CA3167750C

CA3167750C - Power distribution circuits for vehicles with energy regeneration

Info

Publication number: CA3167750C
Application number: CA3167750A
Authority: CA
Inventors: Geoffrey Alan LONG; Micheal John Burgart
Original assignee: Wisk Aero LLC
Priority date: 2020-02-03
Filing date: 2021-02-02
Publication date: 2025-07-08
Anticipated expiration: 2041-02-02
Also published as: KR102841013B1; EP4100271A1; JP7834414B2; AU2021215850A1; KR20220131546A; CA3167750A1; US20260008384A1; US12291126B2; EP4100271A4; US20210242693A1; US12434597B2; US20240001802A1; CN115397687A; JP2025066141A; US20250222826A1; CA3254906A1; JP2023512685A; WO2021158568A1; JP7630525B2; US11794607B2

Abstract

Il est décrit un véhicule électrique comprend un bus de courant continu (c.c.) et plusieurs batteries qui sont couplées en parallèle au bus c.c. Au moins un commutateur est couplé en série entre au moins une batterie parmi les batteries et le bus c.c., et plusieurs circuits inverseurs sont chacun couplés en parallèle au bus c.c. Plusieurs moteurs sont couplés chacun à un circuit inverseur respectif de la pluralité de circuits inverseurs. Selon divers modes de réalisation, le véhicule électrique comprend en outre plusieurs commutateurs, chaque commutateur étant couplé en série entre une batterie respective de la pluralité de batteries.An electric vehicle is described as comprising a direct current (DC) bus and several batteries connected in parallel to the DC bus. At least one switch is connected in series between at least one battery and the DC bus, and several inverter circuits are each connected in parallel to the DC bus. Several motors are each connected to a respective inverter circuit from the plurality of inverter circuits. In various embodiments, the electric vehicle further comprises several switches, each switch being connected in series between a respective battery and the plurality of batteries.

Description

POWER DISTRIBUTION CIRCUITS FOR VEHICLES WITH ENERGY

REGENERATION

CROSS-REFERENCES TO OTHER APPLICATIONS [0001] This application claims priority to U.S. provisional patent application Ser. No. 62/969,232, for "POWER. DISTRIBUTION CIRCUITS FOR VEHICLES WITH ENERGY

REGENERATION" tiled on February 3, 2020 which is hereby incorporated by reference in entirety for all purposes. 100021 This application is related to the following concurrently filed and commonly assigned U.S. nonprovisional patent applications Ser. No. 17/165,565, for "REDUNDANT

POWER DISTRIBUTION CIRCUITS INCLUDING DC/DC CONVERTERS" filed on February 2, 2021, and Ser. No. 17/165,742., for "REDUNDANT POWER DISTRIBUTION

CIRCUITS FOR ELECTRIC VEHICLES" filed on February 2, 2021, which are hereby incorporated by reference in their entirety for all purposes.

FIELD 100031 The described embodiments relate generally to electrical circuits for rechargeable electric vehicles. More particularly, the present embodiments relate to power distribution circuits that enable regenerative charging of batteries in electrically powered vehicles.

BACKGROUND [0004] Currently there are a wide variety of electrically powered vehicles that employ multiple batteries for storing energy that is used for propulsion. New electrical circuits are needed that enable regenerative charging of the batteries while protecting the batteries from failure events.

SUMMARY [0005] In some embodiments an electrically powered vehicle comprises a DC bus and a plurality of batteries, each coupled in parallel to the DC bus. At least one switch is coupled in series between at least one battery of the plurality of batteries and the DC bus and a plurality of inverter circuits are each coupled in parallel to the DC bus. A plurality of motors are each coupled to a respective inverter circuit of the plurality of inverter circuits. In various embodiments the electrically powered vehicle further comprises a plurality of switches, each switch coupled in series between a respective battery of the plurality of batteries. [0006] In some embodiments the electrically powered vehicle comprises circuitry coupled in series with each battery of the plurality of batteries and arranged to allow current to flow in one direction out of each respective battery of the plurality of batteries to the DC bus. In various embodiments the circuitry comprises at least one diode. In some embodiments each switch of the plurality of switches is arranged to bypass the circuitry coupled in series with each respective battery of the plurality of batteries. In various embodiments the electrically powered vehicle further comprises a controller configured to detect a failed battery of the plurality of batteries and in response, open the respective switch of the plurality of switches to electrically isolate the failed battery from the DC bus. [00071 In some embodiments the electrically powered vehicle further comprises a controller configured to detect a regeneration event and in response close the at least one switch to transfer power from the DC bus to at least one battery of the plurality of batteries.

In various embodiments each of the plurality of inverter circuits is configured to generate a multiphase AC output used to drive one or more of the plurality of motors. In some embodiments each of the plurality of inverter circuits is configured to generate a three-phase output. In some embodiments the three-phase output generated by each of the plurality of inverter circuits operates between 0 to 400 Volts AC at a frequency between 0 and 3 KHz. In various embodiments each of the plurality of motors is coupled to a respective propeller. [0008] In some embodiments each of the plurality of motors is a synchronous A.0 permanent magnet motor. In various embodiments the plurality of motors comprises at least 12 motors. [0009] In some embodiments a circuit comprises a plurality of batteries and a plurality of inverters with each coupled to a respective battery of the plurality of batteries and configured 2 WO2021/158568 PCT/US2021/016251 to generate a plurality of input phases. A plurality of interphase transformers, each receiving one or more of the plurality of input phases, generate a combined single drive phase. A motor is configured to receive the combined single drive phase from each of the plurality of interphase transformers. In various embodiments at least one interphase transformer of the plurality of interphase transformers receives an input phase from each of the plurality of inverters. [00/0] In some embodiments each of the interphase transformers of the plurality of interphase transformers receives an input phase from each of the plurality of inverters. In various embodiments each interphase transformer of the plurality of interphase transformers electrically isolates each of the plurality of input phases from each other.

In some embodiments the circuit further comprises a controller configured to control operation of at least one of the inverters to control a speed and a power of the motor. In various embodiments the controller is configured to detect a failed battery of the plurality of batteries and in response disable a respective inverter of the plurality of inverters that is coupled to the failed battery. [00111 In some embodiments one or more of the plurality of inverters are configured to charge one or more of the plurality of batteries when the motor generates electrical power during a regeneration event. In various embodiments the motor is a synchronous AC permanent magnet motor. In some embodiments the motor propels an electrically powered. vehicle. In some embodiments the motor is coupled to a propeller. [00121 In some embodiments an electrically powered vehicle comprises a plurality of batteries and a plurality of inverters, each inverter coupled to a respective battery of the plurality of batteries and configured to generate a plurality of phases. A motor is configured to receive each of the plurality of phases from each of the plurality of inverters. In various embodiments each inverter of the plurality of inverters is configured to generate three phases.

In some embodiments the electrically powered vehicle further comprises a controller configured to detect a failed battery and in response disable the respective inverter of the plurality of inverters that is coupled to the failed battery. 10013] In some embodiments the controller is configured to control the other inverters of the plurality of inverters to continue operation of the motor with a reduced number of phases.

In various embodiments one or more of the plurality of inverters are configured to transmit power to one or more of the plurality of batteries when the motor generates electrical power 3 WO2021/158568 PCT/US2021/016251 during a regeneration event. In some embodiments the motor is coupled to a propeller. In various embodiments the motor is a synchronous AC permanent magnet motor. In some embodiments the electrically powered vehicle comprises at least 12 motors. 1001.41 In some embodiments a circuit comprises a plurality of batteries and a plurality of DCto DC converters, each coupled to a respective battery of the plurality of batteries. A DC bus is coupled in parallel to each of the plurality of DC to DC converters and a plurality of inverter circuits are each coupled in parallel to the DC bus. A plurality of motors are each coupled to a respective inverter circuit of the plurality of inverter circuits. In various embodiments the circuit further comprises a controller configured to monitor a voltage of the DCbus and a voltage of at least one battery of the plurality of batteries, in some embodiments the controller is configured to command at least one of the plurality of DC to DCconverters to transfer power from the DC bus to at least one of the plurality of batteries based on a comparison between the voltage of the DC bus and the voltage of the at least one battery. 100151 In some embodiments the controller is configured to command at least one of the plurality of DC to DC converters to transfer power from the DC bus to at least one of the plurality of batteries in response to at least one motor of the plurality of motors generating power during a regeneration event. In various embodiments the controller is configured to detect a failure of at least one battery of the plurality of batteries and in response, command one or more respective DC to DC converters of the plurality of DC to DC converters that are coupled to the one or more failed batteries of the plurality of batteries to isolate the one or more failed batteries from the DC bus. 100161 In some embodiments each of the plurality of DC to DC converters includes a control circuit configured to monitor a voltage of the DC bus and to transfer power to a respective battery from the DC bus when a voltage of the DC bus is greater than a threshold voltage, wherein the threshold voltage is based on a voltage of at least one battery of the plurality of batteries. In various embodiments the control circuit is configured to transfer power from the DC bus to at least one of the plurality of batteries when at least one motor of the plurality of motors generates electrical power during a regeneration event. In sonic embodiments the control circuit is configured to detect a failure of at least one battery of the plurality of batteries and in response, commands the one or more respective DC to DC converters that are coupled to the one or more failed batteries of the plurality of batteries to 4 WO2021/158568 PCT/US2021/016251 isolate the one or more failed batteries from the DC bus. In various embodiments each of the plurality of motors is an AC motor, In some embodiments the plurality of motors propel an electrically powered vehicle. In some embodiments each of the plurality of motors is coupled to a respective propeller. 100171 In some embodiments an electrically powered vehicle comprises a plurality of batteries and a plurality of DC to DC converters, each coupled to a respective battery of the plurality of batteries and configured to generate DC power that is coupled to a common DC bus. A plurality of inverter circuits are coupled to the common DC: bus, and a plurality of electric motors are each coupled to a respective inverter circuit of the plurality of inverter circuits, wherein each motor of the plurality of electric motors propels the vehicle. 100181 in some embodiments the electrically powered vehicle further comprises a controller configured to monitor a voltage of the common DC bus and a voltage of each battery of the plurality of batteries. In various embodiments when the voltage of the common DCbus is greater than a voltage of at least one battery of the plurality of batteries the controller commands at least one DC to DC converter of the plurality of DC to DCconverters to transfer power from the common DC bus to a respective battery of the plurality of batteries. In some embodiments in response to detecting a failure of a battery of the plurality of batteries the controller commands the respective DC to DC converter of the plurality of DCto DC converters that is coupled to the failed battery to isolate the failed battery from the common DC bus. 100191 In some embodiments each DC to DC converter of the plurality of DC to DC converters includes a control circuit configured to monitor a voltage of the common DC bus and to transfer power to a respective battery from the common DC bus when a voltage of the common DC bus is greater than a threshold voltage. In various embodiments in response to detecting a failure of a battery of the plurality of batteries the control circuit commands the respective DC to DC converter of the plurality of DC to DC converters that is coupled to the failed battery to isolate the failed battery from the common DC bus. In some embodiments each of the plurality of electric motors is an AC motor. In various embodiments each of the plurality of electric motors is coupled to a respective propeller. 100201 in some embodiments a circuit comprises a first battery coupled to a first DC to DC converter and a second battery coupled to a second DC to DC converter. A DC bus is coupled in parallel to the first and the second DC to DC converters. A first inverter is WO2021/158568 PCT/US2021/016251 coupled to the DC bus and a second inverter is coupled to the DC bus. A first motor is coupled to the first inverter and a second motor is coupled to the second inverter, in various embodiments the first and the second inverters are coupled in parallel to the DCbus, 100211 In some embodiments the circuit further comprises a controller configured to monitor a voltage of the DC bus, a voltage of the first battery and a voltage of the second battery. In various embodiments in response to the voltage of the DC bus at a greater voltage than a voltage of at least one of the first and the second batteries, the controller commands the first DC to DC converter to transfer power from the DC bus to the first battery. In some embodiments in response to detecting a failure of the first battery the controller commands the first DC to DC converter to isolate the first battery from the DC bus. In various embodiments the controller is configured to command the first DC to DC converter to transfer power to the first battery when the first motor generates electrical power during a regeneration event. 100221 In some embodiments the controller is configured to command the first DCto DC converter to transfer power to the first battery during a regeneration event.

In various embodiments the controller is configured to detect a failure of the first battery and in response isolate the first battery from -the DC bus, In sonic embodiments the first and the second motors are AC motors. In various embodiments the first and the second motors propel an electrically powered vehicle. In some embodiments each of the first and the second motors are coupled to a respective propeller. 100231 Numerous benefits are achieved by way of the present invention over conventional techniques. For example, embodiments of the present invention provide the ability to isolate a failure in the power distribution circuit from other components and to maintain power delivery to propulsion motors during a failure. Embodiments also enable regeneration events to recharge the batteries and the individual battery circuits are isolated to prevent charge shuttling between batteries. These and other embodiments of the invention along with many of its advantages and features are described in more detail in conjunction with the text below and attached figures. 100241 To better understand the nature and advantages of the present disclosure, reference should be made to the following description and the accompanying figures. It is to be understood, however, that each of the figures is provided for the purpose of illustration only and is not intended as a definition of the limits of the scope of the present disclosure. Also, 6 WO2021/158568 PCT/US2021/016251 as a general rule, and unless it is evident to the contrary from the description, where elements in different figures use identical reference numbers, the elements are generally either identical or at least similar in function or purpose.

BRIEF DESCRIPTION OF THE DRAWINGS 100251 FIG. I depicts a schematic of a power distribution circuit including protection diodes and bypass switches, according to embodiments of the disclosure; 100261 FIG. 2 depicts a schematic of a power distribution circuit including breakers, according to embodiments of the disclosure; 100271 :FIG. 3 depicts a schematic of a power distribution circuit including inverters and interphase transformers, according to embodiments of the disclosure; 100281 FIG. 4 depicts a schematic of a power distribution circuit including inverters and a I2-phase motor, according to embodiments of the disclosure; 100291 FIG. 5 depicts a schematic of a power distribution circuit including DC to DC converters coupled to inverters via a DC bus, according to embodiments of the disclosure; 100301 FIG. 6 depicts a schematic of a power distribution circuit including a common power shaft driven by a plurality of motors, according to embodiments of the disclosure; and 100311 FIG. 7 depicts an electrically powered aerial vehicle including a power distribution circuit, according to embodiments of the disclosure. 7 DETAILED DESCRIPTION 100321 Techniques disclosed herein relate generally to electrical circuits for electrically powered vehicles. More specifically, techniques disclosed herein relate to power distribution circuits for electrically powered vehicles that include energy regeneration capability and redundant battery systems. Various inventive embodiments are described herein, including methods, processes, systems, devices, and the like. 100331 In order to better appreciate the features and aspects of power distribution circuits for electrically powered vehicles according to the present disclosure, further context for the disclosure is provided in the following section by discussing one particular implementation of an electrically powered vehicle according to embodiments of the present disclosure. These embodiments are for example only and other embodiments can be employed in other electrically powered vehicles such as, but not limited to automobiles, trains, busses, motorcycles and scooters. 100341 FIG. 1 depicts a simplified schematic of a power distribution circuit 100 for an electrically powered vehicle, according to embodiments of the disclosure. As shown in FIG. 1, power distribution circuit 100 includes a plurality of separate batteries 105a-105c that can each include a plurality of cells. In one embodiment each battery 105a-105c produces a DC voltage of approximately 600 volts, however in other embodiments the batteries can produce a different voltage. Any number of batteries can be used and sorn.e embodiments include between three and fifteen batteries. 100351 Each battery is coupled in parallel to a common DC bus 1-10 that is coupled to a plurality of inverter circuits 115a-1.15e Each inverter circuit 115a-115c is configured to generate a multiphase AC output that can be used to drive individual motors 120a-120c, which in one embodiment can be synchronous AC permanent magnet type motors. In some embodiments each inverter circuit 115a-115c is configured to generate a three- phase output that operates between 0 to 400 Volts AC at a frequency between 0 and 3 kHz, however one of skill in the art will appreciate that other numbers of phases, output voltages, output frequencies and types of electrical motors can be used without departing from the invention. 100361 As further shown in FIG. 1 a diode 125a-125c is coupled in-series between each respective battery 105a-105c and DC bus 110. Diodes 125a-125c are oriented to allow 8 WO2021/158568 PCT/US2021/016251 batteries 105a-105c to provide current to DC bus 110 and to block current flowing from the DCbus back to the batteries. Such a configuration can be used to protect batteries 105a-105c in the case of a battery that fails in a shorted condition, which would cause the other batteries to discharge current to the failed battery. In further embodiments diodes 125a- 125c can prevent charge shuttling between batteries 105a-105c that is caused by each battery having a different charge state. More specifically, in some embodiments each battery 105a-105c can have a different age and/or charge characteristic such that batteries having a relatively higher level of charge will be blocked by diodes 125a-125c from back charging batteries that have a relatively lower level of charge. Such charge shuttling can result in efficiency losses, heat generation and general system instability. 100371 To enable batteries 105a-105c to receive regenerative power generated by motors 120a-120c, each circuit is equipped with a bypass switch 130a-130c that selectively bypasses each respective diode 125a-125c. More specifically, when engaged, each respective bypass switch 130a-1.30c enables power to be transferred from DC bus 110 to batteries 105a-105c so the batteries can be recharged with power generated by motors 120a-120c. In some embodiments bypass switches 130a-130c can be coupled to a controller 135 that monitors parameters of batteries 105a-105c and DC bus 110. Controller 135 can be configured to engage bypass switches 130a-130c to bypass respective diodes 125a-125c when DC bus 110 conditions (e.g., when a voltage level on the DC bus is higher than a voltage level of at least one of the batteries) indicate that a regenerative charging event is in process. 100381 More specifically, in some embodiments motors 120a-120c are configured to act as generators such that when the motors are rotated by external mechanical forces, the motors generate electricity that travels back through inverter circuits 115a-115c and to DC bus 110.

When this occurs, the voltage on DC bus 110 can increase above the voltage of batteries 105a-105c and controller 135 can detect this increase and respond by closing one or more bypass switches 130a-130c allowing current to flow from the DC bus to one or more of the batteries. When the regenerative event ends, the voltage on DC bus 110 falls below the voltage of batteries 105a-105c and controller 135 responds by opening the bypass switches.

In some embodiments controller 135 only enables regenerative charging of batteries 105a- 105c when a voltage of DC bus 110 is above a threshold voltage, where the threshold voltage can be set based on a maximum voltage of any one of the batteries such that charge shuttling does not occur once the bypass switches are closed. In further embodiments, controller 135 can engage only one bypass switch at a time, or a subset of the bypass switches, to recharge 9 WO2021/158568 PCT/US2021/016251 individual batteries, which can be used in some embodiments for example, to "top off' any battery that has a relatively low charge. 100391 In further embodiments, one or more bypass switches 130a-130c can be engaged by an external circuit, such as when an operator specifically engages a regenerative operation, such as descending in an airplane or depressing a brake pedal, for example. In other embodiments controller 130 can have logic circuitry that can selectively engage bypass switches 130a-130c to recharge only those batteries 105a-105c that have a charge level below a particular threshold or to charge specific batteries in a predetermined sequence to preserve their lifetime. One of ordinary skill in the art having the benefit of this disclosure, would recognize many variations, modifications, and alternative techniques of when and how to engage bypass switches 130a-130c, 100401 In some embodiments bypass switches 130a-130c are electro-mechanical relay-type switches with metallic contacts that are engaged and disengaged by an electromagnet. In other embodiments bypass switches 130a-130c are solid-state and are made from silicon, gallium-nitride, silicon-carbide or other semiconductor material, 100411 In some embodiments controller 135 can include fault monitoring and detection circuitry such that during a regenerative operation when one or more of bypass switches 130a-130c are closed if a. fault is detected (e.g., a battery fails as a short) the bypass switch for that particular battery 105a-105c is opened, preventing the other batteries from discharging current to the failed battery. One of ordinary skill, with the benefit of this disclosure, would recognize many variations, modifications, and alternatives for using the bypass switches. 1:00421 In sonic embodiments power distribution circuit 100 of FIG. 1 may be particularly useful for aerial vehicles that need multiple separate batteries 105a-105c for redundancy purposes. In such embodiments the isolated circuits inverter and motor circuits as shown in FIG. I can provide additional redundancy and improved reliability. For example, the separate inverter/motor and battery circuits would provide redundancy in the case of an electrical short or failure in a DC supply line from one battery to DC bus 110, for example. In some embodiments the location of bypass switches 130a-130c may be proximate batteries 105a- 105c (as shown in FIG. 1) while in other embodiments they may be proximate inverter circuits 1. -15a--115c.

WO2021/158568 PCT/US2021/016251 100431 Batteries 105a-105c can be lead-acid, nickel-metal hydride, lithium- ion, lithium-ion polymer, alkaline or any other type of battery. Motors 120a-120c can be any type of AC motor including but not limited to, brush, brushless, induction, or synchronous. Inverters 115a-115c can by any type of analog or solid-state inverter circuit that converts DC power to ACpower. For simplicity, various active and passive circuitry components are not shown in power distribution circuit 100. 100441 FIG. 2 illustrates a power distribution circuit 200 that is similar to power distribution circuit 100 shown in :FIG. 1, however this embodiment does not include diodes positioned between each battery and the DC bus. Instead, as shown in FIG. 2, breakers 230a- 230c are positioned between each battery 105a-105c and DC: bus 110. During normal operation breakers 230a-230e are in a closed position so DC power can flow from batteries 105a-105c to DC bus 110, through inverter circuits 115a-115c and to motors 120a-120c.

Controller 235 is configured to detect system faults and in response it can open one or more of breakers 230a-230c to prevent further failure, as described in more detail below. 100451 In one example controller 235 is configured to detect the failure of a battety 105a- 105c that fails in a shorted condition. Controller 235 then commands breaker 230a-230c associated with that particular battery 105a-105c to open, protecting the battery from receiving current from the other batteries coupled to DC bus 110. During such a failure, controller 235 is configured to keep the other breakers 230a-230c closed so that power can continue to be provided to motors 120a-120c. In further embodiments controller 235 is configured to only open breakers 230a-230c that are necessary and to keep all other breakers closed so power can continue to be supplied to motors 120a-120c. This operating mode can be particularly useful for aerial vehicles where continuous uninterrupted operation of motors 120a-120c is an important safety consideration. 100461 in some embodiments breakers 230a-230c can be located proximate batteries 105a- 105c (as shown in FIG. 2) while in other embodiments they can be located proximate motors 120a-120c. In further embodiments there may be a set of breakers 230a-230c proximate each battery 105a-105c and a separate set of breakers proximate each motor 120a- 120c, the combination of which may be used to isolate failures in the wiring harness that extends from the batteries to the motors. 11 WO2021/158568 PCT/US2021/016251 100471 In some embodiments breakers 230a-230c are electro-mechanical type switches with metallic contacts. In other embodiments breakers 230a-230c are solid- state and are made from silicon, gallium-nitride, silicon-carbide or other semiconductor material. 100481 FIG. 3 illustrates a power distribution circuit 300 according to embodiments of the disclosure, A.s shown in FIG. 3, each battery 105a-105d is coupled to a separate inverter 3-10a-310d that generates a respective three-phase AC output. There are also three separate interphase transformers 315a-315c that each receive one input phase from each inverter 310a- 310d and combine those inputs into one respective drive phase 320a-320c that is coupled to a motor 330. Within each interphase transformer 315a-315c, each of the four phased inputs are electrically isolated from each other so a failure in one input does not cause a failure in any of the other three inputs. In some embodiments each interphase transformer 315a- 315c is configured to inductively combine the power delivered by each of its four respective inputs to generate a unified single drive phase 320a-320c for motor 320. 100491 Thus, each phase of motor 320 is driven by a respective interphase transformer 315a-315c that receives approximately 25 percent of its power from each of the four separate inverter/battery sets. When one battery 105a-105d or inverter 310a-310d fails, each phase of motor 330 will receive approximately 25 percent less power, but the motor will still operate.

In some embodiments a master controller (not shown in FIG. 3) can be used that controls each phase of each inverter 310a-310c so the inputs to interphase transformers 315a-315c are synchronized. In some embodiments the motor controller circuit may include only inverters 310a-310d, while in other embodiments it can also include interphase transformers 315a- 315c. Because of the electrical isolation between each circuit, charge shuttling between batteries 105a-105d is also not a concern. 100501 During a regenerative event when motor 330 is turned by external mechanical forces, the motor delivers power to each interphase transformer 315a-315c which then delivers power through the separate inverters 310a-310d back to batteries 105a- 105d. Each battery 105a-105d is isolated from each other battery so if one battery fails power from the other batteries cannot flow to the failed battery. Essentially each battery and each AC signal are isolated so each operates as an isolated system. A.s appreciated by one of skill in the art having the benefit of this disclosure the number of batteries, the number of inverters and the number of interphase transformers are not limited to that shown in FIG. 3 and other embodiments can have a different number of these devices or configuration. For example, 12 Six batteries can be used with interphase transformers that each combine six inputs. One of ordinary skill, with the benefit of this disclosure, would recognize many variations, modifications, and alternatives. 100511 FIG. 4 illustrates a power distribution circuit 400 that is similar to power distribution circuit 300 illustrated in FIG. 3, however in this embodiment there are n.o interphase transformers and the motor includes twelve separate windings. As shown in FIG. 4, there are four separate batteries 105a-105d, each having a separate inverter 310a-310d coupled thereto. Each inverter 310a-310d generates three separate phases with each phase being coupled directly to motor 405. Thus, with the four, three phase inverters 310a-310d there are twelve phases generated that are all individually coupled to motor 405. 100521 In this embodiment, when one battery 105a-105d fails, three phases of the twelve phases in motor 405 will not receive power so the motor will still operate, but at only approximately 75 percent of the power. In some embodiments the circuit can include a controller configured to control the other inverters (e.g., inverters that have not failed) of the plurality of inverters to continue operation of the motor with a reduced number of phases.

The controller can also control the inverter coupled to the failed battery to isolate the failed battery from the circuit, Further, each battery 105a-105d and inverter 310a- 310d are electrically isolated from one another, so if a battery fails in a shorted state, current from the other batteries will not flow to the failed battery. Essentially, each battery 105a-105d and inverter 310a-310d set is electrically isolated from each other battery and inverter set.

Because of the isolation, charge shuttling between batteries 105a-105d is also not a concern. 100531 During a regeneration event, rotational energy is applied to motor 405 which operates as a generator, delivering current to each battery 105a-105d through each respective inverter 310a-310d. In other embodiments motor 405 can have any number of phases and inverters 310a-310d can generate any number of phased outputs. 100541 :FIG. 5 illustrates a power distribution circuit 500 according to embodiments of the disclosure. Power distribution circuit 500 is similar to power distribution circuits 100 and 200 illustrated in FIGS. 1 and 2, respectively, that employ a DC bus, however the embodiment illustrated in FIG. 5 uses DC/DC converters in series with each battery to supply energy to the common DC bus. As shown in FM. 5, individual batteries 105a-105 are each coupled to separate :DC/DC converters 505a-505d that convert and regulate DC energy received from each respective battery to DC energy that is coupled to a common DCbus 510. 13 DCbus 510 is coupled in parallel to a plurality of inverters 515a-515c that each generate a three-phase A.0 signal that drives individual motors 520a-520c. [00551 Each DC/DC converter 505a-505d is configured to receive power from only it's respective battery 105a-105d and deliver regulated power to DC bus 510 based on the load applied to the DC bus. More specifically, in some embodiments each DC/DC converter 505a-505d can be independently regulated and can use a voltage of DC bus 510 to control the amount of power the DC/DC converter extracts from its respective battery 105a- 105d. In other embodiments a controller 525 can control each DC/DC converter 505a-505d and cycle them on and off as needed to regulate the power delivered to DC bus 510. More specifically, each DC/DC converter 505a-505d can run on a duty cycle where it is on for a given period of time and off for a given period of time. [00561 In this embodiment, if a battery 105a-105d fails the DC/DC converter 505a-505d for that battery will not allow power to be transferred from DC bus 510 to the failed battery (e.g., if the battery fails in a shorted condition). In one example each DC/DC converter 505a- 505d (or the controller 525) can monitor a voltage across each respective battery 105a-105d to detect a short or failure within the battery and in response discontinue the transfer of power from that battery to DC bus 510, In further embodiments, DC/DC converters 505a- 505d can detect regenerative events and transfer power from DC bus 510 to batteries 105a-105d for recharging. In some embodiments the respective DC/DC converter 505a-505d can detect a regenerative event by monitoring a voltage potential on DC bus 510 as compared to the voltage available at the respective battery 105a-105d. In some embodiments a threshold voltage may be used to engage regenerative charging when a voltage on DC bus 510 exceeds the threshold voltage. [0057] In some embodiments DC/DC converters 505a-505d can adjust the load sharing between each of the batteries 105a-105d to maintain each battery at a similar state of charge.

In one embodiment each DC/DC converter 505a-505d monitors the respective battery 105a- 105d voltage and a voltage on DC bus 510. If controller 525 senses a battery 1.05a-105d voltage that is relatively higher than the other battery voltages, the controller can command the respective DC/DC converter 505a-505d to draw m.ore power from that battery to bring its charge state in line with the other batteries. In further embodiments each DC/DC converter 505a-505d can receive the same P\VM (pulse-width modulation) signal from controller 525 that controls the transfer of power from each respective battery 105a-105d to DCbus 510. In 14 WO2021/158568 PCT/US2021/016251 some embodiments, the same FWM signal can "automatically" compensate for different charge levels in batteries 1.05a-105d by transferring more power from batteries having a relatively higher charge because of their higher voltage level and relatively less power from batteries having a relatively lower charge because of their lower voltage levels. 100581 In some embodiments DC/DC converters 505a-505d can be placed proximate batteries 105a-105d while in other embodiments they can be placed proximate motors 520a- 520c. In further embodiments DC bus 510 can be eliminated and each DC/DC converter 505a-505d can be coupled to a respective inverter 515a-515c and each respective inverter can be coupled to a respective motor 520a-520c as shown in FIGS. 3 and 4. 1009] In some embodiments DC/DC converters 505a-505d can be switch-mode converters that are either isolated or non-isolated. In various embodiments isolated DC/DC converters 505a-505d may be preferable to isolate the downstream circuitry from potential failures of batteries 105a-105d. In some embodiments DC/DC converters 505a-505d can be, but are not limited to, the following architectures: step-down/buck, step-up boost, SEPIC, buck-boost or flyback. In further embodiments DC/DC converter 505a-505d can employ one or more solid- state switches that can comprise, silicon, silicon-carbide, gallium-nitride or any other type of solid-state switch. 100601 FIG. 6 illustrates a power distribution circuit 600, according to embodiments of the disclosure. Power distribution circuit 600 is similar to the power distribution circuits disclosed in FIGS. 3 and 4 having one battery coupled to each inverter, however in FIG. 6 each inverter powers redundant motors that are coupled to a single shaft. As shown in FIG. 6, three individual motors 605a-605c are coupled to a single propeller shaft 610.

Each of the three motors 605a-605c are driven by a separate battery 105a-105c such that if one battery fails the remaining motors and batteries are electrically isolated and can supply power to propeller shaft 610. When propeller 615 is rotated by external mechanical forces during a regenerative event, each of the individual motors 605a-605c generates electrical power that is fed back to each respective battery 105a-105c. If one battery 105a-105c or inverter 310a-310c fails, propeller 615 will still be powered by the two remaining motors 605a- 605c, however with approximately 33% less power. In other embodiments fewer than three separate motors can be used per shaft and in some embodiments more than three motors can be used shaft. In yet further embodiments each motor 605a can be supplied power via a redundant power distribution system such as illustrated in FIGS. 1-3 or FIG. 5.

WO2021/158568 PCT/US2021/016251 100611 FIG. 7 illustrates a simplified plan view of an aerial vehicle 700 in accordance with embodiments of the disclosure. As shown in FIG. 7, aerial vehicle 700 includes twelve motors 705a-7051 that are coupled to a battery pack 710 via a harness 715.

Aerial vehicle 700 can use one of or a combination of any of the power distribution circuits discussed above and illustrated in FIGS. 1-6. 100621 Although electric vehicle 700 is described and illustrated as one particular electric vehicle, embodiments of the disclosure are suitable for use with a multiplicity of electronic vehicles. For example, any electrically powered vehicle that receives at least part of its power from one or more batteries can be used with embodiments of the disclosure. In some instances, embodiments of the disclosure are particularly well suited for use with aerial vehicles because of the reliability and failure isolation of the power delivery circuits.

Although a control circuit is not illustrated in each of circuits shown in FIGS. 1-6, one or more control circuits can be added to any of the circuits described herein to control operation of the various components including, but not limited to, inverters, interphase transformers, switches, motors, feedback loops, etc. 100631 For simplicity, various active and passive circuitry components are not shown in the figures. In the foregoing specification, embodiments of the disclosure have been described with reference to numerous specific details that can vary from implementation to implementation. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense. The sole and exclusive indicator of the scope of the disclosure, and what is intended by the applicants to be the scope of the disclosure, is the literal and equivalent scope of the set of claims that issue from this application, in the specific form in which such claims issue, including any subsequent correction. The specific details of particular embodiments can be combined in any suitable manner without departing from the spirit and scope of embodiments of the disclosure. 100641 Additionally, spatially relative terms, such as "bottom or "top" and the like can be used to describe an element and/or feature's relationship to another element(s) and/or feature(s) as, for example, illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use and/or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as a "bottom" surface can then be oriented "above" other elements or features. The device can be otherwise oriented (e.g., rotated 90 16 WO2021/158568 PCT/US2021/016251 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. 100651 Term.s "and," "or," and "an/or," as used herein, may include a variety of meanings that also is expected to depend at least in part upon the context in which such terms are used.

Typically, "or" if used to associate a list, such as A, B, or C, is intended to mean A, B, and C, here used in the inclusive sense, as well as A, B, or C, here used in the exclusive sense. In addition, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular or may be used to describe some combination of features, structures, or characteristics. However, it should be noted that this is merely an illustrative example and claimed subject matter is not limited to this example Furthermore, the tel in "at least one of' if used to associate a list, such as A, B, or C, can be interpreted to mean any combination of A, B, and/or C, such as A, B, C, AB, AC, BC, AA., APB, ABC, AABBCCC, etc. 100661 Reference throughout this specification to "one example," "an example," "certain examples," or "exemplaiy implementation" means that a particular feature, structure, or characteristic described in connection with the feature and/or example may be included in at least one feature and/or example of claimed subject matter. Thus, the appearances of the phrase "in one example," "an example," "in certain examples," "in certain implementations," or other like phrases in various places throughout this specification are not necessarily all referring to the same feature, example, and/or limitation. Furthermore, the particular features, structures, or characteristics may be combined in one or more examples and/or features 17

Claims

CA 03167750 2022-07-12 WO 2021/158568 PCT/US2021/016251 What is claimed is:

1. A circuit comprising: a plurality of batteries; a plurality of DC to DC converters, each coupled to a respective battery of the plurality of batteries; a DC bus coupled in parallel to each of the plurality of DC to DC converters; a plurality of inverter circuits each coupled in parallel to the DC bus; and. a plurality of motors each coupled to a respective inverter circuit of the plurality of inverter circuits.

2. The circuit of clairn 1 further comprising a controller configured to monitor a voltage of the DC bus and a voltage of at least one battery of the plurality of batteries.

3. The circuit of claim 2 wherein the controller is configured to command at least one of the plurality of DC to DC converters to transfer power from the DC bus to at least one of the plurality of batteries based on a comparison between the voltage of the DC bus and the voltage of the at least one battery.

4. The circuit of clairn 2 wherein the controller is configured to command at least one of the plurality of DC to DC converters to transfer power from the DC bus to at least one of the plurality of batteries in response to at least one motor of the plurality of motors generating power during a regeneration event.

5. The circuit of claim 2 wherein the controller is configured to detect a failure of at least one battery of the plurality of batteries and in response, command one or more respective DC to DC converters of the plurality of DC to DC converters that are coupled to the one or more failed batteries of the plurality of batteries to isolate the one or more failed batteries from the DC bus.

6. The circuit of claim 1 wherein each of the plurality of DC to DC converters includes a control circuit configured to monitor a voltage of the DC bus and to transfer power to a respective battery from the DC bus when a voltage of the DC bus is greater than a threshold voltage, wherein the threshold voltage is based on a voltage of at least one battery of the plurality of batteries. 18 CA 03167750 2022-07-12 WO 2021/158568 PCT/US2021/016251

7. The circuit of claim 6 wherein the control circuit is configured to transfer power from the DC bus to at least one of the plurality of batteries when at least one motor of the plurality of motors generates electrical power during a regeneration event.

B. The circuit of claim 6 wherein the control circuit is configured to detect a failure of at least one battery of the plurality of batteries and in response, commands the one or rnore respective DC to DC converters that are coupled to the one or more failed batteries of the plurality of batteries to isolate the one or more failed batteries from the DC bus.

9. The circuit of claim 1 wherein each of the plurality of motors is an AC motor.

10. The circuit of claim I wherein the plurality of motors propel an electrically powered vehicle.

I L The circuit of claim I wherein each of the plurality of motors is coupled to a respective propeller.

12. An electrically powered vehicle comprising: a DC bus: a plurality of batteries, each coupled in parallel to the DC bus; at least one switch coupled in series between at least one battery of the plurality of batteries and the DC bus; a plurality of inverter circuits, each coupled in parallel to the DC bus; and a plurality of rnotors, each coupled to a respective inverter circuit of the plurality of inverter circuits.

13. The electrically powered vehicle of claim 12 further comprising a plurality of switches, each switch coupled in series between a respective battery of the plurality of batteries.

1'1 The electrically powered vehicle of claim 13 further comprising circuitry coupled in series with each battery of the plurality of batteries and arranged to allow current to flow in one direction out of each respective battery of the plurality of batteries to the DC bus. 19 CA 03167750 2022-07-12 WO 2021/158568 PCT/US2021/016251

15. The electrically powered vehicle of claim 14 wherein the circuitry comprises at least one diode.

16. The electrically powered vehicle of claim 14 wherein each switch of the plurality of switches is arranged to bypass the circuitry coupled in series with each respective battery of the plurality of -batteries.

17, The electrically powered vehicle of claim 13 further comprising a controller configured to detect a failed battery of the plurality of batteries and in response, open the respective switch of the plurality of switches to electrically isolate the -failed battery from the DC bus.

18. The electrically powered vehicle of clairn 12 further comprising a controller configured to detect a regeneration event and in response close the at least one switch to transfer power from the DC bus to at least one battery of the plurality of batteries.

19. The electrically powered vehicle of claim 12 wherein each of the plurality of inverter circuits is configured to generate a multiphase AC output used to drive one or rnore of the plurality of motors,

20. The electrically powered vehicle of clairn 12 wherein each of the plurality of inverter circuits is configured to Renerate a three-phase output.

21. The electrically powered vehicle of clairn 20 wherein the three-phase output generated by each of the plurality of inverter circuits operates between 0 to 400 Volts AC at a frequency between 0 and 3 KHz.

22. The electrically powered vehicle of claim 12 wherein each of the plurality of motors is coupled to a respective propeller.

23. The electrically powered vehicle of claim 12 wherein each of the plurality of motors is a synchronous AC permanent magnet motor. 12. The electrically powered vehicle of claim 12 wherein the plurality of motors comprises at least 12 motors.

24. A circuit comprising: Lo CA 03167750 2022-07-12 WO 2021/158568 PCT/US2021/016251 a plurality of batteries; a plurality of inverters, each coupled to a respective battery of the plurality of batteries and configured to generate a plurality of input phases; a plurality of interphase transformers, each receiving one or more of the plurality of input phases and generating a combined single drive phase; and a motor configured to receive the combined single drive phase from each of the plurality of interphase transformers.

25. The circuit of claim 24 wherein at least one interphase transformer of the plurality of interphase transformers receives an input phase from each of the plurality of inverters.

26. The circuit of claim 24 wherein each of the interphase transformers of the plurality of interphase transformers receives an input phase from each of the plurality of inverters.

27. The circuit of claim 24 wherein each interphase transformer of the plurality of interphase transfortners electrically isolates each of the plurality of input phases from each other.

28. The circuit of claim 24 further comprising a controller configured to control operation of at least one of the inverters to control a speed and a power of the motor.

29. The circuit of claim 28 wherein the controller is configured to detect a failed battery of the plurality of batteries and in response disable a respective inverter of the plurality of inverters that is coupled to the failed battety.

30. The circuit of claim 24 wherein one or more of the plurality of inverters are configured to charge one or more of the plurality of batteries when the rnotor generates electrical power during a regeneration event.

31. The circuit of claim 24 wherein the motor is a synchronous AC permanent magnet motor.

32. The circuit of claim 24 wherein the motor propels an electrically powered vehicle. 21 CA 03167750 2022-07-12 WO 2021/158568 PCT/US2021/016251

33. The circuit of claim 24 wherein the motor is coupled to a propeller.

34. An electrically powered vehicle comprising: a plurality of batteries; a plurality of inverters, each coupled to a respective battery of the plurality of batteries and configured to generate a plurality of phases; and a motor configured to receive each of the plurality of phases from each of the plurality of inverters.

35. The electrically powered vehicle of clairn 34 wherein each inverter of the plurality of inverters is configured to generate three phases.

36. The elearically powered vehicle of claim 34 further comprising a controller configured to detect a failed battery and in response disable the respective inverter of the plurality of inverters that is coupled to the failed battery.

37. The electrically powered vehicle of claim 36 wherein the controller is configured to control the other inverters of the plurality of inverters to continue operation of the motor with a reduced number of phases.

38. The electrically powered vehicle of claim 34 wherein one or more of the plurality of inverters are configured to transmit power to one or more of the plurahty of batteries when the motor generates electrical power during a regeneration event. 22 CA 03167750 2022-07-12 WO 2021/158568 PCT/US2021/016251

39. The electrically powered vehicle of clairn 34 wherein the motor is coupled to a propeller.

40. The electrically powered vehicle of claim 34 wherein the motor is a synchronous AC permanent magnet motor. 23