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

Abstract

The present invention discloses a high-integrity motor control unit, system, monitoring method, and vertical aircraft. The control unit includes a control module and an inverter module. The control module is electrically connected to the inverter module, and the output of the inverter module is electrically connected to the input 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 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 monitoring branch includes a second transceiver, a monitoring controller, and a second speed sensor. The second transceiver is electrically connected to the monitoring controller, and the monitoring controller is electrically connected to the PWM drive module. By providing 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 application relates to the field of aircraft, in particular to a high-integrity motor control unit, system, monitoring method and vertical aircraft. BACKGROUND

[0002] eVTOL (electric Vertical Take-off and Landing) aircraft have a large number of electric propulsion devices due to the use of distributed electric propulsion technology. The safety, reliability and integrity requirements of the controllers of these devices are higher than those in the traditional field (automobiles, industry).

[0003] A conventional motor controller receives instructions from a host computer through a built-in MCU (Micro Control Unit) to control the motor, and collects the working state of the motor through the MCU to feedback to the host computer. The problem is that the control of the motor is entirely dependent on the MCU. If the MCU malfunctions, the motor cannot work according to the preset parameters, or the host computer cannot correctly obtain the state of the motor. SUMMARY

[0004] The high-integrity motor control unit, system, monitoring method and vertical aircraft provided by the present application aim to solve the problem of low integrity and reliability caused by the fact that the conventional motor controller is entirely dependent on the MCU.

[0005] In a first aspect, the present application discloses a high-integrity motor control unit, which comprises a control module and an inverter module. The first output end of the control module is electrically connected with the input end of the inverter module, and the output end of the inverter module is used to be electrically connected with the input end of a 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 driving module and a first rotation speed sensor. The first transceiver is used to be communicatively connected with a host computer, and is further 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 first rotation speed sensor is electrically connected with the main controller, and is used to collect real-time rotation state information of the motor. The monitoring branch comprises a second transceiver, a monitoring controller and a second rotation speed sensor. The second transceiver is used to be communicatively connected with the host computer, and is further electrically connected with the monitoring controller. The monitoring controller is electrically connected with the PWM driving module. The second rotation speed sensor is electrically connected with the monitoring controller, and is used to collect real-time rotation state information of the motor.

[0006] In some embodiments, the inverter module comprises a voltage bus, a transmission bus for a three-phase inverter; an input end of the transmission bus is connected with an output end of the voltage bus, and an output end of the transmission bus is connected with the three-phase inverter; a switch and a bus current sensor are arranged on the transmission bus, and the switch and the bus current sensor are electrically connected with the monitoring controller.

[0007] In some embodiments, the monitoring controller is in communication connection with the first transceiver.

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

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

[0010] In the second aspect, the application discloses a motor control system comprising a motor and the high-integrity motor control unit of the first aspect, and an output end of the inverter module is electrically connected with an input end of the motor.

[0011] In the third aspect, the application discloses a monitoring method applied to the monitoring controller of the motor control system of the second aspect, and the monitoring method comprises the following steps.

[0012] Receiving a control instruction from a host computer, wherein the control instruction comprises target rotation information;

[0013] Obtaining real-time rotation state information of the motor through the second rotation speed sensor;

[0014] 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;

[0015] If the main controller cannot normally execute the control instruction of the host computer, sending a disable signal to the PWM driving module.

[0016] In some embodiments, the monitoring method further comprises the following steps.

[0017] Obtaining feedback rotation state information sent by the main controller from the first transceiver;

[0018] Judging 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;

[0019] If the state feedback function of the main controller is unreliable, sending a mute control signal to the first transceiver and sending a reset control signal to the main controller.

[0020] In some embodiments, the monitoring method further comprises:

[0021] acquiring bus real-time voltage information and bus real-time current information from the bus current sensor;

[0022] judging whether the system state is normal based on the bus real-time voltage information, the bus real-time current information, and preset voltage safety threshold and current safety threshold;

[0023] if the system state is not normal, sending a disconnection signal to the switch.

[0024] In a fourth aspect, the application discloses a vertical aircraft, comprising a host computer, a propeller, and the motor control system of the second aspect, the host computer is in communication connection with the first transceiver and the second transceiver, and the propeller is connected with the output shaft of the motor.

[0025] The application has the following beneficial effects: the high-integrity motor control unit, system, monitoring method, and vertical aircraft disclosed by the application; the high-integrity motor control unit comprises a control module and an inverter module, the first output end of the control module is electrically connected with the input end of 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 driving module, and a first speed sensor; the first transceiver is used for being in communication connection with a host computer, the first transceiver is also 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 first speed sensor is electrically connected with the main controller, and the first speed sensor is used for collecting real-time rotating state information of the motor; the monitoring branch comprises a second transceiver, a monitoring controller, and a second speed sensor; the second transceiver is used for being in communication connection with the host computer, the second transceiver is also electrically connected with the monitoring controller, and the monitoring controller is electrically connected with the PWM driving module; the second speed sensor is electrically connected with the monitoring controller, and the second speed sensor is used for collecting real-time rotating state information of the motor. By arranging the main control branch and the monitoring branch, the main controller controls the motor to rotate according to the target rotating information in the control instruction after receiving the control instruction, and the monitoring controller obtains the real-time rotating state 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 rotating information in the control instruction and the real-time rotating state information of the motor, so as to judge whether the main controller can normally execute the control instruction of the host computer, thereby realizing the monitoring effect on the main controller and improving the integrity and reliability of the motor control unit. BRIEF DESCRIPTION OF DRAWINGS

[0026] 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.

[0027] Figure 1 A block diagram illustrating an application scenario of a high-integrity motor control unit provided by an embodiment of the present invention;

[0028] Figure 2 A flow chart of a monitoring method provided by an embodiment of the present invention;

[0029] Figure 3 Another flow chart of the monitoring method provided by an embodiment of the present invention;

[0030] Figure 4 Another flow chart of the monitoring method provided by an embodiment of the present invention;

[0031] 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

[0032] 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.

[0033] 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.

[0034] It should also be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "joining", "fixing", "arranging" and the like should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. When an element is referred to as "on" or "under" another element, the element can be "directly" or "indirectly" on the other element, or there can be one or more intervening elements. The terms "first", "second", "third" and the like are only for the convenience of describing the technical solutions, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second", "third" and the like can be explicitly or implicitly include one or more of the features. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] It should also be understood that the terms used in the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application and the appended claims, unless otherwise clear from the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0036] It should be further understood that the terms "and / or" used in the present application and the appended claims refer to any combination of one or more of the associated listed items and all possible combinations, and include these combinations.

[0037] As Figure 1As shown, the embodiment of the application provides a high-integrity motor control unit, which comprises a control module 1 and an inverter module 2, a first output end of the control module 1 is electrically connected with an input end of the inverter module 2, and an output end of the inverter module 2 is used to be electrically connected with an input end of a motor 3; the control module 1 comprises a main control branch and a monitoring branch; the main control branch comprises a first transceiver 11, a main controller 12, a PWM drive module 13 and a first rotating speed sensor; the first transceiver 11 is used to be communicatively connected with an upper computer, the first transceiver 11 is further electrically connected with the main controller 12, the main controller 12 is electrically connected with the PWM drive module 13, and the PWM drive module 13 is electrically connected with the inverter module 2; the first rotating speed sensor is electrically connected with the main controller 12, and is used to collect real-time rotating state information of the motor 3; the monitoring branch comprises a second transceiver 14, a monitoring controller 15 and a second rotating speed sensor; the second transceiver 14 is used to be communicatively connected with the upper computer, the second transceiver 14 is further electrically connected with the monitoring controller 15, and the monitoring controller 15 is electrically connected with the PWM drive module 13; the second rotating speed sensor is electrically connected with the monitoring controller 15, and is used to collect real-time rotating state information of the motor 3.

[0038] In the embodiment, the high-integrity motor control unit is a control unit applied to an eVTOL, which is used to control the motor 3. The control module 1 is mainly used to receive a control instruction from the upper computer and control the inverter module 2 according to the control instruction, and the inverter module 2 is mainly used to input an alternating voltage to the motor 3 to control the rotating of an output shaft of the motor 3. The upper computer can be a controller higher 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 the control instruction from the upper computer, send an enable signal to the PWM drive module 13 and feed back a signal to the upper computer. The monitoring branch is mainly used to monitor the main control branch and the inverter module 2, so as to improve the integrity and reliability of the motor 3 control unit.

[0039] In the main control branch, the first transceiver 11 can be a CAN transceiver, a first end of the first transceiver 11 is used for communication connection with the host computer, and a second end of the first transceiver 11 is in communication connection with a transceiving end of the main controller 12, so that the first transceiver 11 transmits signals received from the host computer to the main controller 12, and can also transmit signals received from the main controller 12 to the host computer. The main controller 12 is an MCU (Micro Control Unit, microcontroller), which has the characteristics of low power consumption, low cost and high integration, is good at real-time control and simple data processing, so as to ensure the instruction execution function of the control unit. The output end of the main controller 12 is electrically connected with the first input end of the PWM drive module 13, and the output end of the PWM drive module 13 is electrically connected with the input end of the inverter module 2, that is, the output end of the PWM drive module 13 serves as the first output end of the control module 1, so that the main controller 12 can send an enable signal (PWM Enable) to the PWM drive module 13 based on the control instruction sent by the host computer, such as a take-off instruction, a cruise instruction, etc., to control the PWM drive module 13 to send a specific PWM signal to the inverter module 2. The output end of the first speed sensor is connected with 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, and 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 steering information, and the first speed sensor is specifically a resolver speed sensor.

[0040] In the monitoring branch, the second transceiver 14 can be a CAN transceiver, the first end of the second transceiver 14 is used for communication connection with the host computer, and the second end of the second transceiver 14 is in communication connection with the first input end of the monitoring controller 15, so that the monitoring controller 15 can receive control instructions from the host computer as the main controller 12, and the control instructions include target rotation information, which can include target steering information and target speed information. The monitoring controller 15 is a FPGA (Field Programmable Gate Array, programmable logic array), which has the advantages of parallel processing capability and hardware reconfigurability, and is suitable for high-speed data stream processing and algorithm acceleration. Therefore, compared with the main controller 12, the monitoring controller 15 can configure more complex control algorithms, such as the monitoring method in the following embodiments, thereby improving the integrity and reliability of the control unit. The first output end of the monitoring controller 15 is electrically connected with the second input end of the PWM drive module 13, so that the monitoring controller 15 can send a disable signal (PWM Disable) to the PWM drive module 13 when monitoring the first type of abnormal situation, so as to cut off the PWM signal between the PWM drive module 13 and the inverter module 2. The output end of the second speed sensor is electrically connected with the second input end of the monitoring controller 15; the second speed sensor can also be used to collect the real-time rotation state information of the motor 3 and feed it back to the monitoring controller 15. The second speed sensor is also a resolver speed sensor.

[0041] Wherein, the main controller 12 controls the motor 3 to rotate according to the target rotation information in the control instruction after receiving the control instruction, when the main controller 12 can normally execute the control instruction of the host computer, the real-time rotation state information of the motor 3 can be obtained from the first speed sensor, so as to compare with the target rotation information in the control instruction for self-checking, so that the real-time rotation state information of the motor 3 matches the target rotation information. The monitoring controller 15 obtains the real-time rotation state information of the motor 3 through the second speed sensor, so that the monitoring controller 15 can judge whether the motor 3 rotates according to the expected state based on the target rotation information in the control instruction and the real-time rotation state information of the motor 3, so as to judge 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, that is, the first type of abnormal situation, it is judged that the main controller 12 cannot normally execute the control instruction of the host computer, and the monitoring controller 15 sends a disable signal to the PWM drive module 13, so as to realize the monitoring function of the main controller 12, and improve the integrity and reliability of the motor 3 control unit.

[0042] Further, the inverter module 2 comprises a voltage bus (VBUS), a transmission bus connected to the 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; the transmission bus is provided with a switch and a bus current sensor, and the switch and the bus current sensor are electrically connected to the monitoring controller 15.

[0043] In the embodiment, the output end of the PWM drive module 13 is electrically connected to the first input end of the three-phase inverter 21 to send a specific PWM signal to the three-phase inverter 21; the output end of the three-phase inverter 21 is electrically connected to the input end of the motor 3 to input three-phase alternating current to the motor 3 and control the rotation of the output shaft of the motor 3. The output end of the transmission bus is electrically connected to the second input end of the three-phase inverter 21 to input working voltage to the three-phase inverter 21 to ensure the stable working of the three-phase inverter 21. The output end of the bus current sensor is electrically connected to the third input end of the monitoring controller 15, so that the monitoring controller 15 can detect the real-time bus voltage and the real-time bus current on the transmission bus. The second output end of the monitoring controller 15 is electrically connected to the switch, so that when the monitoring controller 15 monitors the second type of abnormal situation, it can send a disconnection signal to the switch to cut off the power supply of the voltage bus to the three-phase inverter 21, and then cut off the power supply to the motor 3. The second type of abnormal situation is that the real-time bus voltage is too high or too low, or the real-time bus current is too high or too low. Thus, the system monitoring function of the inverter module 2 is realized, and the integrity and reliability of the motor 3 control unit are further improved.

[0044] In other embodiments, when the monitoring controller 15 monitors the second type of abnormal situation, a disable signal is also sent to the PWM drive module 13 when a disconnection signal is sent to the switch.

[0045] Further, the monitoring controller 15 is also in communication connection with the first transceiver 11; and the monitoring controller 15 is electrically connected to the main controller 12.

[0046] In the embodiment, the first end of the first transceiver 11 is also in communication connection with the first end of the second transceiver 14, so that when the main controller 12 feeds back signals to the host computer through the first transceiver 11, the monitoring controller 15 can also receive the feedback signals. The third output end of the monitoring controller 15 is in communication connection with the third end of the second transceiver 14, so that when the monitoring controller 15 monitors the third type of abnormal situation, it can send a mute control signal (Tx Mute Control) to the first transceiver 11 to shield the feedback signals of the main controller to the host computer; the fourth output end of the monitoring controller 15 is electrically connected with the second input end of the main controller 12, so that when the monitoring controller 15 monitors the third type of abnormal situation, it can also send a reset control signal (Reset Control) to the main controller 12 to reset the main controller 12.

[0047] In the embodiment, the main controller 12 can obtain the real-time rotation state information of the motor 3 from the first speed sensor and feed back to the host computer through the first transceiver 11, and the monitoring controller 15 can obtain the real-time rotation state information of the motor 3 from the second speed sensor, so that the monitoring controller 15 can judge whether the state feedback function of the main controller 12 is reliable according to whether the real-time rotation state information of the motor 3 obtained from the second speed sensor and the real-time rotation state information of the motor 3 obtained from the first transceiver 11 (i.e. the feedback information of the main controller 12 to the host computer) match, if not, i.e. the third type of abnormal situation, it is judged that the state feedback function of the current main controller 12 is unreliable, and the monitoring controller 15 sends a mute control signal to the first transceiver 11 and a reset control signal to the main controller 12. Thus, the integrity and reliability of the motor 3 control unit are further improved.

[0048] In other embodiments, when the monitoring controller 15 monitors the third type of abnormal situation, it also sends a disable signal to the PWM drive module 13 when sending a mute control signal to the first transceiver 11 and a reset control signal to the main controller 12.

[0049] Further, the main control branch further comprises a phase current sensor; the phase current sensor is connected with the three-phase inverter 21 and the main controller 12.

[0050] In the embodiment, the phase current sensor is used to collect the phase current of the three-phase inverter 21, and the output end of the phase current sensor is connected with 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 host computer, it can perform self-checking according to the preset phase current threshold.

[0051] The motor 3 control system also includes the motor 3 and the high-integrity motor control unit described in the above embodiments, and the output end of the inverter module 2 is electrically connected to the input end of the motor 3.

[0052] In this embodiment, the output end of the three-phase inverter 21 is electrically connected to the input end of the motor 3.

[0053] For reference Figure 2 The motor control system also includes the motor 3 and the high-integrity motor control unit described in the above embodiments, and the output end of the inverter module 2 is electrically connected to the input end of the motor 3.

[0054] S1, receiving a control instruction from the host computer, wherein the control instruction includes target rotation information;

[0055] In this embodiment, the target rotation information at least includes target steering information and target speed information. When the monitoring controller receives the control instruction from the host computer, the host controller also receives the control instruction. Based on the control instruction, the host controller sends an enable signal to the PWM drive module, and then controls the PWM drive module to send a specific PWM signal to the three-phase inverter, so as to control the motor to rotate according to the target steering information and the target speed information (in an ideal state).

[0056] S2, obtaining real-time rotation state information of the motor through the second speed sensor;

[0057] In this embodiment, the monitoring controller obtains the real-time rotation state information of the motor through the second speed sensor. The real-time rotation state information of the motor at least includes real-time speed information and real-time steering information. For example, the real-time speed information is 1400 rpm, and the real-time steering information is clockwise.

[0058] S3, judging whether the host controller can normally execute the control instruction of the host computer based on the target rotation information and the real-time rotation state information;

[0059] In this embodiment, the monitoring controller compares whether the real-time rotation state information of the motor is consistent with the target rotation information. If the real-time rotation state information of the motor is consistent with the target rotation information, the monitoring controller obtains a result that the host controller can normally execute the control instruction of the host computer. If the real-time rotation state information of the motor is not consistent with the target rotation information, the monitoring controller obtains a result that the host controller cannot normally execute the control instruction of the host computer.

[0060] S4, if the host controller cannot normally execute the control instruction of the host computer, sending a disable signal to the PWM drive module;

[0061] In the embodiment, if the main controller cannot normally execute the control instruction of the host computer, the monitoring controller sends a disable signal to the PWM driving module to cut off the PWM driving module from outputting the PWM signal to the three-phase inverter. If the main controller can normally execute the control instruction of the host computer, the monitoring continues, i.e., returns to steps S1 to S3.

[0062] Reference is made together with Figure 3 Further, the monitoring method further comprises:

[0063] S5, obtaining the feedback rotating state information sent by the main controller from the first transceiver;

[0064] In the 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 rotating state information of the motor from the first rotating speed sensor, and generates the feedback rotating state information according to the real-time rotating state information of the motor and sends the feedback rotating state information to the host computer through the first transceiver. Meanwhile, the monitoring controller also obtains the feedback rotating state information from the first transceiver when the feedback rotating state information passes through the first transceiver.

[0065] S6, judging whether the state feedback function of the main controller is reliable based on the feedback rotating state information and the real-time rotating state information;

[0066] In the embodiment, the monitoring controller judges whether the state feedback function of the main controller is reliable by comparing the feedback rotating state information sent by the main controller with the real-time rotating state information obtained by itself, for example, the rotating speed information in the feedback rotating state information is 1500 rpm, and the real-time rotating speed information in the real-time rotating state information obtained by the monitoring controller from the second rotating speed sensor is also 1500 rpm, so that it is judged that the state feedback function of the main controller is reliable.

[0067] Further, the monitoring controller can judge whether the state feedback function of the main controller is reliable by comparing whether the difference between the rotating speed information in the feedback rotating state information and the real-time rotating speed information is greater than a threshold value, if the difference is greater than the threshold value, it is judged that the state feedback function of the main controller is unreliable, which means that the main controller cannot feedback the real information to the host computer at this time.

[0068] Further, in order to more accurately judge, when the difference between the rotating speed information in the feedback rotating state information and the real-time rotating speed information is less than the threshold value, the monitoring controller compares the change trend of the rotating speed information in the feedback rotating state information and the real-time rotating speed information in a time period, if the change trends are 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 rotating speed information in the feedback rotating state information is rising in the time period, while the real-time rotating speed information is falling.

[0069] When the difference between the rotating speed information in the feedback rotating state information and the real-time rotating speed information is less than a threshold value and the change trend is consistent, it is determined that the state feedback function of the main controller is reliable.

[0070] S7, if the state feedback function of the main controller is unreliable, a mute control signal is sent to the first transceiver, and a reset control signal is sent to the main controller;

[0071] In this embodiment, if it is determined that the state feedback function of the main controller is unreliable, the monitoring controller sends a mute control signal to the first transceiver to shield the feedback signal of the main controller, avoids the host computer from receiving false information, and sends a reset control signal to the main controller to reset the main controller so as to make it recover to a reliable state as soon as possible. If the state feedback function of the main controller is reliable, the monitoring is continued, that is, returning to execute steps S5 to S6.

[0072] Reference is made to Figure 4 , further, the monitoring method further comprises:

[0073] S8, acquiring bus real-time voltage information and bus real-time current information from the bus current sensor;

[0074] In this embodiment, the monitoring controller acquires bus real-time voltage information and bus real-time current information from the bus current sensor.

[0075] S9, judging whether the system state is normal based on the bus real-time voltage information, the bus real-time current information, a preset voltage safety threshold value and a current safety threshold value;

[0076] In this embodiment, the monitoring controller judges whether the inverter module system state is normal by judging whether the bus real-time voltage information is within the preset voltage safety threshold value and whether the bus real-time current information is within the preset current safety threshold value. If the bus real-time voltage information is less than the lower limit value in the preset voltage safety threshold value or greater than the upper limit value in the voltage safety threshold value, it indicates that an under-voltage or over-voltage state occurs. If the bus real-time current information is less than the lower limit value in the preset current safety threshold value or greater than the upper limit value in the current safety threshold value, it indicates that a short-circuit or overload state occurs. As long as one of the four states occurs, it is determined that the system state is abnormal. Otherwise, it is determined that the system state is normal.

[0077] S10, if the system state is abnormal, a disconnect signal is sent to the switch;

[0078] In this embodiment, if it is determined that the system state is abnormal, the monitoring controller sends a disconnect signal to the switch on the transmission bus to cut off the power supply of the three-phase inverter by the voltage bus. If it is determined that the system state is normal, the monitoring is continued, that is, returning to execute steps S8 to S9.

[0079] In summary, the high integrity motor control unit, system and monitoring method provided by the embodiment of the application improves the integrity, reliability and safety of the entire motor control system by executing the control instructions of the host computer through the master branch, monitoring the master branch by the monitoring branch and setting a multifunctional and all-around monitoring method.

[0080] The embodiment of the application also provides a vertical aircraft comprising a host computer, a propeller and the motor control system described in the above embodiment, the host computer is in communication connection with the first transceiver and the second transceiver, and the propeller is connected with the output shaft of the motor.

[0081] The above is only a specific embodiment of the application, but the protection scope of the application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the application, and these modifications or replacements should be covered in the protection scope of the application. Therefore, the protection scope of the application should be subject to the protection scope 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 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, so that the main controller receives the control instructions of the host computer through the first transceiver and sends an enable signal to the PWM drive module based on the control instructions. 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, so that the main controller can feed back the rotation state information to the host computer; 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 so that the monitoring controller and the main controller receive the control instructions of the host computer, 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 state information of the motor so that the monitoring controller can determine whether the main controller can normally execute the control instructions of the host computer, and send a disable signal to the PWM drive module when the main controller cannot normally execute the control instructions of the host computer; The monitoring controller is communicatively connected to the first transceiver so that the monitoring controller determines whether the feedback function of the main controller is reliable and sends a silent control signal to the first transceiver when the feedback function of the main controller is unreliable; The monitoring controller is electrically connected to the main controller so that when a feedback function of the main controller is unreliable, the monitoring controller sends a reset control signal to the main controller.

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 main control branch further includes a phase current sensor; the phase current sensor is connected to the three-phase inverter and the main controller.

4. 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 2 to 3, wherein the output end of the inverter module is electrically connected to the input end of the motor.

5. A monitoring method, characterized in that: Applied in the monitoring controller of the motor control system according to claim 4, 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.

6. The monitoring method according to claim 5, 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.

7. The monitoring method according to claim 6, 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.

8. A vertical flight vehicle, characterized in that: The system comprises a host computer, a propeller and the motor control system according to claim 4, 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.

Images