High-integrity motor control unit, system, monitoring method and vertical aircraft

Abstract

The invention discloses a high-integrity motor control unit and system, a monitoring method and a vertical aircraft. The control unit comprises a control module and an inverter module, the control module is electrically connected with the inverter module, and the output end of the inverter module is used for being electrically connected with the input end of the motor; the control module comprises a main control branch and a monitoring branch; the main control branch comprises a first transceiver, a main controller, a PWM (Pulse Width Modulation) driving module and a first rotating speed sensor; the first transceiver is electrically connected with the main controller, the main controller is electrically connected with the PWM driving module, and the PWM driving module is electrically connected with the inverter module; the monitoring branch comprises a second transceiver, a monitoring controller and a second rotating speed sensor; the second transceiver is electrically connected with the monitoring controller, and the monitoring controller is electrically connected with the PWM driving module. By arranging the main control branch and the monitoring branch, the integrity and reliability of the motor control unit are improved.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to a high-integrity motor control unit, system, monitoring method and vertical aircraft. Background Art

[0002] Since eVTOL (electric Vertical Take-off and Landing) aircraft use distributed electric propulsion technology, there are numerous electric propulsion devices on the aircraft. The safety, reliability and integrity requirements of the controllers of these devices are higher than those in traditional fields (automotive, industry).

[0003] Traditional motor controllers receive commands from a host computer via a built-in MCU (Micro Control Unit) to control the motor's operation. The MCU also collects the motor's operating status and provides feedback to the host computer. The problem is that motor control is entirely dependent on the MCU. If there is a problem with the MCU, the motor may not operate according to the preset parameters, or the host computer may not be able to correctly obtain the motor's status. Summary of the Invention

[0004] The present invention provides a high-integrity motor control unit, system, monitoring method and vertical aircraft, which are intended to solve the problem of low integrity and reliability caused by the motor controller in the prior art being fully dependent on MCU control.

[0005] In a first aspect, the present invention discloses a high-integrity motor control unit, which includes a control module and an inverter module. The first output end of the control module is electrically connected to the input end of the inverter module, and the output end of the inverter module is used to be electrically connected to the input end of the motor; the control module includes a main control branch and a monitoring branch; the main control branch includes a first transceiver, a main controller, a PWM drive module, and a first speed sensor; the first transceiver is used to communicate with a host computer, and the first transceiver is also electrically connected to the main controller, the main controller is electrically connected to the PWM drive module, and the PWM drive module is electrically connected to the inverter module; the first speed sensor is electrically connected to the main controller, and the first speed sensor is used to collect real-time rotation status information of the motor; the monitoring branch includes a second transceiver, a monitoring controller, and a second speed sensor; the second transceiver is used to communicate with the host computer, and the second transceiver is also electrically connected to the monitoring controller, and the monitoring controller is electrically connected to the PWM drive module; the second speed sensor is electrically connected to the monitoring controller, and the second speed sensor is used to collect real-time rotation status information of the motor.

[0006] In some embodiments, the inverter module includes a voltage bus, a transmission bus and a three-phase inverter; the input end of the transmission bus is connected to the output end of the voltage bus, and the output end of the transmission bus is connected to the three-phase inverter; a switch and a bus current sensor are provided on the transmission bus, and the switch and the bus current sensor are both electrically connected to the monitoring controller.

[0007] In some embodiments, the monitoring controller is communicatively connected to the first transceiver.

[0008] In some embodiments, the monitoring controller is electrically connected to the main controller.

[0009] In some embodiments, the main control branch further includes a phase current sensor; the phase current sensor is connected to the three-phase inverter and the main controller.

[0010] In a second aspect, the present invention discloses a motor control system, comprising a motor and the high-integrity motor control unit described in the first aspect, wherein the output end of the inverter module is electrically connected to the input end of the motor.

[0011] In a third aspect, the present invention discloses a monitoring method, which is applied to the monitoring controller of the motor control system described in the second aspect, and the monitoring method includes: receiving a control instruction from a host computer, wherein the control instruction includes target rotation information; acquiring real-time rotation state information of the motor through the second speed sensor; Determining whether the main controller can normally execute the control instruction of the host computer based on the target rotation information and the real-time rotation state information; If the main controller cannot normally execute the control instructions of the host computer, a disable signal is sent to the PWM drive module.

[0012] In some embodiments, the monitoring method further comprises: Acquire feedback rotation state information sent by the main controller from the first transceiver; Determining whether a state feedback function of the main controller is reliable based on the feedback rotation state information and the real-time rotation state information; If the state feedback function of the main controller is unreliable, a silent control signal is sent to the first transceiver, and a reset control signal is sent to the main controller.

[0013] In some embodiments, the monitoring method further comprises: Acquire busbar real-time voltage information and busbar real-time current information from the busbar current sensor; Determine whether the system state is normal based on the bus real-time voltage information, the bus real-time current information, and the preset voltage safety threshold and current safety threshold; If the system status is abnormal, a disconnect signal is sent to the switch.

[0014] In a fourth aspect, the present invention discloses a vertical aircraft, comprising a host computer, a propeller, and the motor control system described in the second aspect, wherein the host computer is communicatively connected to the first transceiver and the second transceiver at the same time, and the propeller is connected to the output shaft of the motor.

[0015] Beneficial effects of the present invention: The present invention discloses a high-integrity motor control unit, system, monitoring method and vertical aircraft; the high-integrity motor control unit includes a control module and an inverter module, the first output end of the control module is electrically connected to the input end of the inverter module, and the output end of the inverter module is used to be electrically connected to the input end of the motor; the control module includes a main control branch and a monitoring branch; the main control branch includes a first transceiver, a main controller, a PWM drive module, and a first speed sensor; the first transceiver is used to communicate with the host computer, the first transceiver is also electrically connected to the main controller, the main controller is electrically connected to the PWM drive module, and the PWM drive module is electrically connected to the inverter module; the first speed sensor is electrically connected to the main controller, and the first speed sensor is used to collect real-time rotation status information of the motor; the monitoring branch includes a second transceiver, a monitoring controller and a second speed sensor; the second transceiver is used to communicate with the host computer, the second transceiver is also electrically connected to the monitoring controller, and the monitoring controller is electrically connected to the PWM drive module; the second speed sensor is electrically connected to the monitoring controller, and the second speed sensor is used to collect real-time rotation status information of the motor. By setting up a main control branch and a monitoring branch, the main controller controls the rotation of the motor according to the target rotation information in the control instruction after receiving the control instruction, and the monitoring controller obtains the real-time rotation status information of the motor through the second speed sensor. Therefore, the monitoring controller can judge whether the motor rotates according to the expected state based on the target rotation information in the control instruction and the real-time rotation status information of the motor, and thus judge whether the main controller can normally execute the control instruction of the upper computer, thereby realizing the monitoring function of the main controller and improving the integrity and reliability of the motor control unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1A block diagram illustrating an application scenario of a high-integrity motor control unit provided by an embodiment of the present invention; Figure 2 A flow chart of a monitoring method provided by an embodiment of the present invention; Figure 3 Another flow chart of the monitoring method provided by an embodiment of the present invention; Figure 4 Another flow chart of the monitoring method provided by an embodiment of the present invention; Figure numbers: 1. Control module; 11. First transceiver; 12. Main controller; 13. PWM drive module; 14. Second transceiver; 15. Monitoring controller; 2. Inverter module; 21. Three-phase inverter; 3. Motor; 4. Propeller. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0019] It will be understood that when used in this specification and the appended claims, the terms "comprises" and "comprising" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0020] It should also be noted that, unless otherwise clearly specified and limited, terms such as "installed", "connected", "connected", "fixed", and "set" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. When an element is referred to as being "on" or "under" another element, the element can be "directly" or "indirectly" located on the other element, or there may be one or more intervening elements. The terms "first", "second", "third", etc. are only for the convenience of describing the present technical solution, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second", "third", etc. may explicitly or implicitly include one or more of such features. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0021] It should also be understood that the terms used in the present specification are only for the purpose of describing particular embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0022] It should be further understood that the terms "and, or" used in the present description and the appended claims refer to and include any and all possible combinations of one or more of the associated listed items.

[0023] like Figure 1 As shown, an embodiment of the present invention provides a high-integrity motor control unit, which includes a control module 1 and an inverter module 2. The first output end of the control module 1 is electrically connected to the input end of the inverter module 2, and the output end of the inverter module 2 is used to be electrically connected to the input end of the motor 3; the control module 1 includes a main control branch and a monitoring branch; the main control branch includes a first transceiver 11, a main controller 12, a PWM drive module 13, and a first speed sensor; the first transceiver 11 is used to communicate with the host computer, and the first transceiver 11 is also electrically connected to the main controller 12, and the main controller 12 is electrically connected to the PWM drive module Block 13 is electrically connected, the PWM drive module 13 is electrically connected to the inverter module 2; the first speed sensor is electrically connected to the main controller 12, and the first speed sensor is used to collect real-time rotation status information of the motor 3; the monitoring branch includes a second transceiver 14, a monitoring controller 15 and a second speed sensor; the second transceiver 14 is used to communicate with the host computer, and the second transceiver 14 is also electrically connected to the monitoring controller 15, and the monitoring controller 15 is electrically connected to the PWM drive module 13; the second speed sensor is electrically connected to the monitoring controller 15, and the second speed sensor is used to collect real-time rotation status information of the motor 3.

[0024] In this embodiment, the high-integrity motor control unit is a control unit used in eVTOL, which is used to control the motor 3. The control module 1 is mainly used to receive control instructions from the host computer and control the inverter module 2 according to the control instructions. The inverter module 2 is mainly used to input AC voltage to the motor 3 to control the rotation of the output shaft of the motor 3. The host computer can be a controller at a higher level than the control unit in the eVTOL. The motor 3 can be a PMSM (Permanent Magnet Synchronous Motor) motor 3. The main control branch in the control module 1 is mainly used to receive control instructions from the host computer, send an enable signal to the PWM drive module 13, and feedback signals to the host computer. The monitoring branch is mainly used to monitor the main control branch and the inverter module 2 to improve the integrity and reliability of the motor 3 control unit.

[0025] In the master control branch, the first transceiver 11 can be a CAN transceiver. The first end of the first transceiver 11 is used for communication with a host computer, and the second end of the first transceiver 11 is communicatively connected to the transceiver end of the main controller 12. This allows the first transceiver 11 to transmit signals received from the host computer to the main controller 12, and vice versa. The main controller 12 is an MCU (Micro Control Unit), which features low power consumption, low cost, and high integration. It excels at real-time control and simple data processing, thereby ensuring the control unit's instruction execution function. The output end of the main controller 12 is electrically connected to the first input end of the PWM driver module 13. The output end of the PWM driver module 13 is electrically connected to the input end of the inverter module 2. In other words, the output end of the PWM driver module 13 serves as the first output end of the control module 1. This allows the main controller 12 to send an enable signal (PWM Enable) to the PWM driver module 13 based on control commands sent from the host computer, such as takeoff commands and cruise commands, to control the PWM driver module 13 to transmit specific PWM signals to the inverter module 2. The output end of the first speed sensor is connected to the first input end of the main controller 12. The first speed sensor can be used to collect real-time rotation state information of the motor 3 and feed it back to the main controller 12. The main controller 12 can send feedback rotation state information to the first transceiver 11 based on the real-time rotation state information. The real-time rotation state information can specifically include real-time speed information and real-time direction information. The first speed sensor is specifically a resolver speed sensor.

[0026] In the monitoring branch, the second transceiver 14 can be a CAN transceiver. A first terminal of the second transceiver 14 is used for communication with a host computer, and a second terminal of the second transceiver 14 is communicatively connected to a first input terminal of a monitoring controller 15. This allows the monitoring controller 15, like the main controller 12, to receive control instructions from the host computer. These control instructions include target rotation information, which may include target direction information and target speed information. The monitoring controller 15 is a Field Programmable Gate Array (FPGA), which offers advantages in parallel processing capabilities and hardware reconfigurability, making it suitable for high-speed data stream processing and algorithm acceleration. Therefore, compared to the main controller 12, the monitoring controller 15 can be configured with more complex control algorithms, such as the monitoring method described in the following embodiments, thereby improving the integrity and reliability of the control unit. A first output terminal of the monitoring controller 15 is electrically connected to a second input terminal of the PWM driver module 13. This allows the monitoring controller 15 to send a disable signal (PWM Disable) to the PWM driver module 13 upon detecting a first-type abnormal condition, thereby shutting off the PWM signal between the PWM driver module 13 and the inverter module 2. The output end of the second speed sensor is electrically connected to the second input end of the monitoring controller 15. The second speed sensor can also be used to collect real-time rotation state information of the motor 3 and feed it back to the monitoring controller 15. The second speed sensor is also specifically a resolver speed sensor.

[0027] After receiving the control instruction, the main controller 12 controls the rotation of the motor 3 according to the target rotation information in the control instruction. When the main controller 12 can normally execute the control instruction of the host computer, it can obtain the real-time rotation state information of the motor 3 from the first speed sensor and compare it with the target rotation information in the control instruction to perform a self-test, thereby controlling the real-time rotation state information of the motor 3 to match the target rotation information. The monitoring controller 15 obtains the real-time rotation state information of the motor 3 through the second speed sensor. Therefore, based on the target rotation information in the control instruction and the real-time rotation state information of the motor 3, the monitoring controller 15 can determine whether the motor 3 rotates according to the expected state, thereby determining whether the main controller 12 can normally execute the control instruction of the host computer. If the motor 3 does not rotate according to the expected state, which is a first type of abnormality, it is determined that the main controller 12 cannot normally execute the control instruction of the host computer. The monitoring controller 15 sends a disable signal to the PWM drive module 13, thereby achieving the monitoring function of the main controller 12 and improving the integrity and reliability of the motor 3 control unit.

[0028] Furthermore, the inverter module 2 includes a voltage bus (VBUS), a transmission bus and a three-phase inverter 21; the input end of the transmission bus is connected to the output end of the voltage bus, and the output end of the transmission bus is connected to the three-phase inverter 21; a switch and a bus current sensor are provided on the transmission bus, and the switch and the bus current sensor are both electrically connected to the monitoring controller 15.

[0029] In this embodiment, the output of the PWM drive module 13 is electrically connected to the first input of the three-phase inverter 21 to transmit a specific PWM signal thereto. The output of the three-phase inverter 21 is electrically connected to the input of the motor 3 to input three-phase AC power to the motor 3, thereby controlling the rotation of the motor 3's output shaft. The output of the transmission bus is electrically connected to the second input of the three-phase inverter 21 to input an operating voltage, ensuring stable operation of the three-phase inverter 21. The output of the bus current sensor is electrically connected to the third input of the monitoring controller 15, enabling the monitoring controller 15 to detect the real-time bus voltage and current on the transmission bus. The second output of the monitoring controller 15 is electrically connected to a switch. When the monitoring controller 15 detects a second type of abnormality, it can send a disconnect signal to the switch, thereby shutting off the voltage bus supply to the three-phase inverter 21 and, in turn, to the motor 3. The second type of abnormality refers to excessively high or low real-time bus voltage or excessively high or low real-time bus current. This enables system monitoring of the inverter module 2 and further improves the integrity and reliability of the motor 3 control unit.

[0030] In other embodiments, when the monitoring controller 15 monitors the second type of abnormal situation, it sends a disable signal to the PWM driving module 13 when sending a disconnect signal to the switch.

[0031] Furthermore, the monitoring controller 15 is also communicatively connected to the first transceiver 11 ; the monitoring controller 15 is electrically connected to the main controller 12 .

[0032] In this embodiment, the first end of the first transceiver 11 is also communicatively connected to the first end of the second transceiver 14, so that when the main controller 12 feeds back a signal to the upper computer via the first transceiver 11, the monitoring controller 15 can also receive the feedback signal. The third output end of the monitoring controller 15 is communicatively connected to the third end of the second transceiver 14, so that when the monitoring controller 15 detects a third type of abnormality, it can send a mute control signal (Tx MuteControl) to the first transceiver 11 to block the main controller from feeding back signals to the upper computer. The fourth output end of the monitoring controller 15 is electrically connected to the second input end of the main controller 12, so that when the monitoring controller 15 detects a third type of abnormality, it can also send a reset control signal (Reset Control) to the main controller 12 to reset the main controller 12.

[0033] The main controller 12 can obtain real-time rotational status information of the motor 3 from the first speed sensor and feed it back to the host computer via the first transceiver 11. The monitoring controller 15 can obtain real-time rotational status information of the motor 3 from the second speed sensor. Therefore, the monitoring controller 15 can determine the reliability of the state feedback function of the main controller 12 by determining whether the real-time rotational status information of the motor 3 obtained from the second speed sensor matches the real-time rotational status information of the motor 3 obtained from the first transceiver 11 (i.e., the real-time rotational status information of the motor 3 fed back to the host computer by the main controller 12). If they do not match, i.e., a third-category abnormality, the state feedback function of the main controller 12 is determined to be unreliable. The monitoring controller 15 then sends a mute control signal to the first transceiver 11 and a reset control signal to the main controller 12. This further improves the integrity and reliability of the motor 3 control unit.

[0034] In other embodiments, when the monitoring controller 15 monitors the third type of abnormal situation, it sends a disable signal to the PWM driving module 13 while sending a silent control signal to the first transceiver 11 and a reset control signal to the main controller 12 .

[0035] Furthermore, the main control branch further includes a phase current sensor; the phase current sensor is connected to the three-phase inverter 21 and the main controller 12.

[0036] In this embodiment, the phase current sensor is used to collect the phase current of the three-phase inverter 21. The output end of the phase current sensor is connected to the third input end of the main controller 12, so that the main controller 12 can collect the real-time phase current of the three-phase inverter 21, so that when it can normally execute the control instructions of the upper computer, it can perform self-test according to the preset phase current threshold.

[0037] An embodiment of the present invention further provides a motor 3 control system, comprising a motor 3 and the high-integrity motor control unit described in the above embodiment, wherein the output end of the inverter module 2 is electrically connected to the input end of the motor 3 .

[0038] In this embodiment, the output end of the three-phase inverter 21 is electrically connected to the input end of the motor 3 .

[0039] See also Figure 2 The present invention further provides a monitoring method, which is applied to the monitoring controller of the motor control system described in the above embodiment. The monitoring method includes: S1. Receive a control instruction from a host computer, wherein the control instruction includes target rotation information; In this embodiment, the target rotation information includes at least target steering information and target speed information. When the monitoring controller receives a control instruction from the host computer, the main controller also receives the control instruction. Based on the control instruction, the main controller sends an enable signal to the PWM drive module, which in turn controls the PWM drive module to send a specific PWM signal to the three-phase inverter to control the motor to rotate according to the target steering information and target speed information (under ideal conditions).

[0040] S2. Acquire real-time rotation state information of the motor through the second speed sensor; In this embodiment, the monitoring controller obtains the real-time rotation status information of the motor through the second speed sensor. The real-time rotation status information of the motor includes at least real-time speed information and real-time steering information. For example, the real-time speed information is 1400rpm, and the real-time steering information is clockwise.

[0041] S3, judging whether the main controller can normally execute the control instruction of the host computer based on the target rotation information and the real-time rotation state information; In this embodiment, the monitoring controller compares the real-time rotation state information of the motor with the target rotation information to see if they are consistent. If the real-time rotation state information of the motor is consistent with the target rotation information, the monitoring controller obtains the result that the main controller can normally execute the control instructions of the upper computer. If the real-time rotation state information of the motor is inconsistent with the target rotation information, the monitoring controller obtains the result that the main controller cannot normally execute the control instructions of the upper computer.

[0042] S4. If the main controller cannot normally execute the control instruction of the host computer, a disable signal is sent to the PWM drive module; In this embodiment, if the main controller cannot normally execute the control instructions from the host computer, the monitoring controller sends a disable signal to the PWM drive module to cut off the PWM drive module from outputting PWM signals to the three-phase inverter. If the main controller can normally execute the control instructions from the host computer, monitoring continues, i.e., execution returns to steps S1 to S3.

[0043] See also Figure 3 , further, the monitoring method also includes: S5. Acquire feedback rotation state information sent by the main controller from the first transceiver; In this embodiment, in order to enable the host computer to make the next instruction according to the state of the motor, the main controller obtains the real-time rotation state information of the motor from the first speed sensor, and generates feedback rotation state information based on the real-time rotation state information of the motor and sends it to the host computer through the first transceiver. At the same time, when the feedback rotation state information passes through the first transceiver, the monitoring controller also obtains the feedback rotation state information from the first transceiver.

[0044] S6. Determining whether the state feedback function of the main controller is reliable based on the feedback rotation state information and the real-time rotation state information; In this embodiment, the monitoring controller determines whether the state feedback function of the main controller is reliable by comparing whether the feedback rotation state information sent by the main controller is consistent with the real-time rotation state information obtained by itself. For example, the speed information in the feedback rotation state information is 1500rpm, and the real-time speed information in the real-time rotation state information obtained by the monitoring controller from the second speed sensor is also 1500rpm, then the state feedback function of the main controller is judged to be reliable.

[0045] Furthermore, the monitoring controller can determine whether the state feedback function of the main controller is reliable by comparing whether the difference between the speed information in the feedback rotation state information and the real-time speed information is greater than a threshold. If the difference is greater than the threshold, it is determined that the state feedback function of the main controller is unreliable, indicating that the main controller is unable to feedback real information to the upper computer at this time.

[0046] Furthermore, in order to make a more accurate judgment, when the difference between the speed information in the feedback rotation state information and the real-time speed information is less than a threshold value, the monitoring controller compares the change trend of the speed information in the feedback rotation state information and the real-time speed information within a time period. If the change trend is inconsistent, even if the difference is less than the threshold value, it is judged that the state feedback function of the main controller is unreliable. For example, the speed information in the feedback rotation state information is rising during the time period, while the real-time speed information is falling.

[0047] When the difference between the rotation speed information in the feedback rotation state information and the real-time rotation speed information is less than the threshold value and the change trends are consistent, it is determined that the state feedback function of the main controller is reliable.

[0048] S7. If the status feedback function of the main controller is unreliable, sending a silent control signal to the first transceiver and a reset control signal to the main controller; In this embodiment, if the status feedback function of the main controller is determined to be unreliable, the monitoring controller sends a silencing control signal to the first transceiver to shield the main controller's feedback signal, preventing the host computer from receiving false information. The monitoring controller also sends a reset control signal to the main controller to reset it and restore it to a reliable state as quickly as possible. If the status feedback function of the main controller is reliable, monitoring continues, i.e., the process returns to steps S5 and S6.

[0049] See also Figure 4 , further, the monitoring method also includes: S8. Acquire busbar real-time voltage information and busbar real-time current information from the busbar current sensor; In this embodiment, the monitoring controller obtains the real-time bus voltage information and the real-time bus current information from the bus current sensor.

[0050] S9. Determine whether the system status is normal based on the real-time bus voltage information, the real-time bus current information, and a preset voltage safety threshold and current safety threshold; In this embodiment, the monitoring controller determines whether the inverter module system status is normal by determining whether the real-time bus voltage information is within a preset voltage safety threshold and whether the real-time bus current information is within a preset current safety threshold. If the real-time bus voltage information is less than the lower limit of the preset voltage safety threshold or greater than the upper limit of the voltage safety threshold, it indicates that an undervoltage or overvoltage state has occurred. If the real-time bus current information is less than the lower limit of the preset current safety threshold or greater than the upper limit of the current safety threshold, it indicates that a short circuit or overload state has occurred. As long as any of the four conditions occurs, the system status is determined to be abnormal. Otherwise, the system status is determined to be normal.

[0051] S10, if the system status is abnormal, sending a disconnect signal to the switch; In this embodiment, if the system status is determined to be abnormal, the monitoring controller sends a disconnect signal to the switch on the transmission bus, which cuts off the voltage bus from supplying power to the three-phase inverter. If the system status is determined to be normal, monitoring continues, i.e., the process returns to steps S8 to S9.

[0052] In summary, the embodiments of the present invention provide a high-integrity motor control unit, system, and monitoring method, which executes the control instructions of the host computer through the main control branch, monitors the main control branch through the monitoring branch, and sets up a multifunctional, comprehensive monitoring method, thereby improving the integrity, reliability, and safety of the entire motor control system.

[0053] An embodiment of the present invention also provides a vertical aircraft, including a host computer, a propeller, and the motor control system described in the above embodiment, wherein the host computer is communicatively connected to the first transceiver and the second transceiver at the same time, and the propeller is connected to the output shaft of the motor.

[0054] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A high-integrity motor control unit, characterized in that: The high-integrity motor control unit includes a control module and an inverter module, wherein a first output terminal of the control module is electrically connected to an input terminal of the inverter module, and an output terminal of the inverter module is electrically connected to an input terminal of the motor; The control module includes a main control branch and a monitoring branch; The main control branch includes a first transceiver, a main controller, a PWM drive module, and a first speed sensor; the first transceiver is used to communicate with the host computer, the first transceiver is also electrically connected to the main controller, the main controller is electrically connected to the PWM drive module, and the PWM drive module is electrically connected to the inverter module; the first speed sensor is electrically connected to the main controller, and the first speed sensor is used to collect real-time rotation state information of the motor; The monitoring branch includes a second transceiver, a monitoring controller and a second speed sensor; the second transceiver is used to communicate with the host computer, and the second transceiver is also electrically connected to the monitoring controller, and the monitoring controller is electrically connected to the PWM drive module; the second speed sensor is electrically connected to the monitoring controller, and the second speed sensor is used to collect real-time rotation status information of the motor.

2. The high-integrity motor control unit according to claim 1, characterized in that: The inverter module includes a voltage bus, a transmission bus and a three-phase inverter; the input end of the transmission bus is connected to the output end of the voltage bus, and the output end of the transmission bus is connected to the three-phase inverter; a switch and a bus current sensor are provided on the transmission bus, and the switch and the bus current sensor are both electrically connected to the monitoring controller.

3. The high integrity motor control unit according to claim 2, characterized in that: The monitoring controller is communicatively connected to the first transceiver.

4. The high integrity motor control unit according to claim 3, characterized in that: The monitoring controller is electrically connected to the main controller.

5. The high integrity motor control unit according to claim 4, characterized in that: The main control branch further includes a phase current sensor; the phase current sensor is connected to the three-phase inverter and the main controller.

6. A motor control system, characterized in that: The high-integrity motor control unit comprises a motor and the high-integrity motor control unit according to any one of claims 4 to 5, wherein the output end of the inverter module is electrically connected to the input end of the motor.

7. A monitoring method, characterized in that: Applied in the monitoring controller of the motor control system according to claim 6, the monitoring method comprises: receiving a control instruction from a host computer, wherein the control instruction includes target rotation information; acquiring real-time rotation state information of the motor through the second speed sensor; Determining whether the main controller can normally execute the control instruction of the host computer based on the target rotation information and the real-time rotation state information; If the main controller cannot normally execute the control instruction of the host computer, a disable signal is sent to the PWM drive module.

8. The monitoring method according to claim 7, characterized in that: Also includes: Acquire feedback rotation state information sent by the main controller from the first transceiver; Determining whether a state feedback function of the main controller is reliable based on the feedback rotation state information and the real-time rotation state information; If the state feedback function of the main controller is unreliable, a silent control signal is sent to the first transceiver, and a reset control signal is sent to the main controller.

9. The monitoring method according to claim 8, characterized in that: Also includes: Acquire busbar real-time voltage information and busbar real-time current information from the busbar current sensor; Determine whether the system state is normal based on the bus real-time voltage information, the bus real-time current information, and the preset voltage safety threshold and current safety threshold; If the system status is abnormal, a disconnect signal is sent to the switch.

10. A vertical flight vehicle, characterized in that: It comprises a host computer, a propeller and the motor control system according to claim 6, wherein the host computer is communicatively connected to the first transceiver and the second transceiver at the same time, and the propeller is connected to the output shaft of the motor.

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