Control system, machine, aircraft and associated process

Abstract

A method for controlling an electrical machine (3) is proposed. The electrical machine comprises a rotor (4) and a stator (5), the stator comprising at least a first power assembly (7) comprising an inductance (7b), a control module (13) and a magnetic sensor (14) connected to the control module (13), the first power assembly (7) being inserted into the stator (5), the control module (13) being connected to the inductance (7b) of the first power assembly to supply said inductance (7b) with electric current. The method is implemented in the control module of each power assembly and comprises: - determining a position of the rotor (4), - developing a supply setpoint for the inductance (7b) of said power assembly, and - supplying the inductance (7b) of said power assembly with electric current from the setpoint. Figure for abstract: Fig 3

Description

Title of the invention: Control system, machine, aircraft and associated method Technical field

[0001] The invention relates to the control of electrical machines, and more particularly to a method for controlling an electrical machine, the electrical machine comprising a rotor and a stator. The electrical machine can in particular be used in an electromechanical actuation system, for example in an aircraft.

[0002] The invention further relates to a control system for an electric machine, an electric machine comprising such a control system, and an aircraft comprising such a machine. Previous techniques

[0003] Climate change is a major concern for many legislative and regulatory bodies around the world. Indeed, various restrictions on carbon emissions have been, are being or will be adopted by various states. In particular, an ambitious standard applies both to new types of aircraft and those in circulation requiring the implementation of technological solutions in order to make them compliant with current regulations. Civil aviation has been mobilizing for several years now to make a contribution to the fight against climate change.

[0004] Technological research efforts have already made it possible to significantly improve the environmental performance of aircraft. The Applicant takes into account the impacting factors in all phases of design and development to obtain aircraft components and products that are less energy-consuming, more environmentally friendly, and whose integration and use in civil aviation have moderate environmental consequences in order to improve the energy efficiency of aircraft.

[0005] Consequently, the Applicant is constantly working to reduce its negative climate impact by using virtuous development and manufacturing methods and processes and minimizing greenhouse gas emissions as much as possible to reduce the environmental footprint of its activities.

[0006] This sustained research and development work covers both new generations of aircraft engines, the lightening of aircraft, in particular through the materials used and the lightened on-board equipment, the development of the use of electrical technologies to ensure propulsion, and, essential complements technological progress, aviation biofuels.

[0007] An aircraft may include electrical machines to either provide mechanical power to systems (electric machine operating in motor mode) or provide electrical power (electric machine operating in generator mode).

[0008] When an electrical machine is implemented in a critical system whose failure may compromise the flight safety of the aircraft, the electrical machine is designed to continue to operate upon the occurrence of at least one failure.

[0009] To ensure the operation of the electrical machine despite the occurrence of a failure, it is known to make the stator of the machine redundant so that it comprises a first stator and a second stator that are identical.

[0010] It is further known to make the stator coils redundant.

[0011] However, the redundancy of the stators or stator coils increases the mass and size of the electrical machine.

[0012] Generally, the electrical machine is powered by a power converter located several meters away from the electrical machine.

[0013] The electric machine is connected to the power converter by a cable harness that needs to be redundant to ensure the in-flight availability of the electric machine.

[0014] Furthermore, in order to guarantee satisfactory operation of the electrical machine connected by several meters of cables to the power converter, filtering means are necessary to filter the currents delivered by the power converter.

[0015] Redundant cable bundles generally having large cross-sections require space and increase the mass of the aircraft. Filtering means located near the electrical machine require space to be provided and increase the mass of the aircraft.

[0016] Document WO 2020 / 025884 discloses a polyphase electrical machine powered by an inverter.

[0017] The polyphase electric machine comprises electronic power modules integrated into an extension of the casing of said machine.

[0018] Each electronic power module controls one phase of the electrical machine.

[0019] The power electronic modules integrate switching elements and filtering blocks.

[0020] The integration of the power electronic modules in the casing makes it possible to reduce the length of the cables connecting the inverter to the electrical machine. This makes it possible to limit the corona effect and the aging of the bearings and insulators of the electrical machine.

[0021] However, the power electronic modules need to be controlled by a controller to power the phases of the electric machine. The controller, generally located several meters from the electric machine, is connected by a control cable harness. In order to guarantee the in-flight availability of the electric machine, it is necessary to redundant the control cable harness requiring space and increasing the mass of the aircraft. Statement of the invention

[0022] The aim of the invention is to overcome all or part of these drawbacks, in particular by ensuring the availability in flight of the electric machine while reducing the number of cables connecting the electric machine to the control and power conversion elements associated with the electric machine.

[0023] To this end, the invention is the result of technological research aimed at very significantly improving the performance of aircraft and, in this sense, contributes to reducing the environmental impact of aircraft.

[0024] For this, the invention relates to a method for controlling an electrical machine, the electrical machine comprising a rotor and a stator, the stator comprising at least a first power assembly comprising an inductance, a control module and a magnetic sensor connected to the control module, the first power assembly being inserted into the stator, the control module of the first power assembly being connected to the inductance of the first power assembly to supply said inductance with electric current.

[0025] The method is implemented in the control module of each power assembly and comprises:

[0026] - a determination of a rotor position from a delivered detection signal by the magnetic sensor connected to the control module of said power assembly,

[0027] - a development of a supply instruction for the inductance of said assembly of power from rotor position, and

[0028] - an electric current supply to the inductance of said power assembly from the supply instruction of the inductance of said power assembly.

[0029] Each power assembly controls an inductance of the machine autonomously, independently of control information from another device, in particular independently of the other power assemblies. Thus, the power assemblies form a decentralized and autonomous machine control system, which allows better homogenization of the currents in the machine.

[0030] As the currents are better distributed in the machine, thus reducing losses, the effective value of the currents supplying the inductances can be reduced compared to a machine known from the state of the art to obtain a mechanical torque equivalent when the machine operates in engine mode.

[0031] If one power assembly fails, the other functional power assemblies allow the machine to continue to operate, ensuring the in-flight availability of the machine while eliminating the need for stator coil redundancy or the implementation of a second stator as known from the prior art. The mass and size of the machine are reduced compared to an electrical machine known from the prior art having the same in-flight availability rate.

[0032] Each power assembly also allows precise control of the electric machine.

[0033] Preferably, the method further comprises the reception by the control module of each power assembly of a set of control values ​​of the electrical machine, the supply instruction of the inductance of each power assembly being further developed from the control values, the method further comprising the transmission to supervision means of the position of the rotor determined by the control module of each power assembly.

[0034] Advantageously, the rotor comprises a plurality of pairs of poles, and the control module of each power assembly comprises power supply means connected to the inductance of said control module and comprising switching cells, in which:

[0035] - determining the rotor position includes comparing the signal of detection delivered by the magnetic sensor of said power assembly at a detection threshold to determine the passage from one pole to another pole in front of the magnetic sensor of said power assembly,

[0036] - the development of the supply instruction includes the determination for each switching cell of the power supply means of the control module of said power assembly of a switching instruction from the position of the rotor determined from the instant of passage from one pole to another, and

[0037] - the power supply of the inductance of said power assembly comprises the com mutation of switching cells from switching instructions.

[0038] Preferably, the control module of each power assembly comprises means for supplying electric current connected to the inductance of said control module and comprising switching cells, in which:

[0039] - determining the rotor position includes comparing the shape waveform of the detection signal delivered by the magnetic sensor of said power assembly to pre-recorded reference waveforms,

[0040] - the development of the supply instruction includes the determination for each switching cell of the power supply means of the control module of said power set of a switching instruction from the rotor position determined from the waveform of the detection signal delivered by the magnetic sensor of said power set, and

[0041] - the supply of electric current to the inductance of said power assembly includes the switching of switching cells from switching instructions.

[0042] Advantageously, the method further comprises detecting a failure of each power assembly from the comparison of the waveform of the detection signal delivered by the magnetic sensor of said power assembly with failure reference waveforms.

[0043] Preferably, if a power assembly is faulty, the method comprises the transmission of a fault signal by the control module of the faulty power assembly to supervision means connected to the control module of each power assembly.

[0044] Advantageously, the machine comprises N phases, N being an integer equal to or greater than three, the stator comprises a second power assembly and a third power assembly, each power assembly forming a phase of the electrical machine, one revolution of the rotor being divided into 2N steps, the switching instruction of each switching cell of the power supply means of the control module of said power assembly comprises a control sequence comprising four steps, the method comprises the development of the control sequence of each switching cell of said power assembly so that:

[0045] - during a first step of the sequence, a supply current delivered by the supply means flows from a first end of the inductor to the second end of the inductor during Nl steps,

[0046] - during a second step of the sequence following the first step, no supply current is not delivered by the supply means during a step,

[0047] - during a third step of the sequence following the second step, the supply current flows from the second end of the inductor to the first end of the inductor, and

[0048] - during a fourth step of the sequence following the third step, no supply current is delivered by the supply means during a step,

[0049] the step of the sequence implemented being determined from the position of the rotor.

[0050] Also provided is a control system for an electric machine, the electric machine comprising a rotor and a stator, the control system comprising at least a first power assembly comprising an inductor, a control module and a magnetic sensor connected to the control module configured to be inserted into the stator, the control module of the first power assembly being connected to the inductor of the first power assembly, and the magnetic sensor of the first power assembly being connected to the control module of the first power assembly.

[0051] The control module of each power assembly comprises:

[0052] - determining means configured to determine the position of the rotor at from a detection signal delivered by the magnetic sensor,

[0053] - control means configured to develop a supply instruction of the inductance of said power assembly from the rotor position, and

[0054] - electric current supply means configured to supply in electric current the inductance of said power assembly,

[0055] the control means being further configured to control the power supply means from the power supply instruction of the inductance of said power assembly,

[0056] the system being configured to implement a control method as defined previously.

[0057] Preferably, the power supply means of each power assembly comprise an H-bridge comprising two identical branches each comprising two switching cells connected in series and extending between two power supply terminals, a midpoint between two cells of each branch being connected to one end of the inductance of said power assembly.

[0058] Also provided is an electrical machine, the electrical machine comprising a rotor, a stator and a control system as defined previously, the inductor, the control module and the magnetic sensor of the first power assembly being inserted into the stator.

[0059] An aircraft comprising an electric machine as defined above is also proposed. Brief description of the drawings

[0060] Other aims, characteristics and advantages of the invention will appear on reading the following description, given solely by way of non-limiting example and made with reference to the appended drawings in which:

[0061] - figure [Fig.l] schematically illustrates an example of an aircraft according to the invention,

[0062] - figure [Fig.2] schematically illustrates an example of the embodiment of a machine electric according to the invention,

[0063] - figure [Fig.3] schematically illustrates an example of the embodiment of a stator according to the invention,

[0064] - figure [Fig.4] schematically illustrates an example of the embodiment of an assembly of power according to the invention,

[0065] - figure [Fig.5] schematically illustrates an example of the embodiment of a module of control of the power assembly according to the invention,

[0066] - figure [Fig.6] schematically illustrates an example of embodiment of means power supply according to the invention,

[0067] - figure [Fig.7] schematically illustrates an example of the embodiment of a system control according to the invention,

[0068] - figure [Fig.8] schematically illustrates a first example of a method of control according to the invention, and

[0069] - Figure [Fig.9] schematically illustrates a second example of a method of control according to the invention. Detailed description

[0070] Reference is made to [Fig.l] which schematically illustrates an example of an aircraft 1 comprising a direct current power supply bus 2 and at least one electrical machine 3 connected to the bus 2.

[0071] The aircraft 1 as shown is an airplane.

[0072] Alternatively, the aircraft is a helicopter.

[0073] The electric machine 3 is typically integrated into an electromechanical actuation system for moving an element of the aircraft (aerodynamic surface, brake, pump, thrust reverser system, door, etc.).

[0074] [Fig.2] schematically illustrates an exemplary embodiment of the electrical machine 3.

[0075] The electrical machine 3 comprises a rotor 4 comprising, for example, permanent magnets forming a plurality of pairs of poles. The machine 3 further comprises a stator 5 and a control system 6.

[0076] The rotor 4 is inserted into a circular central housing of the stator 5 and separated from the stator 5 by an air gap.

[0077] The control system 6 is for example inserted into a yoke 5a of the stator 5.

[0078] [Fig.3] schematically illustrates an example of embodiment of the stator 5 of the electric machine 3.

[0079] The yoke 5a of the stator 5 comprises a plurality of teeth 5b distributed uniformly over the circumference of the stator 5, here inside the stator 5, and extending in a radial direction of the stator 5.

[0080] In the following, the cylinder head 5a comprises six teeth.

[0081] Of course, the cylinder head 5a may comprise more than six teeth or less than six teeth.

[0082] The control system 6 comprises a plurality of power assemblies 7, 8, 9, 10, 11, 12 identical, each power set 7, 8, 9, 10, 11, 12 being for example inserted around a tooth 5b.

[0083] Thus, the power assemblies 7, 8, 9, 10, 11, 12, forming the power electronics of the machine, are integrated as close as possible to the electric machine 3.

[0084] In this case, since the cylinder head 5a comprises six teeth, the control system 6 comprises a first power assembly 7, a second power assembly 8, a third power assembly 9, a fourth power assembly 10, a fifth power assembly 11 and a sixth power assembly 12.

[0085] Each power assembly 7, 8, 9, 10, 11, 12 comprises a support 7a, 8a, 9a, 10a, 11a, 12a inserted around a tooth 5b among the plurality of teeth of the stator 5 and an inductance 7b, 8b, 9b, 10b, 11b, 12b comprising a coil wound around the support 7a, 8a, 9a, 10a, 11a, 12a. Thus, the power electronic modules are distributed regularly around the circumference of the stator 5.

[0086] Each power assembly 7, 8, 9, 10, 11, 12 further comprises a control module and a magnetic sensor connected to the control module (not shown in [Fig.3]).

[0087] The magnetic sensor comprises for example a Hall effect sensor and / or a TMR sensor (tunnel magnetoresistive sensor).

[0088] Each power assembly may comprise more than one magnetic sensor.

[0089] The machine 3 comprises N phases, N being an integer greater than or equal to three.

[0090] Each power set 7, 8, 9, 10, 11, 12 forms a phase of the machine electric 3.

[0091] In this case, the machine has six phases and thus has six power units, therefore six control modules.

[0092] Since the power sets 7, 8, 9, 10, 11, 12 are identical, only the first power set 7 is detailed below.

[0093] [Fig.4] schematically illustrates an example of embodiment of the first power assembly 7 associated with one of the phases of the motor, and illustrates in particular the support 7a and the inductance 7b of the first power assembly 7.

[0094] The first power assembly 7 further comprises the control module 13 arranged on the support 7a, and the magnetic sensor 14 arranged in the stator 5 so as to detect a passage from one pole to another pole of the rotor 4. The sensor is connected to an input 13a of the control module 13. Thus, each power assembly is capable of obtaining rotor position information autonomously and independently of the other power assemblies.

[0095] The stator 5 further comprises a set 15 of bus bars 16, 17 preferably connected to the direct current supply bus 2. In this case, the stator comprises two bus bars.

[0096] The control module 13 comprises power supply terminals 13b, 13c connected to connection terminals 16a, 17a of the bus bars 16, 17, so that the bus 2 supplies the control module 13 with direct current.

[0097] The bus bars 16, 17 are for example circular and each bus bar supplies at least one power assembly of the control system 6 or supplies some or all of the assemblies among the plurality of power assemblies of the control system 6.

[0098] When each bus bar of a plurality of bus bars supplies a fraction of power assemblies of the plurality of power assemblies, in the event of failure of one bus bar of the plurality of bus bars, the power assemblies connected to the other bus bars of the plurality of bus bars remain functional, thus allowing segregation of the power supplies in the event of failure of one bus bar.

[0099] [Fig.5] schematically illustrates an exemplary embodiment of the control module 13 of the first power assembly 7.

[0100] The control module 13 comprises determination means 18 connected to the input 13a of the control module 13 and capable of autonomously determining the position of the rotor 4 from a detection signal delivered by the magnetic sensor 14.

[0101] The control module 13 further comprises electrical current supply means 19 capable of supplying electrical current to the inductor 7b from a supply setpoint. The supply means 19 are connected to the supply terminals 13b, 13c and are further connected to outputs 13d, 13e of the control module 13.

[0102] Each output 13d, 13e is connected to one end of the inductor 7b.

[0103] The control module 13 further comprises control means 20 capable of developing a supply instruction for the inductor 7b from the position of the rotor 4 delivered by the determination means 18, and capable of controlling the supply means 19 from the supply instruction to supply the inductor 7b.

[0104] [Fig.6] schematically illustrates an example of embodiment of the supply means 19.

[0105] The supply means 19 preferably comprise an H-bridge comprising two identical branches 21, 22.

[0106] Each branch 21, 22 comprises two switching cells 23, 24 connected in series and extending between the two supply terminals 13b, 13c.

[0107] A first cell 23 of each branch 21, 22 comprises a first connection 23a connected to a first supply terminal 13b, a second connection 23b opposite, and a control input 23c connected to the control means 20.

[0108] The second cell 24 of each branch 21, 22 comprises a first connection 24a connected to the second connection 23b of the first cell 23 of said branch, a second connection 24b connected to the second power supply terminal 13c, and a control input 24c connected to the control means 20 to receive the power supply instruction comprising switching commands for the cells 23, 24.

[0109] A midpoint 25 between the second connection 23b of the first cell 23 of the first branch 21 and the first connection 24a of the second cell 24 of the first branch 21 is connected to a first output 13d of the control module 13.

[0110] A midpoint 26 between the second connection 23b of the first cell 23 of the second branch 22 and the first connection 24a of the second cell 24 of the second branch 22 is connected to the second output 13e of the control module 13. It is recalled that each output 13d, 13e is connected to one end of the inductance 7b.

[0111] Each switching cell 23, 24 comprises for example a transistor 27 and a diode 28.

[0112] The transistor 27 is for example a field effect transistor of the insulated gate type MOSFET (metal-oxide-semiconductor field-effect transistor), of the insulated gate bipolar type IGBT (insulated-gate bipolar transistor), of the gallium nitride type GaN or of the silicon carbide type SiC.

[0113] The source of transistor 27 and the cathode of diode 28 are connected to the first connection 23a, 24a of cell 23, 24, the drain of transistor 27 and the anode of diode 28 are connected to the second connection 23b, 24b of cell 23, 24 and the gate of transistor 27 is connected to the control input 23c, 24c of cell 23, 24.

[0114] The power supply means 19 make it possible to control the rotation of the rotor 4 in the clockwise or counterclockwise direction according to the switching of the cells 23, 24.

[0115] Preferably, each control module 13 associated with a given power assembly controls the switching of the cells 23, 24 of the power supply means 19 of said power assembly independently of the switching commands within the other power assemblies.

[0116] Thus, each inductance of the machine switches without connection with the other inductances.

[0117] [Fig.7] schematically illustrates an embodiment of the control system 6.

[0118] The control system 6 here further comprises supervision means 30 connected to the control means 13 of the power assemblies 7, 8, 9, 10, 11, 12.

[0119] The supervision means 30 comprise for example a controller.

[0120] Now, examples of a method for controlling the electric machine 3 implementing the control system 6 are presented.

[0121] One rotation of the rotor 4 is divided into 2N parts of a rotation (or “steps” in the continued), N being the number of phases of machine 3.

[0122] A switching command is delivered to the control input 23c, 24c of each cell 23, 24 of the power supply means 19 of each power assembly 7, 8, 9, 10, 11, 12.

[0123] The switching control of each switching cell of the power supply means of each power assembly comprises a control sequence comprising four steps here.

[0124] During a first step, a supply current delivered by the supply means flows from a first end of the inductor to the second end of the inductor during N1 steps.

[0125] During a second step following the first step, no supply current is delivered by the supply means during a step.

[0126] During a third step following the second step, the supply current flows from the second end of the inductor to the first end of the inductor, and during a fourth step following the third step, no supply current is delivered by the supply means during a step.

[0127] The control means of each power assembly are capable of identifying the step of the control sequence of the switching control to be implemented to determine the switching commands of the cells 23, 24 according to the position of the rotor determined by the determination means 18 as long as the machine 3 is controlled in motor mode to provide a torque.

[0128] [Fig.8] schematically illustrates a first example of the control method.

[0129] During a step 40, the determination means 18 of the control module 13 of each power assembly 7, 8, 9, 10, 11, 12 determine the position of the rotor 4 from a detection signal delivered by the magnetic sensor 14 connected to the control module of said power assembly 7, 8, 9, 10, 11, 12. It is recalled that each power assembly is autonomous in its capacity to obtain information on the position of the rotor 4.

[0130] The detection signal is compared to a detection threshold to determine the passage from one pole to another pole in front of the magnetic sensor 14 of said power assembly.

[0131] The determination means 18 comprise for example a controller.

[0132] During a step 41, the control means 20 develop an instruction supplying the inductance 7b, 8b, 9b, 10b, 11b, 12b of said power assembly from the position of the rotor determined internally in each power assembly by the determination means 18.

[0133] The control means 20 determine the switching command for each switching cell 23, 24 of the power supply means 19 of the control module 13 of said power assembly 7, 8, 9, 10, 11, 12, from the position of the rotor determined from the instant of passage from one pole to another.

[0134] The position of the rotor determined by each power assembly 7, 8, 9, 10, 11, 12 allows the control means of each power assembly 7, 8, 9, 10, 11, 12 to identify the step of the control sequence to be implemented to determine the switching commands of the cells 23, 24 and to chain the steps of the control sequence according to the order described above, so that the power assemblies 7, 8, 9, 10, 11, 12 operate in concert to drive the rotor 3.

[0135] The switching sequence is for example stored in a switching table linking the switching command of each switching cell 23, 24 to each step of the sequence so that:

[0136] - during the first step of the sequence, the switching cells 23, 24 of the power assembly are switched so that the supply current flows from the first end of the inductor to the second end of the inductor for Nl steps during the first step,

[0137] - no supply current is delivered by the supply means during a not during the second stage following the first stage,

[0138] - the supply current flows from the second end of the inductor to the first end of the inductance during Nl not during the third step following the second step,

[0139] - and no supply current is delivered by the supply means during a step during the fourth stage following the third stage.

[0140] The switching table is stored in a memory of the control module 13 of each power assembly.

[0141] During a step 42, the control means 20 control the switching cells of the power supply means 19 of each power assembly according to the step of the sequence identified in step 41 and the sequence of steps of the control sequence according to the order described above from the step of the sequence identified in step 41 to power the inductance of said power assembly.

[0142] If the control modules 13 of the power assemblies 7, 8, 9, 10, 11, 12 are connected to the supervision means 30, the supervision means 30 can deliver a set of control values ​​for the electrical machine 30. The set of control values ​​is received by the control modules 13 of the power assemblies 7, 8, 9, 10, 11, 12 to develop the supply instruction for the inductance of each power assembly, for example by varying the amplitude of the voltage delivered by the supply means.

[0143] The set of control values ​​includes for example a torque value generated by machine 3 and a rotor rotation speed value 4.

[0144] [Fig.9] schematically illustrates a second example of the control method.

[0145] During a step 50, the determination means 18 of the control module 13 of each power assembly 7, 8, 9, 10, 11, 12 determine the position of the rotor 4 from a detection signal delivered by the magnetic sensor 14 connected to the control module of said power assembly 7, 8, 9, 10, 11, 12.

[0146] The determination means 18 compare the waveform of the detection signal delivered by the magnetic sensor of said power assembly to reference waveforms.

[0147] The determination means 18 comprise for example a processing unit implementing a machine learning algorithm.

[0148] The machine learning algorithm comprises for example a neural network previously trained to determine a position of the rotor from the waveform of the detection signal.

[0149] During a step 51, the control means 20 develop a supply instruction for the inductance 7b, 8b, 9b, 10b, 11b, 12b of said power assembly from the position of the rotor.

[0150] The control means 20 determine for each switching cell 23, 24 of the power supply means 19 of the control module 13 of said power assembly 7, 8, 9, 10, 11, 12 the switching setpoint from the position of the rotor determined from the instant of passage from one pole to another.

[0151] The position of the rotor determined by each power assembly 7, 8, 9, 10, 11, 12 allows the control means of each power assembly 7, 8, 9, 10, 11, 12 to identify the step of the control sequence to be implemented to determine the switching commands of the cells 23, 24 and to chain the steps of the control sequence according to the order described above so that the power assemblies 7, 8, 9, 10, 11, 12 operate in concert to control the rotation of the rotor 3.

[0152] Alternatively, the control means 20 of each power assembly comprise a processing unit implementing a machine learning algorithm, for example a neural network trained to implement the switching sequence of the switching cells of said assembly.

[0153] During a step 52, the control means 20 control the switching cells of the power supply means 19 of each power assembly according to the power supply instruction determined in step 51 to supply the inductance of said power assembly.

[0154] Furthermore, the determination means 18 of each power assembly can be trained to detect a failure of said power assembly from the comparing the waveform of the detection signal delivered by the magnetic sensor of said power assembly to fault reference waveforms.

[0155] Each failure reference waveform is representative of a failure of the machine 3.

[0156] The automatic learning algorithm of the determination means 18 is trained during a calibration phase.

[0157] During the calibration phase, the machine learning algorithm detects waveforms consecutive to different torque, speed and temperature setpoints for expected machine behaviors, machine behaviors resulting from machine control errors, machine behaviors resulting from machine breakdowns, and machine behaviors resulting from machine aging.

[0158] Furthermore, during the calibration phase, control coefficients are determined to implement machine control laws stored in the supervision means 30.

[0159] The control coefficients are implemented by the control means 20.

[0160] The supervision means 30 also compare in real time the laws of command to the detection signals delivered by the magnetic sensors.

[0161] If the control modules 13 of the power assemblies 7, 8, 9, 10, 11, 12 are connected to the supervision means 30, the supervision means 30 can emit a set of control values ​​for the electrical machine 30. The set of control values ​​is received by the control modules 13 of the power assemblies 7, 8, 9, 10, 11, 12 to develop the supply instruction for the inductance of each power assembly, for example by varying the amplitude of the voltage delivered by the supply means.

[0162] The set of control values ​​comprises for example a torque value generated by the machine 3 and a rotation speed value of the rotor 4.

[0163] In addition, if a power assembly is faulty, the control module 13 of the faulty power assembly emits a fault signal. Upon receipt of the fault signal, the supervision means 30 determine a set of control values ​​for deactivating the faulty power assembly and determine a set of control values ​​for each functional power assembly so that the machine 3 delivers, for example, the requested torque value at the requested rotation speed value.

[0164] The supervision means 30 can for example implement a trained neural network to control the machine comprising the faulty power assembly.

[0165] Functional power assemblies compensate for magnetic flux which is not no longer delivered by the faulty power assembly.

[0166] The control system 6 of the machine 3 is integrated into the stator 5 of the machine 3 so that the lengths of control cables are reduced.

[0167] Furthermore, each power assembly of the control system 6 controls a phase of the machine 3 autonomously, independently of control information from another device of the aircraft, in particular independently of the other power assemblies, so that the control system 6 is decentralized and autonomous.

[0168] Furthermore, if one power assembly fails, the other functional power assemblies make it possible to continue operating the machine 3 ensuring the in-flight availability of the machine 3 while eliminating the need for redundancy of the stator coils or the implementation of a second stator as known from the prior art. The mass and size of the machine 3 are reduced compared to an electrical machine known from the prior art having the same in-flight availability rate.

[0169] The control system 6 of the machine 3 further allows precise control of the machine 3.

Claims

Claims

1. Method for controlling an electrical machine (3), the electrical machine comprising a rotor (4) and a stator (5), the stator comprising at least a first power assembly (7) comprising an inductance (7b), a control module (13) and a magnetic sensor (14) connected to the control module (13), the first power assembly (7) being inserted into the stator (5), the control module (13) of the first power assembly being connected to the inductance (7b) of the first power assembly to supply said inductance (7b) with electric current, characterized in that the method is implemented in the control module of each power assembly and comprises: - a determination of a position of the rotor (4) from a detection signal delivered by the magnetic sensor (14) connected to the control module (13) of said power assembly, - a development of a supply setpoint for the inductance (7b) of said power assembly,from the position of the rotor (4), and - a supply of electric current to the inductance (7b) of said power assembly from the supply setpoint of the inductance of said power assembly.,

2. Method according to claim 1, further comprising the reception by the control module (13) of each power assembly of a set of control values ​​of the electrical machine (3), the supply instruction of the inductance (7b) of each power assembly being further developed from the control values, the method further comprising the transmission to supervision means (30) of the position of the rotor determined by the control module of each power assembly.

3. Method according to claim 1 or 2, the rotor (4) comprising a plurality of pairs of poles, and the control module (13) of each power assembly comprising power supply means (19) connected to the inductance of said control module (13) and comprising switching cells (23, 24), in which: - the determination of the position of the rotor (4) comprises the comparison of the detection signal delivered by the magnetic sensor (14) of said power assembly with a detection threshold to determine the passage from one pole to another pole in front of the magnetic sensor (14) of said power assembly, - the development of the power supply setpoint comprises the determination, for each switching cell (23, 24) of the power supply means (19) of the control module (13) of said power assembly, of a switching setpoint from the position of the rotor (4) determined from the instant of passage from one pole to another, and - the supply of the inductance (7b) of said power assembly comprises the switching of the switching cells from the switching setpoints.

4. Method according to claim 1 or 2, the control module (13) of each power assembly comprising means (19) for supplying electric current connected to the inductance (7b) of said control module (13) and comprising switching cells (23, 24), in which: - the determination of the position of the rotor (4) comprises the comparison of the waveform of the detection signal delivered by the magnetic sensor (14) of said power assembly with pre-recorded reference waveforms, - the development of the supply setpoint comprises the determination, for each switching cell (23, 24) of the supply means (19) of the control module (13) of said power assembly, of a switching setpoint from the position of the rotor (4) determined from the waveform of the detection signal delivered by the magnetic sensor of said power assembly,and - the supply of electric current to the inductance (7b) of said power assembly comprises the switching of the switching cells (23, 24) from the switching instructions.,

5. A method according to claim 4, further comprising detecting a failure of each power assembly from comparing the waveform of the detection signal output by the magnetic sensor (14) of said power assembly to failure reference waveforms.

6. Method according to one of claims 3 to 5, the machine comprising N phases, N being an integer equal to or greater than three, the stator (5) comprising a second power assembly (8) and a third power assembly (9), each power assembly forming a phase of the electric machine (3), one revolution of the rotor being divided into 2N steps, the switching instruction of each switching cell (23,

7. 24) power supply means (19) of the control module (13) of said power assembly comprising a control sequence comprising four steps, the method comprising the development of the control sequence of each switching cell (23, 24) of said power assembly so that: - during a first step of the sequence, a supply current delivered by the supply means (19) flows from a first end of the inductance to the second end of the inductance for N1 steps, - during a second step of the sequence following the first step, the supply current is not delivered by the supply means (19) during one step, - during a third step of the sequence following the second step, the supply current flows from the second end of the inductance (7b) to the first end of the inductance, and - during a fourth step of the sequence following the third step, the supply current is not delivered by the supply means during a step, the step of the sequence implemented being determined from the position of the rotor. Control system (6) for an electric machine (3), the electric machine comprising a rotor (4) and a stator (5), the control system (6) comprising at least a first power assembly (7) comprising an inductor (7b), a control module (13) and a magnetic sensor (14) connected to the control module (13) configured to be inserted into the stator (5), the control module (13) of the first power assembly being connected to the inductor (7b) of the first power assembly, and the magnetic sensor (14) of the first power assembly being connected to the control module (13) of the first power assembly, characterized in that the control module (13) of each power assembly comprises: - determination means (18) configured to determine the position of the rotor (4) from a detection signal delivered by the magnetic sensor (14),- control means (20) configured to develop a supply instruction for the inductance (7b) of said power assembly (7) from the position of the rotor, and, - means for supplying (19) electric current configured to supplying electric current to the inductance of said power assembly, the control means (20) being further configured to control the power supply means (19) from the supply instruction of the inductance (7b) of said power assembly (7), the system being configured to implement a control method according to any one of claims 1 to 6.

8. Control system according to claim 7, wherein the power supply means (19) of each power assembly (7, 8, 9, 10, 11, 12) comprise an H-bridge comprising two identical branches (21, 22) each comprising: - two switching cells (23, 24) connected in series and extending between two power supply terminals (13b, 13c), - and a midpoint (25, 26) between two cells of each branch being connected to one end of the inductance (7b) of said power assembly.

9. An electrical machine (3), the electrical machine comprising a rotor (4), a stator (5) and a control system (6) according to one of claims 7 or 8, the inductance (7b), the control module (13) and the magnetic sensor (14) of the first power assembly (7) being inserted into the stator (5).

10. Aircraft (1) comprising an electric machine (3) according to claim 9.

Images