Control device of electric drive system, electric drive system and electric aircraft
A control device of an electric drive system for rotationally driving one of a rotary blade and a screw that are a rotating body. The control device has an angle acquisition unit configured to acquire an angle of the rotating body, and a lock control unit configured to lock a rotation of the rotating body within a set lock angle range based on the acquired angle by the angle acquisition unit.
1. An electric vertical take-off and landing aircraft comprising:
an airframe;
a plurality of rotary blades;
a plurality of electric drive systems respectively corresponding to the plurality of rotary blades for rotationally driving each of the plurality of rotary blades, a subset of the plurality of electric drive systems rotating and driving at least one lift rotary blade for obtaining lift of the airframe, and another subset of the plurality of electric drive systems rotating at least one tilt rotor with a variable tilt angle; and
a flight control system, wherein:
each electric drive system of the plurality of electric drive systems includes:
an inverter circuit;
a motor that (i) outputs torque corresponding to voltage and current supplied from the inverter circuit and (ii) drives the rotary blade corresponding to the electric drive system to rotate via a shaft; and
a control device;
the flight control system is configured to output, to the control device of each of the plurality of electric drive systems, a lock command for stopping and locking rotation of a rotary blade that is not driven to rotate,
the lock command being output to the control device of the electric drive system corresponding to the lift rotary blade when an operation mode of the electric vertical take-off and landing aircraft is a first mode, and
the lock command being output to the control device of the electric drive system corresponding to the tilt rotor when an operation mode of the electric vertical take-off and landing aircraft is a second mode; and
the control device of each electric drive system includes:
a processor programmed to:
acquire a rotation angle of the corresponding rotary blade; and
perform control to lock the corresponding motor so as to lock a rotation of the corresponding rotary blade within a set lock angle range based on the acquired rotation angle by gradually reducing a rotation speed of the corresponding rotary blade and locking the rotation of the corresponding rotary blade after the rotation speed becomes equal to or less than a predetermined rotation speed; and
a memory configured to store a reference angle for locking the corresponding rotary blade within the lock angle range as (i) a value of an electric angle of the corresponding motor when the rotation of the corresponding rotary blade was last locked or (ii) as a value of the electric angle of the corresponding motor when a start switch of the electric vertical take-off and landing aircraft is turned on.
2. The electric vertical take-off and landing aircraft according to claim 1 , wherein
the lock angle range is an angle range in which a resistance value is smaller than an intermediate value between a maximum value and a minimum value of the resistance value that the corresponding rotary blade receives from an external fluid according to a lock position of the corresponding rotary blade.
3. The electric vertical take-off and landing aircraft according to claim 1 , wherein
the plurality of electric drive systems are mounted on the airframe of the aircraft,
the lift rotary blade is housed in an accommodating portion provided in the airframe in a state where the lift rotary blade is not rotationally driven, and
the lock angle range is included in an accommodation angle range, which is an angle range in which the lift rotary blade can be housed in the accommodating portion.
4. The electric vertical take-off and landing aircraft according to claim 1 , wherein
each of the plurality of rotary blades has blades formed symmetrically about a rotation axis along a direction perpendicular to the rotation axis, and
the lock angle range is [B−2π/A] or more [B+2π/A] or less when a number of blades is A, a target lock position is B, and 180 deg is π.
5. An electric vertical take-off and landing aircraft comprising:
an airframe;
a plurality of rotary blades;
a plurality of electric drive systems respectively corresponding to the plurality of rotary blades for rotationally driving each of the plurality of rotary blades, a subset of the plurality of electric drive systems rotating and driving at least one lift rotary blade for obtaining lift of the airframe, and another subset of the plurality of electric drive systems rotating at least one tilt rotor with a variable tilt angle; and
a flight control system, wherein:
each electric drive system of the plurality of electric drive systems includes:
an inverter circuit;
a motor that (i) outputs torque corresponding to voltage and current supplied from the inverter circuit and (ii) drives the rotary blade corresponding to the electric drive system to rotate via a shaft; and
a control device;
the flight control system is configured to output, to the control device of each of the plurality of electric drive systems, a lock command for stopping and locking rotation of a rotary blade that is not driven to rotate,
the lock command being output to the control device of the electric drive system corresponding to the lift rotary blade when an operation mode of the electric vertical take-off and landing aircraft is a first mode, and
the lock command being output to the control device of the electric drive system corresponding to the tilt rotor when an operation mode of the electric vertical take-off and landing aircraft is a second mode; and
the control device of each electric drive system includes:
a processor programmed to:
acquire a rotation angle of the corresponding rotary blade, which is provided with an angle sensor that detects the rotation angle;
perform control to lock the corresponding motor so as to lock a rotation of the corresponding rotary blade within a set lock angle range based on the acquired rotation angle by gradually reducing a rotation speed of the corresponding rotary blade and locking the rotation of the corresponding rotary blade after the rotation speed becomes equal to or less than a predetermined rotation speed; and
perform control to lock the corresponding rotary blade as a target when a current rotation angle of the corresponding rotary blade reaches a stored reference angle, the reference angle being stored (i) when the rotation of the rotary blade was last locked or (ii) when a start switch of the electric vertical take-off and landing aircraft is turned on; and
a memory configured to store the reference angle for locking the corresponding rotary blade within the lock angle range as a value of an electric angle of the corresponding motor.