both side end surfaces of the variable pitch motor with double redundancy, for example, the variable pitch motor controllers with double redundancy are respectively arranged above and below the variable pitch motor with double redundancy.

[0084] In the embodiment of the present application, the variable pitch motor controller is arranged at the shaft end of the variable pitch motor, so that the physical distance and signal transmission path between the variable pitch motor controller and the variable pitch motor are shortened, and the reliability of the variable pitch motor driving variable pitch control is further improved. At the same time, the entire system can be made more compact and the required installation space can be reduced, which is particularly important for application scenarios with limited space.

[0085] Considering that in the prior art, electric energy and control signals are transmitted through lines arranged near the power motor, respectively. Since they are easily interfered by the power motor, it is necessary to configure filter circuits for anti-interference processing, which makes electromagnetic anti-interference processing complicated and there is a risk of failure of electric energy and control signals. To solve this problem, in some embodiments, the motor-driven variable pitch control system also includes: a transceiver, which is connected to the variable pitch motor controller through a power line, and is used to receive the control signal sent by the control system, and couple the control signal to the power line to obtain a coupled signal, which is transmitted to the variable pitch motor controller through the power line.

[0086] For example, the control signal is coupled to the power line through the power line carrier technology (Power Line Communication, PLC for short). Among them, the power line carrier technology is a technology that uses existing power lines for data transmission. This technology realizes data transmission by superimposing high-frequency signals on the power line, thereby eliminating the need to lay out additional dedicated data transmission lines.

[0087] In some embodiments, the variable pitch motor controller further includes a coupling transceiver for decoupling the coupling signal to obtain a control signal.

[0088] For example, the transceiver is connected to the power supply device and the control system of the aircraft respectively. The coupling transceiver inside the transceiver couples the electric energy delivered by the power supply device and the control signal sent by the control system to generate analog and digital coupling signals. The coupling signal passes through the propeller part on the stator and rotor side of the power motor through the power line, and is finally transmitted to the variable pitch motor controller. Inside the variable pitch motor controller, the transceiver decouples the received coupling signal to separate the electric energy and the control signal. The separated electric energy is used to continuously power the variable pitch motor controller, and the control signal is used to control the rotation of the variable pitch motor, thereby realizing variable pitch adjustment of the propeller.

[0089] In the embodiment of the present application, the control signal is coupled to the power line by adopting the co-line transmission method through the power line carrier technology, thereby reducing the number of wire harnesses passing through the power motor, simplifying the wiring structure, and thus reducing the risk of wire harness failure, thereby further improving the reliability of the variable pitch motor drive variable pitch control. In addition, by adopting the co-line transmission method, the electric energy and the control signal can also share the anti-interference circuit, thereby saving the layout space and further optimizing the overall layout of the system.

[0090] Based on the above embodiments, in some embodiments, the motor-driven variable pitch control system also includes: an absolute angle sensor arranged on the central axis of the variable pitch motor, the absolute angle sensor is connected to the variable pitch motor controller; the absolute angle sensor is used to collect the angle of the variable pitch motor, and the angle of the variable pitch motor is used to determine the pitch state.

[0091] For example, the absolute value 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 receives the angle of the variable pitch motor collected from the absolute value angle sensor. Further, the variable pitch motor controller determines the pitch state according to the angle of the variable pitch motor.

[0092] In some embodiments, the variable pitch motor controller is also used to determine the pitch state of the propeller according to the angle of the variable pitch motor when the detection accuracy of the angle sensor and the absolute angle sensor are consistent; when the detection accuracy of the angle sensor and the absolute angle sensor are inconsistent, determine the pitch state of the blade according to the mechanical indicators of the transmission device, the pitch angle and the angle of the variable pitch motor.

[0093] Among them, detection accuracy refers to the accuracy and reliability of the sensor when measuring a physical quantity (such as angle). It is a comprehensive reflection of various errors in the measurement. The smaller the measurement error, the higher the detection accuracy of the sensor.

[0094] For example, when both the angle sensor and the absolute angle sensor are normal, if the detection accuracy of the angle sensor and the absolute angle sensor is consistent, the variable pitch motor controller directly calculates the pitch angle of the blade according to the angle data of the variable pitch motor through the transmission ratio. Assuming that the transmission ratio is 1000 and the angles before rotation are all 0°, when the angle of the variable pitch motor is 1000°, the pitch angle of the blade can be determined to be 1° according to the transmission ratio, and then the pitch state of the propeller is determined according to the pitch angle; if the detection accuracy of the angle sensor and the absolute angle sensor is inconsistent, the variable pitch motor controller can determine the pitch state of the blade according to the mechanical indicators of the transmission device, the pitch angle and the angle of the variable pitch motor, wherein the mechanical indicators include delay, hysteresis and dead zone. For example, according to the angle data transmitted by the angle sensor and the absolute angle sensor, and taking into account the influence of delay, hysteresis and dead zone on the pitch angle, the pitch angle is determined according to the degree of influence, and the pitch state of the propeller is further determined according to the pitch angle.

[0095] In the embodiment of the present application, an absolute angle sensor disposed on the central axis of the variable pitch motor and an angle sensor disposed at the root position of the propeller blade are used to perform dual redundancy detection, thereby accurately determining the pitch state of the blade, ensuring that it accurately reflects the actual situation and improving the adaptability of the system under complex working conditions. In addition, by using two different detection methods, the absolute angle sensor and the angle sensor, common mode faults can also be effectively eliminated, further enhancing the reliability, stability and safety of the system.

[0096] In some embodiments, the number of the absolute angle sensors is at least two, and the at least two absolute angle sensors may be absolute angle sensors of different types.

[0097] For example, the number of the absolute angle sensors is at least two, and the at least two absolute angle sensors may be absolute angle sensors of different types. For example, a type 1 absolute angle sensor and a type 2 absolute angle sensor are arranged on the central axis of the variable pitch motor, and the type 1 absolute angle sensor and the type 2 absolute angle sensor are of different types.

[0098] In some embodiments, the absolute angle sensor includes sensors of each type in a dual redundant configuration.

[0099] For example, the absolute angle sensor includes at least two different types of absolute angle sensors; each type of absolute angle sensor is dual-redundant. For example, a type 1 absolute angle sensor and a type 2 absolute angle sensor are arranged on the central axis of the variable pitch motor, the type 1 absolute angle sensor and the type 2 absolute angle sensor are of different types, and both the type 1 absolute angle sensor and the type 2 absolute angle sensor are dual-redundant.

[0100] In the embodiment of the present application, by setting up at least two absolute angle sensors and realizing a dual redundancy configuration, even if one of the absolute angle sensors fails, the system can still rely on the other absolute angle sensor for angle detection, thereby improving the reliability and fault tolerance of the system; in addition, the use of different types of absolute angle sensors effectively eliminates common mode failures caused by the same reason, thereby reducing the risk of system downtime due to single point failures, and further improving the reliability, safety and stability of the system.

[0101] Based on the above embodiments, in some embodiments, the motor-driven variable pitch control system also includes a transmission component, the transmission component includes multiple groups of carbon brushes and slip rings, the slip rings in each group of carbon brushes and slip rings are deployed on the rotor shaft of the power motor, and the carbon brushes are deployed on the stator of the power motor.

[0102] Among them, the transmission component is connected to the transceiver through a power line, the transceiver receives the control signal sent by the control system, couples the control signal to the power line through the power line carrier technology to obtain a coupled signal, and transmits the coupled signal to the transmission component through the power line; further, the transmission component transmits the coupled signal to the variable pitch motor controller; in addition, the transmission component is also used to send the pitch state to the control system.

[0103] For example, Figure 2 The communication flow diagram of the motor-driven variable pitch control system provided by the exemplary embodiment of the present application is as follows. Figure 2 As shown, in the entire motor-driven variable pitch control system, the coupling transceiver in the transceiver device, the power line between the transceiver device and the transmission component, the transmission line between the transmission component and the controller, the coupling transceiver inside the variable pitch motor controller, the variable pitch motor controller and the variable pitch motor can all be configured with dual redundancy. Among them, the dual-redundancy coupling transceiver in the transceiver couples the electric energy transmitted by the power supply device and the control signal sent by the control system to generate a coupling signal, which is transmitted to the transmission component through the power line, and then transmitted to the dual-redundancy variable pitch motor controller through the transmission component. The dual-redundancy coupling transceiver inside the dual-redundancy variable pitch motor controller decouples the received coupling signal to separate the electric energy and the control signal. The separated electric energy is used to continuously power the variable pitch motor controller, and the control signal is used to control the rotation of the variable pitch motor, thereby realizing the pitch adjustment of the propeller; correspondingly, the dual-redundancy variable pitch motor controller obtains the pitch angle of the blade collected by the angle sensor, and determines the pitch state of the propeller according to the pitch angle; further, the dual-redundancy variable pitch motor controller transmits the pitch state in reverse to the transceiver via the transmission component, and then the transceiver transmits it to the control system.

[0104] For example, Figure 3A cross-sectional schematic diagram of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application. Figure 3 As shown, a type 1 angle sensor and a type 2 angle sensor are provided at the root position of each blade of the propeller, a dual-redundancy type 1 absolute angle sensor and a dual-redundancy type 2 absolute angle sensor are provided on the central axis of the variable pitch motor, a dual-redundancy variable pitch motor controller is provided on both sides of the dual-redundancy variable pitch motor and is located above the power motor, and the communication between the dual-redundancy variable pitch motor controller and the transceiver is achieved through a carbon brush slip ring structure, wherein a group of carbon brushes and slip rings are deployed on the rotor shaft of the power motor, and the carbon brushes are deployed on the stator of the power motor. Correspondingly, a coupling signal is generated by the transceiver, and the coupling signal is transmitted to the carbon brush slip ring through the power line, and passes through the propeller part on the stator and rotor side of the power motor through the carbon brush slip ring, and then is transmitted to the dual-redundancy variable pitch motor controller. It should be noted that Figure 3 In the figure, deploying the slip ring of a group of carbon brushes and slip rings on the rotor shaft of the power motor and deploying the carbon brushes on the stator of the power motor is only an example. In actual applications, multiple groups of carbon brushes and slip rings can be deployed separately according to application requirements. There is no limit on the number of deployed carbon brushes and slip rings.

[0105] In the embodiment of the present application, the communication between the transceiver and the variable pitch motor controller is realized through the carbon brush and slip ring structure, thereby avoiding the interference caused by the rotation of the rotor, thereby ensuring the stability of the power or signal transmission. In addition, the configuration of multiple sets of carbon brushes and slip rings provides a redundant design. Even if one set fails, the system can still rely on other sets for transmission, thereby further improving the reliability and fault tolerance of the system.

[0106] In some embodiments, the motor-driven variable pitch control system also includes a transmission component, which is a plurality of groups of coils; wherein at least one group of the plurality of groups of coils is arranged radially along the power motor, and at least two groups of coils are arranged axially along the power motor; or, at least one group of the plurality of groups of coils is arranged axially along the power motor, and at least two groups of coils are arranged radially along the power motor.

[0107] For example, Figure 4 Another cross-sectional schematic diagram of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application, Figure 5 Another cross-sectional schematic diagram of a motor-driven variable pitch control system provided by an exemplary embodiment of the present application. Figure 4 As shown, one group of coils is arranged along the radial direction of the power motor, and two groups of coils are arranged along the axial direction of the power motor. Figure 5 As shown, one group of coils is arranged along the axial direction of the power motor, and two groups of coils are arranged along the radial direction of the power motor. Figure 4 and Figure 5The coupling signal is generated by the transceiver, and the coupling signal is transmitted to the coil through the power line, and then passes through the propeller part of the power motor stator and the power motor rotor side through the coil, and then transmitted to the dual-redundant variable pitch motor controller. It should be noted that Figure 4 and Figure 5 The arrangement of the middle coil is only an example. In actual applications, multiple sets of coils can be deployed along different directions of the power motor according to application requirements. The arrangement of the coils (including but not limited to direction and quantity, etc.) is not limited here.

[0108] In the embodiment of the present application, the coils are arranged radially and axially of the power motor, so as to effectively utilize the internal space of the power motor, improve the heat dissipation performance of the coils, further reduce the loss in the process of power transmission, thereby improving the stability of power and control signal transmission, and ensuring the stable operation of the system under high load and complex working conditions. In addition, through the different arrangements of multiple sets of coils, the system can better adapt to different working environments and working conditions, thereby further improving the reliability and fault tolerance of the system.

[0109] Figure 6 A flow chart of a propeller control method provided by an exemplary embodiment of the present application. The propeller control method provided by the embodiment of the present application is applied to the variable pitch motor controller in the motor-driven variable pitch control system in the above embodiment. Figure 6 As shown, the control method includes:

[0110] S601: Obtain the pitch angle of the propeller blades.

[0111] For example, Figure 3 , Figure 4 or Figure 5 As shown, a type 1 angle sensor and a type 2 angle sensor are provided at the root of each blade of the propeller. Correspondingly, the pitch angle of the propeller blade is collected in real time by the type 1 angle sensor and the type 2 angle sensor, and the collected pitch angle is transmitted to the dual-redundant variable pitch motor controller.

[0112] S602: Determine the pitch state of the propeller according to the pitch angle.

[0113] Correspondingly, after receiving the pitch angle, the dual-redundant variable pitch motor controller determines the pitch state of the propeller according to an internally running state determination algorithm or a preset judgment rule. For example, if the pitch angle is within a set first angle range, the dual-redundant variable pitch motor controller can determine that the pitch state of the propeller is in a high pitch state; if the pitch angle is within a set second angle range, the dual-redundant variable pitch motor controller can determine that the pitch state of the propeller is in a low pitch state; similarly, other angle ranges can correspond to different pitch states.

[0114] S603: Control the propeller pitch according to the pitch state.

[0115] In some embodiments, the propeller pitch is controlled according to the pitch state, including: sending the pitch state to the control system of the aircraft; receiving a control signal returned by the control system, wherein the control information is determined according to the pitch state; and controlling the rotation of the pitch motor according to the control signal to drive the propeller pitch change.

[0116] For example, the variable pitch motor controller sends the determined pitch state of the propeller to the control system of the aircraft through the communication interface, and the control system can make further decisions and controls based on the pitch state, and send the decisions and controls to the variable pitch motor controller through the control signal. For example, the control signal indicates that the pitch of the propeller needs to be adjusted from the current 10° to 15°, and the variable pitch motor controller calculates the specific angle that the variable pitch motor needs to rotate according to the control signal. According to the calculation result, the variable pitch motor controller sends a drive signal to the variable pitch motor, controls the variable pitch motor to rotate according to the angle and direction specified by the drive signal, and drives the propeller blades to adjust the angle through the transmission device.

[0117] The embodiment of the present application improves the reliability of the motor-driven variable pitch control system by monitoring the pitch angle of the propeller blades in real time and realizing precise dynamic adjustment of the pitch state of the propeller according to the pitch angle, so that the motor-driven variable pitch control system can better adapt to different flight conditions and mission requirements.

[0118] In some embodiments, receiving a control signal returned by a control system includes: receiving a coupled signal transmitted via a transmission component, wherein the coupled signal is a signal obtained by coupling a control signal sent by the control system to a power line via power line carrier technology by a transceiver; and decoupling the coupled signal to obtain a control signal.

[0119] For example, Figure 2 As shown, the coupling transceiver inside the transceiver couples the electric energy delivered by the power supply device and the control signal sent by the control system to generate a coupling signal, which is transmitted to the transmission component through the power line, and passes through the propeller part on the stator and rotor sides of the power motor through the transmission component, and is finally transmitted to the variable pitch motor controller; inside the variable pitch motor controller, the transceiver decouples the received coupling signal, separates the electric energy and the control signal, and the separated electric energy is used to continuously power the variable pitch motor controller, while the control signal is used to control the rotation of the variable pitch motor, thereby realizing the variable pitch adjustment of the propeller.

[0120] Based on the above embodiments, in some embodiments, sending the pitch state to the control system of the aircraft includes: sending the pitch state to the control system via a transmission component.

[0121] For example, still refer to Figure 2 The dual-redundant variable pitch motor controller obtains the pitch angle of the blade collected by the angle sensor, and determines the pitch state of the propeller according to the pitch angle; further, the dual-redundant variable pitch motor controller transmits the pitch state in reverse to the transceiver via the transmission component, and then the transceiver transmits it to the control system.

[0122] In some embodiments, the variable pitch motor controller is also used to store process data, which includes pre-calibrated angle data and operation process data. Furthermore, the process data is regularly exported through an onboard maintenance interface and the like, and the exported data is used as an asset for lifecycle management for system performance analysis, fault diagnosis, maintenance plan formulation, etc., further enhancing the maintainability and reliability of the system.

[0123] In summary, this application has at least the following advantages:

[0124] First, by placing the variable pitch motor controller close to the variable pitch motor, the drive line between the variable pitch motor controller and the variable pitch motor is significantly shortened, thereby effectively shortening the length of the control loop and reducing the possibility of electromagnetic interference. The shorter control loop makes signal transmission more stable, reducing signal attenuation and interference problems caused by long-distance transmission, thereby improving the reliability of motor-driven variable pitch control. In addition, the pitch angle of the blade is directly collected through the angle sensor, and considering that the digital signal transmitted by the angle sensor has a stronger anti-interference ability, the reliability of the variable pitch control driven by the variable pitch motor is further improved.

[0125] Second, by configuring the variable pitch motor controller, variable pitch motor, angle sensor, absolute angle sensor and transmission components with dual redundancy, it can be ensured that even if a single component fails, the redundantly configured components can still work normally, thereby ensuring that the variable pitch function is not affected, further improving the reliability of the motor-driven variable pitch control, and significantly reducing the risk of system failure, ensuring the safety of the aircraft in various situations.

[0126] Third, the power line carrier technology uses co-linear transmission to couple the control signal to the power line, reducing the number of wire harnesses passing through the power motor, simplifying the wiring structure, and thus reducing the risk of wire harness failure, thereby further improving the reliability of the variable pitch motor drive variable pitch control. In addition, by using co-linear transmission, the power and control signals can also share the anti-interference circuit, thereby saving layout space and further optimizing the overall layout of the system.

[0127] Fourth, by using the absolute angle sensor set on the central axis of the variable pitch motor and the angle sensor set at the root position of the propeller blade to perform dual redundancy detection, the pitch state of the blade can be accurately determined to ensure that it accurately reflects the actual situation and improve the system's adaptability under complex working conditions. In addition, by using two different detection methods, the absolute angle sensor and the angle sensor, common mode faults can be effectively eliminated, further enhancing the reliability, stability and safety of the system.

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

[0129] Figure 7 A schematic diagram of a variable pitch motor controller provided by an exemplary embodiment of the present application. Figure 7 As shown, the variable pitch motor controller 70 includes an acquisition module 71, a determination module 72 and a control module 73, wherein:

[0130] An acquisition module 71 is used to acquire the pitch angle of the propeller blades;

[0131] A determination module 72, configured to determine a pitch state of a propeller according to a pitch angle;

[0132] A control module 73, used to control the propeller pitch according to the pitch state;

[0133] The coupling transceiver 74 is used to send the pitch state to the control system of the aircraft, and decouple the received coupling signal to obtain the control signal sent by the control system.

[0134] In a possible implementation, the control module 73 may be specifically used to: send a pitch state to a control system of the aircraft; receive a control signal returned by the control system, wherein the control information is determined based on the pitch state; and control the rotation of the variable pitch motor based on the control signal to drive the propeller to change pitch.

[0135] In a possible implementation, the control module 73 can also be used to: receive a coupled signal transmitted via a transmission component, where the coupled signal is a signal that couples a control signal sent by a control system to a power line via power line carrier technology by a transceiver; and decouple the coupled signal to obtain a control signal.

[0136] In a possible implementation, the control module 73 may also be configured to send the pitch state to the control system via a transmission component.

[0137] The variable pitch motor controller provided in the embodiment of the present application can execute the technical solution shown in the above control method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0138] It should be noted that it should be understood that the division of the various modules of the above variable pitch motor controller 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 variable pitch motor controller. In addition, it can also be stored in the memory of the above variable pitch motor controller in the form of program code, and called and executed by a processing element of the above variable pitch motor controller. 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 software form.

[0139] 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 above 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).

[0140] 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 device. 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, computer, server or 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 or data center that includes one or more available media integrated. The 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)).

[0141] An embodiment of the present application also provides an electric engine, including: the motor-driven variable pitch control system described in the above embodiment.

[0142] 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.

[0143] The lift / thrust assembly consists of an electric engine, propeller, etc. and their accessories.

[0144] An embodiment of the present application also provides an electric propulsion device, including: the electric engine described in the above embodiment.

[0145] The electric propulsion device consists of a power battery, an electric engine, a propeller, and its accessories. The propeller includes a variable pitch propeller and a fixed pitch propeller.

[0146] An embodiment of the present application also provides an aircraft, comprising: an aircraft body and the electric propulsion device as described in the above embodiment.

[0147] 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.

[0148] 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 motor-driven variable pitch control system, characterized in that: include: A variable pitch motor controller, a variable pitch motor and an angle sensor, wherein the variable pitch motor controller is arranged adjacent to the variable pitch motor, and the variable pitch motor controller is in communication connection with the angle sensor: The angle sensor is used to collect the pitch angle of the blade; The variable pitch motor controller determines the pitch state of the propeller according to the pitch angle, and the pitch state is used to control the variable pitch of the propeller.

2. The motor-driven variable pitch control system according to claim 1, characterized in that: The variable pitch motor controller and the variable pitch motor are arranged on the hub of the propeller; And / or, the variable pitch motor controller and the variable pitch motor are integrated; And / or, the angle sensor is arranged adjacent to the blades of the propeller.

3. The motor-driven variable pitch control system according to claim 2, characterized in that: The variable pitch motor controller is arranged at the shaft end of the variable pitch motor.

4. The motor-driven variable pitch control system according to claim 2, characterized in that: The angle sensor is arranged at the root position of the blade of the propeller.

5. The motor-driven variable pitch control system according to claim 1, characterized in that: At least one of the variable pitch motor controller, the variable pitch motor and the angle sensor is in a dual-redundancy configuration.

6. The motor-driven variable pitch control system according to any one of claims 2 to 5, characterized in that: Also includes: A transceiver, the transceiver is connected to the variable pitch motor controller via a power line, and is used to receive a control signal sent by the control system, couple the control signal to the power line to obtain a coupled signal, and transmit the coupled signal to the variable pitch motor controller via the power line; And / or, the variable pitch motor controller further includes a coupling transceiver for decoupling the coupling signal to obtain the control signal.

7. The motor-driven variable pitch control system according to claim 6, characterized in that: It also includes a transmission component, which includes multiple groups of carbon brushes and slip rings. The slip rings in each group of carbon brushes and slip rings are arranged on the rotor shaft of the power motor, and the carbon brushes are arranged on the stator of the power motor.

8. The motor-driven variable pitch control system according to claim 6, characterized in that: It also includes a transmission component, which is a plurality of coils; Among the plurality of coils, at least one coil group is arranged along the radial direction of the power motor, and at least two coil groups are arranged along the axial direction of the power motor; or, At least one group of coils among the multiple groups of coils is arranged along the axial direction of the power motor, and at least two groups of coils are arranged along the radial direction of the power motor.

9. The motor-driven variable pitch control system according to any one of claims 1 to 5, characterized in that: Also includes: An absolute angle sensor is arranged on the central axis of the variable pitch motor, and the absolute angle sensor is connected to the variable pitch motor controller; The absolute value angle sensor is used to collect the angle of the variable pitch motor, and the angle of the variable pitch motor is used to determine the pitch state.

10. The motor-driven variable pitch control system according to claim 9, characterized in that: The variable pitch motor controller is also used for: In a case where the detection accuracy of the angle sensor and the absolute value angle sensor are consistent, determining the pitch state of the propeller according to the angle of the variable pitch motor; In the case that the detection accuracy of the angle sensor and the absolute value angle sensor are inconsistent, the pitch state of the blade is determined according to the mechanical index of the transmission device, the pitch angle and the angle of the variable pitch motor.

11. The motor-driven variable pitch control system according to claim 9, characterized in that: The number of the absolute value angle sensors is at least two, and the at least two absolute value angle sensors may be absolute value angle sensors of different types; And / or, each type of sensor included in the absolute angle sensor is dual-redundant.

12. A method for controlling a propeller, characterized in that: A variable pitch motor controller applied to a motor-driven variable pitch control system according to any one of claims 1 to 11, wherein the control method comprises: Get the pitch angle of the propeller blades; determining a pitch state of the propeller according to the pitch angle; The propeller pitch is controlled according to the pitch state.

13. A variable pitch motor controller, characterized in that: include: An acquisition module, used to acquire the pitch angle of the propeller blades; A determination module, configured to determine a pitch state of the propeller according to the pitch angle; A control module, used for controlling the pitch change of the propeller according to the pitch state; The coupling transceiver is used to send the pitch state to the control system of the aircraft, and decouple the received coupling signal to obtain the control signal sent by the control system.

14. An electric motor, characterized in that: include: A motor-driven variable pitch control system as claimed in any one of claims 1 to 11.

15. An electric propulsion device, characterized in that: include: The electric motor as claimed in claim 14.

16. An aircraft, characterized in that: include: An aircraft body and an electric propulsion device as claimed in claim 15.

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