Electric motor and control method, related devices, motor controller and aircraft

Abstract

The application provides an electric engine, a control method, related devices, a motor controller and an aircraft, and relates to the technical field of the aircraft. The electric engine comprises a power motor, a heat dissipation system and a control module. The power motor has a cavity, and the control module is integrated in the cavity, which is conducive to reducing the space occupied by the electric engine, thereby reducing the volume of the aircraft. The control module comprises at least three integrated drive modules. Part of the drive modules are electrically connected with the power motor to control the power motor. Part of the drive modules are electrically connected with a variable pitch motor of a propeller to control the variable pitch motor. Part of the drive modules are electrically connected with a heat dissipation motor in the heat dissipation system to control the heat dissipation motor. The power motor, the heat dissipation motor and the variable pitch motor are uniformly integrated and controlled, thereby improving the performance and efficiency of the electric engine. Through the unified control architecture, the system design is simplified, the development and maintenance costs are reduced, and the maintainability of the electric engine is improved.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to an electric motor and control method, related devices, motor controller and aircraft. Background Technology

[0002] In the field of aircraft, especially electric vertical take-off and landing (eVTOL) aircraft, there are high requirements for the efficiency and performance of electric motors. Therefore, improving the efficiency and performance of electric motors is of paramount importance.

[0003] In related technologies, aircraft often employ distributed control for different types of motors, which results in low efficiency and poor performance. Summary of the Invention

[0004] This application provides an electric motor and control method, related devices, motor controller, and aircraft to achieve a high-efficiency, high-performance electric motor.

[0005] In a first aspect, this application provides an electric motor, comprising:

[0006] A drive motor, which has a cavity inside, is used to connect to the propeller to drive the propeller to rotate.

[0007] The cooling system includes a cooling motor and a cooling component. The cooling motor drives the cooling component to dissipate heat from the power motor.

[0008] The control module is integrated within the cavity of the power motor and includes at least three integrated drive modules. Some drive modules are electrically connected to the power motor to control the power motor, some drive modules are electrically connected to the pitch motor of the propeller to control the pitch motor, and some drive modules are electrically connected to the cooling motor to control the cooling motor.

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

[0010] Both the first motor controller and the second motor controller include at least three drive modules, and the first motor controller and the second motor controller are electrically connected to the power motor, the variable pitch motor and the cooling motor, respectively.

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

[0012] In one possible implementation, a first motor controller and a second motor controller are disposed side-by-side or side-by-side without spacing along a first direction within the cavity, including:

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

[0014] Alternatively, the first motor controller and the second motor controller may be arranged radially, spaced apart or not spaced apart, along the central axis of the power motor within the cavity.

[0015] In one possible implementation, the first motor controller further includes: a first main control board, and the first motor controller has at least three drive modules, including a first drive module, a second drive module, and a third drive module electrically connected to the first main control board;

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

[0017] Both the first drive module and the fourth drive module are electrically connected to the power motor.

[0018] Both the second drive module and the fifth drive module are electrically connected to the variable pitch motor.

[0019] Both the third and sixth drive modules are electrically connected to the cooling motor.

[0020] In one possible implementation, the heat dissipation assembly includes a fan and a radiator, with the radiator located between the fan and the drive motor, or the fan located between the radiator and the drive motor.

[0021] The cooling motor includes: a fan motor, which is connected to a fan drive, and a radiator for cooling the power motor;

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

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

[0024] A circulation pump is installed in the circulation loop;

[0025] The cooling motor also includes: a circulating pump motor, or the fan motor is a pump motor, and the circulating pump is driven by the circulating pump motor or the pump motor.

[0026] In one possible implementation, both the third drive module and the sixth drive module include a fan motor drive module and a circulating pump motor drive module. The fan motor is electrically connected to the fan motor drive module of the first motor controller and the second motor controller, and the circulating pump motor is electrically connected to the circulating pump motor drive module of the first motor controller and the second motor controller.

[0027] Alternatively, both the third and sixth drive modules include a pump motor drive module, with the pump motor electrically connected to the pump motor drive modules of the first and second motor controllers to drive the circulating pump and fan.

[0028] In one possible implementation, the heat dissipation assembly further includes: a first cooling heat-conducting plate and a second cooling heat-conducting plate, wherein the first cooling heat-conducting plate is used to conduct heat to the heat-generating parts of the first motor controller, and the second cooling heat-conducting plate is used to conduct heat to the heat-generating parts of the second motor controller.

[0029] The radiator includes two inlets and one outlet;

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

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

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

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

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

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

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

[0037] Secondly, this application provides an electric motor control method, including:

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

[0039] Determine the controlled object to which the control command is directed; the controlled object is either a variable pitch motor or a power motor.

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

[0041] In one possible implementation, determining the controlled object to which the control command is directed includes:

[0042] If the control command is a power command, then the controlled object targeted by the control command is the power motor.

[0043] If the control command is a propeller pitch control command, then the controlled object targeted by the control command is the pitch control motor.

[0044] In one possible implementation, the power command is used to indicate any one of the following: operating power, operating current, operating speed, and operating torque.

[0045] In one possible implementation, controlling the controlled object based on control commands includes:

[0046] If the controlled object is a power motor, the power motor drive module will invert the DC power into three-phase AC power to provide power to the windings of the power motor, so as to control the power motor to output power according to the control command.

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

[0048] In one possible implementation, the control object is controlled based on the control command and the configuration type of the control object, including:

[0049] If the controlled object is configured with two windings, then based on the control command, each winding in the two windings will be controlled to output a corresponding proportion;

[0050] If the controlled object is configured with a single winding, the winding will be controlled to output at full ratio based on the control command.

[0051] In one possible implementation, the electric motor control method further includes:

[0052] Fault detection of electric motors;

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

[0054] In one possible implementation, the motor controller is a dual-redundant configuration, wherein each different winding in the dual-winding configuration is controlled by a different motor controller in the dual-redundant configuration.

[0055] Electric motor control methods also include:

[0056] The dual-redundant motor controller performs fault detection on the electric motor separately;

[0057] If a redundant motor controller detects a fault, it will synchronize the fault information to the other redundant motor controller.

[0058] The other redundant motor controller receives the fault information and, based on the control command, controls the winding it controls and performs a full proportional output based on the control command.

[0059] If no fault is detected, the redundant motor controllers work together, including synchronizing fault information.

[0060] In one possible implementation, the motor controller is also used to control the cooling motor, and the electric motor control method further includes:

[0061] Monitor the operation of the electric motor and obtain its operating information;

[0062] Based on the operating information, adjust the operating parameters of the cooling motor to control the operating temperature of the electric motor.

[0063] In one possible implementation, adjusting the operating parameters of the cooling motor based on operating information includes:

[0064] The output speed of the cooling motor is adjusted according to the motor temperature and speed of the power motor and the component temperature of the heat-generating components in the motor controller. The cooling motor includes a pump motor that provides power to the circulating pump, or the pump motor provides power to both the circulating pump and the fan; or the cooling motor includes both a circulating pump motor and a fan motor.

[0065] Thirdly, this application provides an electric motor control device, comprising:

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

[0067] The determination module is used to determine the controlled object targeted by the control command, which is either a variable pitch motor or a power motor.

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

[0069] Fourthly, this application provides a motor controller, including: a processor, and a memory communicatively connected to the processor;

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

[0071] The processor is configured to execute the computer execution instructions to implement the method as described in any of the second aspects.

[0072] Fifthly, this application provides an electric propulsion device, comprising: a propeller and an electric motor as described in any of the first aspects, wherein the power motor of the electric motor is connected to the propeller via a drive motor, and a portion of the drive module in the control module of the electric motor is electrically connected to the pitch motor of the propeller.

[0073] In one possible implementation, the propeller includes: blades, a hub, and a fairing. Both the blades and the fairing are connected to the hub, which is connected to the rotor of a power motor. A pitch-changing motor and a pitch-changing mechanism are connected within the hub, and the pitch-changing mechanism is connected to the blades.

[0074] In a sixth aspect, this application provides an aircraft including a fuselage, wings, a tail, and an electric propulsion device as described in any of the fifth aspects, the electric propulsion device being disposed on the wings and / or the fuselage and / or the tail.

[0075] In one possible implementation, the aircraft also includes a tilt mechanism and a tilt drive module. The tilt mechanism is connected to an electric propulsion device to enable the aircraft to transition between takeoff and landing configurations and cruise configurations. The tilt drive module is integrated with the tilt mechanism and mounted on the wings and / or fuselage and / or tail, located outside the electric motor.

[0076] In a seventh aspect, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described in any of the second aspects.

[0077] Eighthly, this application provides a computer program product, including a computer program that, when executed, implements the method described in any of the second aspects.

[0078] This application provides an electric motor and its control method, related devices, motor controller, and aircraft. The electric motor includes a power motor, a cooling system, and a control module. The power motor has a cavity within which the control module is integrated, which helps reduce the space occupied by the electric motor, thereby reducing the size of the aircraft. Furthermore, the control module includes at least three integrated drive modules. Some drive modules are electrically connected to the power motor for controlling it, some are electrically connected to the pitch motor of the propeller for controlling it, and some are electrically connected to the cooling motor in the cooling system for controlling it. By unifying and integrating the control of the power motor, cooling motor, and pitch motor, signal transmission and processing delays are reduced, the electric motor's response speed is improved, and the coordination of electric motor control is enhanced. This allows the power motor and pitch motor to work collaboratively under various flight conditions, thereby improving the performance and efficiency of the electric motor. In addition, the unified control architecture simplifies system design, reduces development and maintenance costs, and improves the maintainability of the electric motor. Attached Figure Description

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

[0080] Figure 1 A schematic diagram of the structure of the electric motor provided in the embodiments of this application. Figure 1 ;

[0081] Figure 2 This is a cross-sectional structural schematic diagram of an electric motor provided in an embodiment of this application;

[0082] Figure 3 A schematic diagram of the structure of the electric motor provided in the embodiments of this application. Figure 2 ;

[0083] Figure 4 This is a schematic diagram of the structure of the control module provided in the embodiments of this application;

[0084] Figure 5 Schematic diagram of the electric propulsion device provided in the embodiments of this application Figure 1 ;

[0085] Figure 6 A schematic flowchart of the electric motor control method provided in the embodiments of this application;

[0086] Figure 7 This is a schematic diagram of the structure of the electric motor control device provided in the embodiments of this application;

[0087] Figure 8 This is a schematic diagram of the structure of the motor controller provided in the embodiments of this application;

[0088] Figure 9 Schematic diagram of the electric propulsion device provided in the embodiments of this application Figure 2 ;

[0089] Figure 10 This is a schematic diagram of the structure of the aircraft provided in the embodiments of this application.

[0090] Explanation of reference numerals in the attached figures:

[0091] 10: Electric motor;

[0092] 11: Power motor;

[0093] 11a: Liquid cooling channel; 111: Rear cover;

[0094] 12: Heat dissipation system;

[0095] 123: Cooling motor;

[0096] 1231: Circulating pump motor; 1232: Fan motor;

[0097] 122: Radiator; 121: Fan; 124: First return pipe; 125: Second return pipe;

[0098] 126: First cooling heat conduction plate; 127: Second cooling heat conduction plate; 128: Circulation pump; 129: Liquid supply pipe;

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

[0100] 1241: First liquid inlet; 1242: Second liquid inlet; 1243: Liquid outlet;

[0101] 13: Control module;

[0102] 131: First motor controller; 132: Second motor controller;

[0103] 1311: First main control board; 1312: First driver module; 1313: Second driver module; 1314: Third driver module; 1321: Second main control board; 1322: Fourth driver module; 1323: Fifth driver module; 1324: Sixth driver module;

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

[0105] 14: Variable pitch motor;

[0106] 50: Electric motor control device; 51: Receiving module; 52: Determining module; 53: Control module;

[0107] 60: Motor controller; 61: Processor; 62: Memory; 63: Communication component; 64: Bus;

[0108] 70: Electric propulsion device; 71: Propeller;

[0109] 711: Propeller blade; 712: Propeller hub; 713: Fairing;

[0110] 7121: Variable pitch mechanism;

[0111] 800: Aircraft; 801: Fuselage; 802: Wing; 803: Tail; 804: First arm; 805: Second arm; 806: Nacelle.

[0112] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0113] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

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

[0115] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0116] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0117] In the above description, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0118] First, let me explain the terms used in this application:

[0119] Propellers are devices that convert the power of an engine or electric motor into thrust (pull or lift) by rotating blades in air or water (liquid). They have a wide range of applications and are an important thrust (pull or lift) mechanism in aircraft, widely used in eVTOL aircraft, helicopters, drones and other fields; they are also widely used in ships, submarines and other fields.

[0120] Pitch adjustment mechanism: To improve propeller efficiency, a pitch adjustment mechanism is usually added inside the propeller. This mechanism allows the propeller to change its blade angle under different speeds and thrust (thrust or lift) requirements, thus achieving optimal propeller efficiency. The propeller's pitch adjustment mechanism enables pitch control, requiring a power source to provide the pitch torque and the ability to control this torque to achieve accurate blade angle control.

[0121] An electric motor is a system consisting of an electric motor, a motor controller, cables, and accessories that converts electrical energy into mechanical energy. In practice, an electric motor can also be called an electric propulsion system.

[0122] Lift / thrust assembly: Consists of an electric motor, propeller, and accessories.

[0123] Electric propulsion system: It consists of a power battery, an electric motor, a propeller, and accessories.

[0124] Currently, electric motors, pitch control mechanisms, and cooling systems used in electric aircraft are distributed, with each type of motor and its corresponding controller located separately. Furthermore, the electric motor, propeller pitch, water pump pressure, and cooling fan speed are controlled independently by the flight system (e.g., flight computer). While this allows for independent control of each subsystem, this decentralized control approach increases system response time and latency, especially when rapid adjustments to multiple subsystem parameters are required. Moreover, the subsystems lack coordination, and the decentralized control increases system complexity, leading to higher failure rates and maintenance costs. These issues result in overall system efficiency and performance that are relatively low.

[0125] To address the aforementioned technical problems, this application provides an electric motor that integrates the control of the power motor, cooling motor, and pitch motor, achieving an integrated electric motor. This reduces the size of the electric motor while improving its response speed and enhancing the coordination of its control, thereby improving its performance and efficiency, and enabling high performance and precise control. The unified control architecture simplifies system design, reduces development and maintenance costs, and improves the maintainability of the electric motor.

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

[0127] Figure 1 A schematic diagram of the structure of the electric motor provided in the embodiments of this application. Figure 1 , Figure 2 This is a cross-sectional structural diagram of an electric motor provided in an embodiment of this application. Figure 1 and Figure 2 As shown, the electric motor 10 includes a power motor 11, a cooling system 12, and a control module 13.

[0128] The power motor 11 has a cavity inside, and the power motor 11 is used to connect with the propeller 71 (see below). Figure 9 A drive motor 11 is connected to the propeller 71 to drive its rotation. The drive motor 11 is driven by the propeller 71 and provides power to the propeller 71, thereby providing thrust to the aircraft. In an eVTOL aircraft, the drive motor 11 can provide vertical lift, enabling the aircraft to overcome gravity and fly in the air. The drive motor 11 may include a rear cover 111 for protecting the drive motor 11.

[0129] The heat dissipation system 12 includes a heat dissipation motor 123 and a heat dissipation component. The heat dissipation motor 123 drives the heat dissipation component to cool the power motor 11. Since the power motor 11 generates a lot of heat during operation, the heat dissipation system 12 is needed to remove the heat generated by the power motor 11 during operation.

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

[0131] It should be noted that the integrated electric motor is a one-piece structure formed by integrating the power motor 11 and the cooling system 12 together. In this embodiment, the control module 13 is integrated into the cavity of the power motor 11, and the cooling system 12 can be integrated below the power motor 11. Therefore, the integrated electric motor has a compact structure, which helps to save space in the aircraft and thus reduce the size of the aircraft. Furthermore, the integration of the power motor 11, the cooling system 12, and the control module 13 also facilitates the assembly of the aircraft, which helps to reduce assembly steps and improve assembly efficiency. The cooling system 12 is arranged below the power motor 11, and part of the airflow generated by the propeller 71 can be effectively utilized to improve heat dissipation performance.

[0132] Furthermore, by unifying and integrating the control of the power motor 11, cooling motor 123, and pitch motor 14, the delay in signal transmission and processing is reduced, the response speed of the electric motor 10 is improved, and the coordination of the electric motor 10 control is enhanced. This allows the power motor 11, pitch motor 14, and cooling motor 123 to work collaboratively under various flight conditions, thereby improving the performance and efficiency of the electric motor 10. Additionally, the unified control architecture simplifies system design, reduces development and maintenance costs, and improves the maintainability of the electric motor 10.

[0133] Figure 3 A schematic diagram of the structure of the electric motor provided in the embodiments of this application. Figure 2 .in, Figure 3 The electric motor shown is for illustrative purposes only and does not constitute a limitation on the specific structure and shape of the electric motor.

[0134] In some embodiments, see Figure 3 As shown, the control module 13 includes a first motor controller 131 and a second motor controller 132, which are aligned along a first direction ( Figure 3 The X-direction (in the middle) is arranged side-by-side or side-by-side without spacing in the cavity to form a dual-redundancy configuration, the first direction being parallel to the axial direction of the power motor 11 ( Figure 3 The first motor controller 131 and the second motor controller 132 each include at least three drive modules, and the first motor controller 131 and the second motor controller 132 are electrically connected to the power motor 11, the variable pitch motor 14 and the cooling motor 123, respectively.

[0135] The first motor controller 131 and the second motor controller 132 are arranged side by side, either spaced apart (i.e., with a certain distance between them) or not spaced apart (i.e., closely adjacent to each other). Alternatively, when the first motor controller 131 and the second motor controller 132 are spaced apart within the cavity of the power motor 11, a fireproof membrane can be added to physically separate them. This side-by-side arrangement allows for an efficient motor controller layout within a limited space, resulting in a compact design and space savings.

[0136] It should be noted that a fireproof membrane may or may not be installed between the dual-redundant motor controllers. Installing a fireproof membrane prevents overheating from spreading between the two controllers, ensuring high safety. The fireproof membrane can also be made of high-temperature resistant materials to reduce heat transfer. Not installing a fireproof membrane simplifies the system structure and reduces the overall system cost. Furthermore, the non-interval design makes the control module structure more compact, reduces the space occupied by the power motor, and consequently, reduces the size of the electric motor. It should be noted that the choice between installing a fireproof membrane and using an interval design can be made based on the actual application scenario, space requirements, system safety requirements, performance requirements, and cost; this application does not impose any restrictions.

[0137] The first motor controller 131 and the second motor controller 132 respectively control the operation of the power motor 11, the variable pitch motor 14, and the cooling motor 123. It can be understood that two relatively independent motor controllers are installed within the cavity of the power motor 11. For example, if either motor controller fails and cannot operate, the other normal motor controller completely takes over the operation of the power motor 11, the variable pitch motor 14, and the cooling motor 123. By implementing redundant design of the motor controllers, the reliability and fault tolerance of the electric motor are improved.

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

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

[0140] In one implementation, the first motor controller 131 and the second motor controller 132 are arranged symmetrically, spaced apart, or non-spaced apart relative to the central axis of the power motor 11 within the cavity. Symmetrical arrangement allows for more efficient use of space within the cavity, simplifies wiring, and the symmetry of the first motor controller 131 and the second motor controller 132 helps balance the weight distribution and thermal management of the electric motor 10. This adapts to different equipment layouts and installation requirements.

[0141] The two motor controllers provide redundant control capabilities, allowing the other controller to take over control tasks in the event of a failure in one controller, ensuring the continuous operation of the electric motor 10. This symmetry helps to balance the weight distribution and thermal management of the electric motor 10.

[0142] In another implementation, the first motor controller 131 and the second motor controller 132 are arranged radially, spaced apart or not spaced apart, along the central axis of the power motor 11 within the cavity. Figure 4 This is a schematic diagram of the structure of the control module provided in the embodiments of this application, such as... Figure 4 As shown, the first motor controller 131 and the second motor controller 132 are radially distributed around the central axis (rotation axis) of the power motor 11.

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

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

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

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

[0147] In this embodiment, the modular design provides high flexibility, allowing multiple drive modules to process different tasks in parallel, thus improving the response speed and processing capacity of the electric motor system. By connecting different drive modules to specific motor types, the electric motor system can achieve more efficient operation and more precise control. Through modular, dedicated drive design and redundant design, the stable operation and high efficiency of the electric motor system are ensured.

[0148] Many high-power, heat-generating moving parts, such as drive motors in new energy vehicles and engines in gasoline-powered cars, generate a significant amount of heat during operation. Therefore, they typically incorporate cooling systems (radiators and fans) to dissipate the heat generated by the moving parts through airflow from the fan over the radiator. However, for motors and engines like those in automobiles, the structural layout is more flexible, and there are no strict quality requirements. Therefore, to meet cooling needs, the size of the radiator and fan is not heavily customized, and the front of the radiator is usually not tightly or excessively obstructed. However, current electric vertical take-off and landing (eVTOL) aircraft, to meet weight and space constraints, typically require designs that are small and precise while ensuring performance. This often results in the radiator's air intake being obstructed by the motor and pump. This arrangement inevitably causes new problems not seen in other industries, such as uneven airflow distribution, which can lead to significant heat recirculation in the central area of ​​the radiator.

[0149] Therefore, in some embodiments, see Figure 2 As shown, the heat dissipation components in the heat dissipation system 12 include a fan 121 and a heat sink 122. In one implementation, the heat sink 122 is located between the fan 121 and the drive motor 11; in another implementation, the fan 121 is located between the heat sink 122 and the drive motor 11 (e.g., Figure 2 (As shown). The cooling motor 123 includes: a fan motor connected to a fan drive; a radiator 122 for cooling the power motor 11; the fan motor is electrically connected to the third drive module and the sixth drive module (e.g., ...). Figure 3 As shown, the cooling motor is the fan motor, which is electrically connected to the third drive module 1314 and the sixth drive module 1324.

[0150] The fan 121, radiator 122, and cooling motor 123 (e.g., a fan motor) are arranged axially along the central axis of the power motor 11. The fan 121 can be located between the radiator 122 and the power motor 11, and the radiator 122 can also be located between the fan 121 and the power motor 11. Preferably, the fan 121 is arranged adjacent to the radiator 122. The radiator 122 can be thermally connected to the power motor 11. The heat generated by the power motor 11 during operation can be transferred to the radiator 122 to dissipate heat from the power motor 11 through the radiator 122.

[0151] The fan motor is connected to the fan 121 via a drive mechanism and is fixed to the housing of the power motor 11. For example, the fan motor is fixedly connected to the housing of the power motor 11. The fan 121 can be located on the side of the fan motor facing away from the power motor 11, and the fan motor can drive the fan 121 to rotate via a drive shaft. In this way, the fan 121 can drive airflow and form an airflow, which passes through the radiator 122. The airflow formed when the fan 121 is working will carry away the heat absorbed by the power motor 11 on the radiator 122, thereby achieving air cooling of the radiator 122 and accelerating the release of heat on the radiator 122. The air inlet side 121a and the air outlet side 121b of the fan 121 refer to the side of the fan 121 facing the power motor 11 and the air outlet side 121b respectively.

[0152] Optionally, the heat sink can have a large heat dissipation surface to quickly release heat to the external environment; alternatively, elements such as ventilation channels, heat dissipation fins, or physical modules containing heat-dissipating or heat-conducting materials can be added to the surface of the heat sink to improve heat dissipation efficiency. For example, physical modules containing heat-conducting materials can be placed on the surface, inside, or at any location of the heat sink to absorb or conduct heat, thereby improving heat transfer efficiency. Heat-conducting materials include thermal paste, thermal pads, and thermal adhesives, while heat dissipation materials include phase change materials and metal-based composite materials. Heat dissipation fins are thin sheets attached to the heat sink body to increase surface area and enhance heat dissipation.

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

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

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

[0156] Since the radiator 122 and the liquid cooling channel 11a can form a cooling medium circulation loop, and the liquid cooling channel 11a is located inside the motor 11, the cooling medium can flow through the motor 11 and the radiator 122 during the circulation of the cooling medium. This circulation transfers the heat generated by the motor 11 during operation to the radiator 122. The airflow generated by the fan 121 can then remove the heat from the radiator 122, thus achieving heat dissipation for the motor 11.

[0157] In one implementation, a circulation pump is provided in the cooling medium circulation loop, and the radiator motor 123 also includes a circulation pump motor. By providing a circulation pump motor in the cooling medium circulation loop, the circulation pump motor drives the circulation pump, allowing the cooling medium to flow in the cooling medium circulation loop, ensuring effective circulation of the cooling medium, thereby removing heat from the radiator 122 and ensuring the normal operation of the electric motor 10. The circulation pump motor is fixed to the housing of the power motor 11. For example, the circulation pump motor is fixedly connected to the housing of the power motor 11. That is, the fan and the circulation pump are driven by the circulation pump motor and the fan motor respectively, and the circulation pump motor and the fan motor are arranged near the radiator, for example, they can be arranged on the same side or different sides of the radiator 122 respectively.

[0158] In another implementation, the fan motor is a pump motor. The fan motor (pump motor) drives the circulating pump, allowing the cooling medium to flow in the cooling medium circulation loop, ensuring effective circulation of the cooling medium and thus removing heat from the radiator 122, ensuring the normal operation of the electric motor 10. In other words, the fan and the circulating pump share the same motor, and the fan motor is located close to the radiator 122.

[0159] It should be noted that the fan motor can also function as a pump motor to drive the cooling medium to circulate within the cooling medium loop. Furthermore, the fan motor can also drive the fan 121 to rotate. Since the fan motor can perform both functions, compared to driving the fan 121 and the cooling medium flow separately with two independent motors, this approach reduces the number of components in the electric motor 10, thus lowering its manufacturing cost. It also reduces the possibility of two motors occupying a large space, which could increase the size and weight of the electric motor 10.

[0160] In this embodiment, by designing the fan motor and the circulating pump motor as the same motor, the overall size and weight of the electric motor can be reduced, costs can be lowered, the electric motor design can be simplified, maintenance requirements can be reduced, and noise and vibration can also be reduced. Designing the fan motor and the circulating pump motor as separate motors offers greater flexibility, ensures optimal motor performance to a certain extent, and thus improves heat dissipation efficiency.

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

[0162] Based on the above embodiments, in some possible implementations, when the fan motor and the circulating pump motor are designed as different motors, both the third drive module 1314 and the sixth drive module 1324 include a fan motor drive module and a circulating pump motor drive module. The fan motor is electrically connected to the fan motor drive module of the first motor controller 131 and the second motor controller 132, and the circulating pump motor is electrically connected to the circulating pump motor drive module of the first motor controller 131 and the second motor controller 132.

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

[0164] In this embodiment of the application, by connecting different drive modules to specific motor types, the electric motor system can achieve more efficient operation and more precise control. Through modular, dedicated drive design and redundant design, the stable operation and high efficiency of the electric motor system are ensured.

[0165] Figure 5 Schematic diagram of the electric propulsion device provided in the embodiments of this application Figure 1 .

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

[0167] The heat-generating parts of each motor controller can be indirectly attached to the outer surface of the cooling heat-conducting plate through thermal conductive materials, or they can be directly mounted on the cooling heat-conducting plate to achieve integrated design.

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

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

[0170] For example, see Figure 1 and Figure 5 As shown, the radiator 122 is rigidly connected to the power motor via two return pipes (first return pipe 124 and second return pipe 125). Thus, the two return pipes form a support structure, fixing the radiator 122 to the power motor 11. One end of each return pipe is fixedly connected to the radiator 122, and the other end is connected to the liquid cooling channel 11a. One end of the supply pipe 129 is fixedly connected to the radiator 122, and the other end is connected to the circulation pump 128. After being driven by the circulation pump 128, the coolant is connected to the first cooling heat-conducting plate 126 and the second cooling heat-conducting plate 127 through coolant pipes, thus forming a parallel first circulation loop and a second circulation loop.

[0171] The supply pipe 129 can provide a low-temperature cooling medium to the power motor 11. The low-temperature cooling medium flows within the liquid cooling channels of the power motor 11, absorbing heat from the motor (including heat generated by the motor windings and the heat-generating parts of the motor controller). At this point, the temperature of the cooling medium rises to form a high-temperature cooling medium. The high-temperature cooling medium can flow into the radiator 122 through the first return pipe 124 and the second return pipe 125.

[0172] Because the radiator 122 has a heat dissipation surface, and under the action of the airflow generated by the fan 121, the high-temperature cooling medium inside the radiator 122 can be cooled. The temperature of the cooling medium inside the radiator 122 can gradually decrease to form a low-temperature cooling medium. The low-temperature cooling medium can flow back into the liquid cooling channel 11a of the power motor 11 through the liquid supply pipe 129 to continue to dissipate heat from the power motor 11. In summary, the cooling medium can circulate in the first circulation loop and the second circulation loop to continuously dissipate heat from the power motor 11, thereby ensuring the normal operation of the aircraft.

[0173] It should be noted that after the cooling medium flows into the liquid cooling channel 11a of the power motor through the liquid supply pipe 129 and the coolant pipeline, it can absorb heat and cool the motor controller and the power motor in series (cooling the heat-generating parts of the motor controller first, and then cooling the windings of the power motor), or it can absorb heat and cool the motor controller and the power motor independently in parallel. This application embodiment does not impose any restrictions.

[0174] In this embodiment, the heat dissipation system can simultaneously cool multiple heat sources through a parallel dual-loop design, improving overall heat dissipation efficiency. The first and second circulation loops are configured in parallel, allowing each loop to operate independently, thus improving the system's flexibility and reliability. The radiator combines liquid cooling technology with multiple circulation loops to achieve efficient thermal management, making it particularly suitable for aircraft applications requiring high-efficiency heat dissipation.

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

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

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

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

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

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

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

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

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

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

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

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

[0187] In this embodiment, by integrating the bus capacitor and power module, the electric motor system can more effectively manage the distribution and conversion of electrical energy. The power module can quickly respond to control signals, achieving precise motor speed and torque control, and realizing efficient motor operation. The modular design makes the system easy to integrate and expand, adapting to different application needs.

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

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

[0190] In this embodiment, the structure and cooling system of the power motor are integrated into a compact unit, forming an integrated electric motor. This integrated design optimizes space utilization, reduces overall volume and weight, reduces the number of independent components, and lowers system complexity, making it suitable for space-constrained applications. The integrated design improves heat dissipation efficiency and enhances the overall performance of the system. Through effective heat dissipation, the control module and other electronic components are protected from overheating damage, thereby improving the reliability and stability of the system.

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

[0192] Figure 6 This is a flowchart illustrating an electric motor control method provided in an embodiment of this application. This application provides an electric motor control method applicable to any electric motor described above. Figure 6 As shown, the electric motor control method includes:

[0193] S601 receives control commands sent by the flight control system.

[0194] The flight control system controls the electric motors to output thrust based on the aircraft's thrust requirements. The flight control system sends control commands to the electric motors, which receive these commands through their built-in motor controller. The main control board within the motor controller communicates with the flight control system via wired or wireless means, receiving the control commands sent by the flight control system. The motor controller is the control module described above.

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

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

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

[0198] For example, an instruction parsing module is implemented in the main control board of the motor controller. This module is responsible for receiving and parsing all incoming control instructions. Based on the content or encoding rules of the control instructions, the module can parse the identifier of the controlled object and / or the instruction type to determine the controlled object of the control instructions.

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

[0200] Based on the identifier and / or instruction type of the controlled object, and the configuration type of the controlled object, execute the corresponding control logic.

[0201] For example, if a control command contains a speed command of type 1200 revolutions per minute (RPM) and the controlled object is configured as a dual-winding configuration, the motor controller will control the motor windings to output a speed of 1200 RPM according to this command. Alternatively, if a control command contains a parameter value of 1200 RPM and the controlled object is configured as a dual-winding configuration, the motor controller will control both windings of the motor to work together to output a speed of 1200 RPM. For example, one winding might output 500 RPM and the other 700 RPM. These values ​​are merely examples.

[0202] It should be noted that the motor controller in this embodiment can be either dual-redundant or single-redundant. In a dual-redundant configuration, the control logic executed by each motor controller is the same. Furthermore, in practical applications, a single-redundant motor controller can control a single winding or control two windings to work together. In a dual-redundant motor controller, each motor controller independently controls one winding of the corresponding motor's dual windings. It should also be noted that this embodiment does not limit the configuration of the motor controller, and the method described in this embodiment is also applicable to controlling motors with a single winding configuration.

[0203] In this embodiment, the motor controller receives control commands from the flight control system, enabling unified integrated control of the power motor and the pitch motor. This reduces signal transmission and processing delays, improves the response speed of the electric motor system, and enhances the coordination of electric motor control. The power motor and pitch motor can then work collaboratively under various flight conditions. By precisely determining the control object of the control command and further controlling it based on the configuration type of the control object, high performance and precise control can be achieved, thereby improving the performance and efficiency of the electric motor. Furthermore, the unified control command entry simplifies the architecture design, reduces development and maintenance costs, and improves the maintainability of the electric motor.

[0204] In some embodiments, determining the controlled object based on the control command includes: if the control command is a power command, then determining the controlled object as a power motor; if the control command is a propeller pitch command, then determining the controlled object as a pitch motor.

[0205] For example, for a powered motor, this might involve adjusting parameters such as power, speed, current, or torque; the power command is used to control the operating state of the aircraft's propulsion system. For a variable-pitch motor, this might involve adjusting the propeller pitch angle to change lift or thrust; the propeller pitch command is used to control the propeller blade pitch angle to optimize aircraft performance.

[0206] As the unified entry point for receiving control commands from the flight control system, the motor controller needs to parse the control commands. For example, the control commands are parsed by the command parsing module. If the parsing result shows that the command type is a power command, the controlled object is determined to be the power motor. If the parsing result shows that the command type is a propeller pitch command, the controlled object is determined to be the pitch motor.

[0207] In this embodiment, the corresponding controlled object is accurately determined by parsing the control commands, ensuring that the commands are correctly transmitted and executed, improving the reliability and control accuracy of the electric motor control, thereby ensuring the stable, safe and efficient operation of the aircraft.

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

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

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

[0211] The motor controller includes a bus capacitor, a drive motor module, a variable pitch motor drive module, and their corresponding power devices (i.e., the power modules as described above). The high-voltage DC power supply, after being regulated by the bus capacitor, is connected to the power devices (also called inverter modules). The main control board controls the motor drive modules, which in turn control the corresponding power devices. Through a three-phase inverter bridge circuit, three-phase AC power is transmitted to the corresponding motor, thus controlling the motor through current to output the power or torque corresponding to the control command. The power output of the drive motor can be expressed as any one of output power, current, speed, and torque.

[0212] In one example, the main control board in the motor controller receives speed, torque, power, or current control commands from the flight control system. The main control board then controls the motor drive module to drive the motor inverter module, converting DC power into three-phase AC power (U-phase, V-phase, W-phase) to power the motor windings, thereby driving the motor to rotate and output the corresponding speed, torque, power, or current. For instance, if the speed command requires 1200 RPM, the motor controller will control the motor to reach 1200 RPM. The output power of the motor is adjusted according to the magnitude of the three-phase AC power supplied to the motor by the motor controller; the higher the three-phase AC power, the greater the output power.

[0213] In another example, the main control board in the motor controller receives propeller pitch control commands from the flight control system. The main control board then controls the pitch motor drive module to drive the pitch motor inverter module, converting DC power into three-phase AC power (U-phase, V-phase, W-phase) to power the windings of the pitch motor, thereby driving the motor to rotate and outputting the corresponding torque to change the propeller blade angle. For example, if the propeller pitch control command requires 30 degrees, the motor controller will control the pitch motor to achieve 30 degrees. The output torque of the pitch motor is adjusted according to the magnitude of the three-phase AC power supplied to the pitch motor by the motor controller; the larger the three-phase AC power, the greater the output torque.

[0214] In this embodiment, precise control of the variable pitch motor or power motor is achieved based on control commands. The operating parameters of the variable pitch motor or power motor are adjusted by the control commands to meet the energy requirements of the aircraft in different flight phases (such as takeoff, cruise, and acceleration), adapt to different load conditions and flight missions, and ensure the best performance of the aircraft in various flight states.

[0215] In some embodiments, controlling the controlled object based on the control command and the configuration type of the controlled object further includes: if the controlled object is configured with two windings, then based on the control command, controlling each winding in the two windings to output a corresponding proportion; if the controlled object is configured with a single winding, then based on the control command, controlling the winding to output at full proportion.

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

[0217] Example 1: The power motor is configured with two windings. When both windings are normal, they work simultaneously. For example, if the control command instructs the power motor to output 100KW, the motor controller will provide three-phase AC power to the two windings of the power motor according to the control command, controlling each winding to output 50% of the power, i.e., 50KW. Alternatively, depending on the operating state of the windings, one winding may output 40% and the other winding may output 60%. It should be noted that the embodiments of this application do not limit the output ratio of the two windings.

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

[0219] Example 3: The variable pitch motor is configured with two windings. When both windings are normal, they work simultaneously. For example, if the control command instructs the variable pitch motor to output a torque of 50 degrees, the motor controller will provide three-phase AC power to the two windings of the variable pitch motor according to the control command, controlling each winding to output a stable 50% torque. Alternatively, depending on the operating state of the windings, one winding may output 40% and the other may output 60%. It should be noted that the embodiments of this application do not limit the output ratio of the two windings.

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

[0221] In this embodiment, based on the configuration type of the controlled object, the output ratio of the motor winding is precisely controlled, the output power or torque is flexibly allocated, the motor performance is optimized, and the flexibility is high. This enables the electric motor to achieve the best performance and efficiency in diverse application scenarios, and allows for adjustment of the winding load distribution under different operating conditions, thereby improving the system's adaptability.

[0222] In some embodiments, the electric motor control method further includes: performing fault detection on the electric motor; if the controlled object is a dual-winding configuration, when a fault is detected in one of the dual windings, controlling the other winding in the dual windings to perform full-proportional output based on control commands.

[0223] The fault detection for the electric motor includes fault detection of the hardware and software of the motor controller (e.g., overvoltage, overtemperature, overcurrent, data acquisition deviation, etc.) and fault detection of the windings of the motor controlled by the motor controller. All faults are uniformly judged and reported by the motor controller in the electric motor. Optionally, the faults are reported to the flight control system, so that relevant personnel can keep abreast of the fault information of the electric motor in real time and make timely diagnosis and repair.

[0224] For example, the main control board in the motor controller can detect faults in the motor controller, the drive motor, and the variable pitch motor. In a scenario where the motor controller is configured with single redundancy, if any winding in the dual windings fails, the motor controller will control the other normal winding to continue working and increase its power output to operate at full power, compensating for the power loss caused by the faulty winding. For instance, if the motor controller detects a fault in one of the drive motor's dual windings during flight, it will control the other normal winding to output double the power, ensuring the aircraft lands safely within a certain timeframe.

[0225] In this embodiment of the application, by performing fault detection on the electric motor, when a fault is detected in one winding, the other normal winding in the dual winding is controlled to bear the entire load, thereby enhancing fault tolerance, reducing the risk of electric motor operation, ensuring that the electric motor continues to operate normally, significantly improving the reliability and safety of the electric motor, and thus ensuring the safe flight of the aircraft.

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

[0227] It is understandable that a dual-redundant motor controller independently controls the dual windings of the controlled motor.

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

[0229] Accordingly, the electric motor control method also includes:

[0230] Step 1.1: The dual-redundant motor controllers perform fault detection on the electric motor.

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

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

[0233] Step 1.2: If one redundant motor controller detects a fault, it sends a fault message to the other redundant motor controller; the other redundant motor controller responds by receiving the fault message, controls its controlled winding based on the control command, and performs a full proportional output based on the control command.

[0234] Example 1: When the first redundant motor controller detects a fault in the first winding of the power motor, it sends the relevant fault information to the second redundant motor controller. The second redundant motor controller then controls the power motor drive module B to continue driving the second winding of the power motor to increase power output (full power output) to compensate for the power loss caused by the fault in the first winding of the power motor. By having only the second winding of the power motor work to drive the propeller, it provides thrust or lift to the aircraft and reduces the operating risk of the electric motor.

[0235] Example 2: When the first redundant motor controller detects a fault in the main control board A, all motor drive modules controlled by the main control board A fail (e.g., both the power motor drive module A and the variable pitch motor drive module A fail), causing the windings it controls to stop working (e.g., both the first winding of the power motor and the first winding of the variable pitch motor stop working). The main control board A sends the relevant fault information to the second redundant motor controller. The second redundant motor controller controls the windings it controls (e.g., the second winding of the power motor and the second winding of the variable pitch motor) based on the control commands and increases the power output (full power output) to compensate for some of the power loss caused by the fault of the first redundant motor controller.

[0236] It is understandable that if the main control board in a redundant motor controller fails, all motor drive modules controlled by that main control board will fail, and the other redundant motor controller will take over, controlling its windings to output at full ratio based on control commands. If any motor drive module in a redundant motor controller fails (for example, the drive motor A fails), the main control board and other motor drive modules in that redundant motor controller will still be effective. The second redundant motor controller will control the second winding of the drive motor to output at full ratio, while the windings controlled by the other motor drive modules will still output at their corresponding ratios.

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

[0238] For example, fault information is synchronized between the first redundant motor controller and the second redundant motor controller in real time or at regular intervals.

[0239] Furthermore, the collaborative operation also includes simultaneously receiving control commands from the flight control system when no fault is detected in any of the redundant motor controllers, and controlling their respective windings accordingly, outputting a proportional value based on the control commands. When no fault is detected in either the primary or secondary redundant motor controller, both controllers operate normally. That is, the main control board A of the primary redundant motor controller and the main control board B of the secondary redundant motor controller simultaneously receive control commands from the flight control system. After receiving the control commands, main control boards A and B determine the controlled object and control the two windings of the controlled object based on the control commands.

[0240] For example, after receiving the power command, main control board A and main control board B determine that the controlled object is a motor. Main control board A controls motor drive module A to drive motor inverter module A, converting DC power into three-phase AC power (U phase, V phase, W phase) to supply the first winding of the motor, thereby driving the first winding of the motor to stably output 50% of the power. Main control board B controls motor drive module B to drive motor inverter module B, converting DC power into three-phase AC power (U phase, V phase, W phase) to supply the second winding of the motor, thereby driving the second winding of the motor to stably output 50% of the power. It should be noted that the embodiments of this application do not limit the output ratio of the two windings.

[0241] In this embodiment, by detecting faults in the electric motor and synchronizing fault information between dual-redundant motor controllers, it is ensured that when one redundant motor controller or one winding fails, the other redundant motor controller continues to operate and controls its controlled winding to output at full ratio. This enhances fault tolerance, achieves high-efficiency control and high redundancy, thereby improving the reliability and safety of the electric motor and ensuring the safe and stable operation of the aircraft. If no fault is detected, the cooperative control strategy ensures stable operation of the electric motor, reduces the risk of failure, and achieves more efficient and flexible electric motor control.

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

[0243] Step 2.1: Monitor the operation of the electric motor and obtain its operating information.

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

[0245] For example, sensors can be deployed in the electric motor to monitor the motor temperature, the component temperature of the heat-generating parts in the motor controller, and the motor speed, or the motor speed can be detected by installing photoelectric encoders or magnetic encoders, etc., thereby obtaining the operating information of the electric motor.

[0246] Step 2.2: Adjust the operating parameters of the cooling motor according to the operating information to control the operating temperature of the electric motor.

[0247] The cooling motor is used to control the cooling components in order to cool the heat-generating components of the electric motor and control the operating temperature of the electric motor.

[0248] For example, the cooling motor provides rotational power to the fan and the circulation pump, that is, the fan and the circulation pump rotate coaxially, thereby driving the fan blades to rotate and the circulation pump to output a suitable speed. By driving the fan, airflow is promoted, which helps the radiator to accelerate heat exchange. By driving the circulation pump, the flow of coolant in the cooling pipes of the electric motor is promoted, thereby effectively removing the heat generated by the heat-generating components.

[0249] For example, when the motor controller detects that the electric motor's operating temperature is high, it controls the cooling motor to output more power, driving the circulation pump and / or fan to rotate faster, increasing the cooling effect on the electric motor and controlling its operating temperature. Under low load or low temperature conditions, the cooling motor's output power is reduced, thereby reducing the speed of the fan and circulation pump, or temporarily shutting down the fan to save energy.

[0250] In this embodiment, by monitoring the operating information of the electric motor, the operating parameters of the cooling motor are dynamically adjusted to ensure that the electric motor operates within the optimal operating temperature range, preventing overheating. At the same time, unnecessary energy consumption is reduced, the overall efficiency of the electric motor is improved, and thus the efficient, safe and stable operation of the electric motor is ensured.

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

[0252] In one example, the cooling motor includes a circulation pump motor and a fan motor. That is, the motor controller integrates the control of the circulation pump motor and the fan motor. The circulation pump motor provides power to the circulation pump, and the fan motor provides power to the fan.

[0253] In another example, the cooling motor includes a pump motor. The motor controller integrates control of the circulating pump but not control of the fan. This means that the electric motor does not have a fan; the cooling capacity is provided by the pump motor. Other methods are used to replace the cooling capacity provided by the fan, such as attaching heat-dissipating materials to the radiator or optimizing the radiator structure to accelerate heat exchange.

[0254] In another example, the cooling motor includes a pump motor, and the motor controller integrates control of the circulating pump and the fan. The pump motor provides power to the circulating pump and the fan, which can be considered as the circulating pump and the fan rotating coaxially.

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

[0256] In practical implementation, a speed sensor is deployed on the power motor to collect the motor speed, a temperature sensor is deployed on the power motor to collect the motor temperature, and a temperature sensor is deployed on the heat-generating component (power device) in the motor controller to collect the component temperature. After monitoring the component temperature and the motor temperature, the motor controller compares the motor temperature and the component temperature, and takes the maximum value of the two as the electric motor temperature. Furthermore, based on the electric motor temperature and the power motor speed, the electric motor operating condition - circulating pump speed table is consulted to obtain the corresponding circulating pump motor speed, and the circulating pump motor is controlled to run at that speed.

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

[0258] In practical implementation, a speed sensor is deployed on the power motor to collect the motor speed, a temperature sensor is deployed on the power motor to collect the motor temperature, and a temperature sensor is deployed on the heat-generating component (power device) in the motor controller to collect the component temperature. After the motor controller monitors the component temperature and the motor temperature, it compares the motor temperature and the component temperature and takes the maximum value as the electric motor temperature. Furthermore, based on the electric motor temperature and the power motor speed, the electric motor operating condition-fan speed table is consulted to obtain the corresponding fan motor speed, and the circulating pump motor is controlled to run at the specified speed.

[0259] In this embodiment, by combining multiple indicators to dynamically adjust the speed of the cooling motor, the heat dissipation efficiency is optimized, unnecessary energy consumption is reduced, the overall energy efficiency of the electric motor is improved, and more efficient thermal management and performance optimization are achieved.

[0260] The above embodiments illustrate the electric motor control method. Next, this application also provides an electric motor control device. Figure 7 This is a schematic diagram of the structure of an electric motor control device provided in an embodiment of this application. For example, the electric motor control device is applied to the electric motor as described above. Figure 7As shown, the electric motor control device 50 includes: a receiving module 51, a determining module 52, and a control module 53. Wherein:

[0261] Receiver module 51 is used to receive control commands sent by the flight control system;

[0262] The determination module 52 is used to determine the controlled object according to the control command. The controlled object is a variable pitch motor or a power motor.

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

[0264] In one possible implementation, the determining module 52 is specifically used to: determine the controlled object as a power motor if the control command is a power command; and determine the controlled object as a pitch control motor if the control command is a propeller pitch control command.

[0265] In one possible implementation, the power command is used to indicate any one of the following: operating power, operating current, operating speed, and operating torque.

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

[0267] In one possible implementation, the control module 53 is further configured to: if the controlled object is a dual-winding configuration, control each winding in the dual windings to output a corresponding proportion based on control instructions; if the controlled object is a single-winding configuration, control the winding to output a full proportion based on control instructions.

[0268] In one possible implementation, the control module 53 is also used to: detect faults in the electric motor; if a fault is detected in one of the dual windings, control the other winding in the dual windings to output at full ratio based on control commands.

[0269] In one possible implementation, the motor controller is a dual-redundant configuration, wherein different windings in the dual-winding configuration are controlled by different motor controllers in the dual-redundant configuration; the control module 53 is further configured to: perform fault detection on the electric motor by the dual-redundant motor controllers respectively; if one redundant motor controller detects a fault, it sends fault information to the other redundant motor controller; the other redundant motor controller responds to the received fault information, controls the winding it controls based on control commands, and performs full-proportional output based on control commands; if no fault is detected, the redundant motor controllers work together, and the work together includes synchronizing fault information.

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

[0271] In one possible implementation, the control module 53 is further configured to: adjust the output speed of the cooling motor according to the motor temperature and speed of the power motor and the component temperature of the heat-generating component in the motor controller, wherein the cooling motor includes a pump motor that provides power to the circulating pump, or the pump motor provides power to both the circulating pump and the fan; or the cooling motor includes both a circulating pump motor and a fan motor.

[0272] The electric motor control device provided in this application embodiment can execute the technical solution shown in the above-described electric motor control method embodiment. Its implementation principle and beneficial effects are similar, and will not be repeated here.

[0273] It should be noted that the division of the various modules in the above device is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, the control module can be a separate processing element, or it can be integrated into a chip within the device. Alternatively, it can be stored as program code in the device's memory, called and executed by a processing element. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. During implementation, each step of the above method or each of the above modules can be completed through integrated logic circuits in the processor element or through software instructions.

[0274] For example, these modules can be one or more integrated circuits configured to implement the above methods, such as one or more Application Specific Integrated Circuits (ASICs), one or more Digital Signal Processors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together as a System-On-a-Chip (SOC).

[0275] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. 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. For example, computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. 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 integrates one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., Digital Video Discs, DVDs), or semiconductor media (e.g., solid-state disks (SSDs)).

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

[0277] In a specific implementation, at least one processor 61 executes computer execution instructions stored in memory 62, causing at least one processor 61 to perform the above-described method.

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

[0279] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this application can be directly manifested as execution by a hardware processor, or execution by a combination of hardware and software modules within the processor.

[0280] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0281] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

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

[0283] Figure 9 Schematic diagram of the electric propulsion device provided in the embodiments of this application Figure 2 .

[0284] See Figure 9 and Figure 5 The electric propulsion device 70 provided in this application embodiment includes: a propeller 71 and an electric motor 10 as described above. The power motor of the electric motor 10 is connected to the propeller 71 in a transmission. A part of the drive module in the control module of the electric motor 10 is electrically connected to the variable pitch motor of the propeller 71.

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

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

[0287] In this embodiment, the electric propulsion device 70 includes a propeller 71 and an integrated electric motor 10. The electric motor 10 has a compact structure, which helps to reduce the space occupied by the electric motor 10, reduce the size of the electric propulsion device 70, and thus reduce the volume of the aircraft. By applying this integrated electric motor, a high-efficiency and high-performance electric propulsion device can be achieved.

[0288] Figure 10 This is a schematic diagram of the structure of an aircraft provided in an embodiment of this application. Wherein, Figure 10 The aircraft 800 shown is for illustrative purposes only and does not constitute a limitation on the specific structure and shape of the aircraft 800.

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

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

[0291] The electric propulsion device 70 can be symmetrically disposed on at least one of the tail fin 803, wing 802, and fuselage 801, for example... Figure 10 As shown, electric propulsion devices 70 can be installed on both the wing 802 and the tail 803.

[0292] During vertical takeoff and landing, the electric propulsion unit 70 generates upward lift through high-speed rotation, enabling the aircraft 800 to overcome gravity and achieve takeoff and landing. During the cruise phase, the wing 802 provides lift, while the electric propulsion unit 70 provides forward thrust, allowing the aircraft 800 to fly at high speeds over long distances.

[0293] In this embodiment, the electric propulsion device 70 enables stable operation of the aircraft 800. Furthermore, this compact electric propulsion device structure helps reduce the required installation space, thereby improving the space utilization rate of the aircraft.

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

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

[0296] In some embodiments, the aircraft 800 further includes a tilt mechanism and a tilt drive module. The tilt mechanism is connected to an electric propulsion device to enable the aircraft to transition between takeoff and landing configurations and cruise configurations. The tilt drive module is integrated with the tilt mechanism and mounted on the wing 802 and / or fuselage 801 and / or tail 803, and is located outside the electric motor 10.

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

[0298] In this embodiment, the tilt mechanism and the control of the tilt motor are independent of the electric motor 10, making the electric motor 10 more compact. Furthermore, the independent system design allows for greater flexibility, enabling adjustments to the tilt mechanism configuration according to different aircraft application requirements without affecting the electric motor design.

[0299] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method.

[0300] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the above-described method.

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

[0302] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0303] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

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

[0305] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0306] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0307] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

Claims

1. An electric motor, characterized in that, include: A power motor having a cavity inside, the power motor being connected to a propeller to drive the propeller to rotate; A heat dissipation system, comprising a heat dissipation motor and a heat dissipation component, wherein the heat dissipation motor is used to drive the heat dissipation component to dissipate heat from the power motor; A control module is integrated into the cavity of the power motor, and the control module includes at least three integrated drive modules, wherein some of the drive modules are electrically connected to the power motor to control the power motor, some of the drive modules are electrically connected to the pitch motor of the propeller to control the pitch motor, and some of the drive modules are electrically connected to the cooling motor to control the cooling motor. The control module includes a first motor controller and a second motor controller, which are arranged side-by-side or side-by-side without spacing along a first direction in the cavity to form a dual-redundancy configuration. Both the first motor controller and the second motor controller include at least three drive modules, and the first motor controller and the second motor controller are electrically connected to the power motor, the variable pitch motor and the cooling motor, respectively. The first direction is perpendicular to the axis of the power motor.

2. The electric motor according to claim 1, characterized in that, The first motor controller and the second motor controller are disposed side-by-side or side-by-side without spacing along a first direction within the cavity, including: The first motor controller and the second motor controller are arranged symmetrically, at intervals or not at intervals relative to the central axis of the power motor in the cavity; Alternatively, the first motor controller and the second motor controller may be arranged radially, spaced apart or not spaced apart, along the central axis of the power motor within the cavity.

3. The electric motor according to claim 1, characterized in that, The first motor controller further includes: a first main control board, and the at least three drive modules of the first motor controller include a first drive module, a second drive module, and a third drive module electrically connected to the first main control board; The second motor controller further includes: a second main control board, and the at least three drive modules corresponding to the second motor controller include a fourth drive module, a fifth drive module, and a sixth drive module electrically connected to the second main control board; Both the first drive module and the fourth drive module are electrically connected to the power motor; Both the second drive module and the fifth drive module are electrically connected to the variable pitch motor; Both the third drive module and the sixth drive module are electrically connected to the heat dissipation motor.

4. The electric motor according to claim 3, characterized in that, The heat dissipation component includes a fan and a radiator, wherein the radiator is located between the fan and the power motor, or the fan is located between the radiator and the power motor; The cooling motor includes: a fan motor, the fan motor being connected to the fan drive, and the radiator being used to dissipate heat from the power motor; The fan motors are all electrically connected to the third drive module and the sixth drive module.

5. The electric motor according to claim 4, characterized in that, The power motor is provided with a liquid cooling channel, and the radiator and the liquid cooling channel form a cooling medium circulation loop. A circulation pump is provided on the circulation loop; The cooling motor further includes a circulation pump motor, or the fan motor is a pump motor, and the circulation pump is driven by the circulation pump motor or the pump motor.

6. The electric motor according to claim 5, characterized in that, Both the third drive module and the sixth drive module include a fan motor drive module and a circulating pump motor drive module. The fan motor is electrically connected to the fan motor drive module of the first motor controller and the second motor controller, and the circulating pump motor is electrically connected to the circulating pump motor drive module of the first motor controller and the second motor controller. Alternatively, both the third drive module and the sixth drive module include a pump motor drive module, wherein the pump motor is electrically connected to the pump motor drive modules of the first motor controller and the second motor controller to drive the circulating pump and the fan.

7. The electric motor according to claim 5, characterized in that, The heat dissipation assembly further includes: a first cooling heat-conducting plate and a second cooling heat-conducting plate, wherein the first cooling heat-conducting plate is used to conduct heat to the heat-generating parts of the first motor controller, and the second cooling heat-conducting plate is used to conduct heat to the heat-generating parts of the second motor controller. The radiator includes two liquid inlets and one liquid outlet; The circulation loop includes a first circulation loop and a second circulation loop connected in parallel. Both liquid inlets are connected to the liquid cooling channel, and the liquid outlet is connected to the first cooling heat-conducting plate and the second cooling heat-conducting plate, so that the radiator, the first cooling heat-conducting plate and the liquid cooling channel form the first circulation loop, and the radiator, the second cooling heat-conducting plate and the liquid cooling channel form the second circulation loop.

8. The electric motor according to claim 5, characterized in that, The power motor, the variable pitch motor, the fan motor, and the circulating pump motor all include a first winding and a second winding; each drive module of the first motor controller is electrically connected to the first winding of each motor, and each drive module of the second motor controller is electrically connected to the second winding of each motor.

9. The electric motor according to any one of claims 4 to 8, characterized in that, Both the first motor controller and the second motor controller further include: a bus capacitor and at least three power modules, wherein the bus capacitor is electrically connected to the battery pack and main control board of the electric motor. The power module is electrically connected to the drive module and the windings of each motor.

10. The electric motor according to any one of claims 4 to 8, characterized in that, The power motor includes a motor housing and a stator and a rotor mounted on the motor housing. The rotor is located on the outer periphery of the stator, and the inner periphery of the stator forms the cavity. The control module is located inside the cavity; The radiator, the fan, the circulating pump, the first cooling heat conduction plate, and the second cooling heat conduction plate are all fixedly connected to the motor housing, so that the heat dissipation system and the power motor form an integrated electric motor.

11. A method for controlling an electric motor, characterized in that, The electric motor control method, applied to any one of claims 1 to 10, comprises: Receive control commands sent by the flight control system; The controlled object is determined according to the control command, wherein the controlled object is a variable pitch motor or a power motor; The control object is controlled based on the control command and the configuration type of the control object, wherein the configuration type includes a dual-winding configuration.

12. The electric motor control method according to claim 11, characterized in that, The step of determining the controlled object according to the control command includes: If the control command is a power command, then the controlled object is determined to be the power motor; If the control command is a propeller pitch control command, then the controlled object is determined to be the pitch control motor.

13. The electric motor control method according to claim 12, characterized in that, The power command is used to indicate any one of the following: operating power, operating current, operating speed, and operating torque.

14. The electric motor control method according to any one of claims 11 to 13, characterized in that, The control of the control object based on the control command and the configuration type of the control object includes: If the controlled object is a power motor, the drive module corresponding to the power motor will invert the DC power into three-phase AC power to provide power to the windings of the power motor, so as to control the power motor to output power according to the control command; If the controlled object is a variable pitch motor, the drive module corresponding to the variable pitch motor will invert the DC power into three-phase AC power to provide power to the windings of the variable pitch motor, so as to control the variable pitch motor to output torque according to the control command.

15. The electric motor control method according to any one of claims 11 to 13, characterized in that, The method of controlling the control object based on control commands and the configuration type of the control object further includes: If the controlled object is configured with two windings, then based on the control command, each winding in the two windings is controlled to output a corresponding proportion; If the controlled object is configured with a single winding, then based on the control command, the winding is controlled to output at full ratio.

16. The electric motor control method according to claim 15, characterized in that, The electric motor control method further includes: Fault detection is performed on the electric motor; If the controlled object is configured with two windings, when a fault is detected in one of the two windings, the other winding in the two windings will be controlled to output at full ratio based on the control command.

17. The electric motor control method according to claim 15, characterized in that, The motor controller is a dual-redundant configuration, wherein each different winding in the dual-winding configuration is controlled separately by a different motor controller in the dual-redundant configuration; the electric motor control method further includes: The dual-redundant motor controller performs fault detection on the electric motor. If a redundant motor controller detects a fault, it will synchronize the fault information to the other redundant motor controller. The other redundant motor controller receives the fault information and, based on the control command, controls the winding it controls and performs a full proportional output based on the control command. If no fault is detected, the redundant motor controllers work together, including synchronizing fault information.

18. The electric motor control method according to any one of claims 11 to 13, characterized in that, The motor controller is also used to control the cooling motor, and the electric motor control method further includes: Monitor the operation of the electric motor to obtain its operating information; Based on the operating information, the operating parameters of the cooling motor are adjusted to control the operating temperature of the electric motor.

19. The electric motor control method according to claim 18, characterized in that, Adjusting the operating parameters of the cooling motor based on the operating information includes: The output speed of the cooling motor is adjusted according to the motor temperature and speed of the power motor and the component temperature of the heat-generating component in the motor controller. The cooling motor includes a pump motor that provides power to the circulating pump, or the pump motor provides power to both the circulating pump and the fan; or the cooling motor includes both a circulating pump motor and a fan motor.

20. An electric motor control device, characterized in that, The electric motor control device, applicable to any one of claims 1 to 10, comprises: The receiving module is used to receive control commands sent by the flight control system; The determination module is used to determine the controlled object according to the control command, wherein the controlled object is a variable pitch motor or a power motor; A control module is used to control the controlled object based on the control command and the configuration type of the controlled object, wherein the configuration type includes a dual-winding configuration.

21. A motor controller, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory is used to store computer-executed instructions; The processor is configured to execute the computer execution instructions to implement the method as described in any one of claims 11 to 19.

22. An electric propulsion device, characterized in that, include: The propeller and the electric motor according to any one of claims 1 to 10, wherein the power motor of the electric motor is connected to the propeller in a transmission, and a portion of the drive module in the control module of the electric motor is electrically connected to the variable pitch motor of the propeller.

23. The electric propulsion device according to claim 22, characterized in that, The propeller includes: blades, hub, and fairing. Both the blades and the fairing are connected to the hub, and the hub is connected to the rotor of the power motor. The rotor hub is equipped with a pitch-changing motor and a pitch-changing mechanism connected together, and the pitch-changing mechanism is connected to the rotor blade.

24. An aircraft, characterized in that, It includes a fuselage, wings, a tail, and an electric propulsion device as described in claim 22 or 23, the electric propulsion device being disposed on the wings and / or the fuselage and / or the tail.

25. The aircraft according to claim 24, characterized in that, The aircraft also includes a tilt mechanism and a tilt drive module. The tilt mechanism is connected to the electric propulsion device to enable the aircraft to transition between takeoff and landing configurations and cruise configurations. The tilt drive module is integrated with the tilt mechanism and mounted on the wing and / or the fuselage and / or the tail, and is located outside the electric motor.

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