JP2021031007A5 - - Google Patents
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- JP2021031007A5 JP2021031007A5 JP2019156466A JP2019156466A JP2021031007A5 JP 2021031007 A5 JP2021031007 A5 JP 2021031007A5 JP 2019156466 A JP2019156466 A JP 2019156466A JP 2019156466 A JP2019156466 A JP 2019156466A JP 2021031007 A5 JP2021031007 A5 JP 2021031007A5
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- control device
- thrust
- measurement result
- drive motor
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本開示の一形態によれば、電動垂直離着陸機（１００）の制御装置（１９）が提供される。この制御装置は、回転翼（３０）を有する電動垂直離着陸機に搭載され前記回転翼を回転駆動させる駆動用モータ（１２）を有する電駆動システム（１０）を制御する制御装置であって、前記制御装置は、前記電駆動システムを、前記電動垂直離着陸機を飛行させるための動作モードである通常モードと、前記電駆動システムの正常性を確認するための動作モードである機能試験モードの少なくとも２種類の動作モードのうちのいずれかの動作モードで選択的に動作するように制御し、前記通常モードにおいて、前記制御装置は、前記電動垂直離着陸機の飛行を制御する機体制御装置（５０）からの指令に応じて前記駆動用モータを制御し、前記機能試験モードにおいて、前記制御装置は、機能試験用プログラムに従って外部から送信される指令に応じて、または、自身に予め設定されている前記機能試験用プログラムに応じて、前記駆動用モータを制御する。 According to one embodiment of the present disclosure, a control device (19) for an electric vertical take-off and landing aircraft (100) is provided. The control device is a control device for controlling the electric drive system having a drive motor (12) which is mounted on the electric VTOL aircraft having a rotary wing (30) is driven rotating said rotary blade (10), wherein control device, the electric drive system, the electric and the normal mode is an operation mode for causing the flying vertical take-off and landing aircraft, at least two of the conductive operating mode for confirming the normality of functional test mode of the drive system From the aircraft control device (50) that controls to selectively operate in any of the operation modes of the types, and in the normal mode, the control device controls the flight of the electric vertical takeoff and landing aircraft. The drive motor is controlled according to the command of, and in the functional test mode, the control device responds to a command transmitted from the outside according to the functional test program, or the function preset to itself. The drive motor is controlled according to the test program.
Claims (10)
前記制御装置は、前記電駆動システムを、前記電動垂直離着陸機を飛行させるための動作モードである通常モードと、前記電駆動システムの正常性を確認するための動作モードである機能試験モードの少なくとも２種類の動作モードのうちのいずれかの動作モードで選択的に動作するように制御し、
前記通常モードにおいて、前記制御装置は、前記電動垂直離着陸機の飛行を制御する機体制御装置（５０）からの指令に応じて前記駆動用モータを制御し、
前記機能試験モードにおいて、前記制御装置は、機能試験用プログラムに従って外部から送信される指令に応じて、または、自身に予め設定されている前記機能試験用プログラムに応じて、前記駆動用モータを制御する、
制御装置。 A control device (19) for controlling an electric drive system (10) having a drive motor (12) mounted on an electric vertical take-off and landing aircraft (100) having a rotor blade (30) and driving the rotary blade to rotate.
The control device has at least a normal mode, which is an operation mode for flying the electric vertical takeoff and landing aircraft, and a functional test mode, which is an operation mode for confirming the normality of the electric drive system. Controlled to operate selectively in one of the two operation modes,
In the normal mode, the control device controls the drive motor in response to a command from the aircraft control device (50) that controls the flight of the electric vertical takeoff and landing aircraft.
In the functional test mode, the control device controls the drive motor according to a command transmitted from the outside according to the functional test program or according to the functional test program preset in the control device. do,
Control device.
前記駆動用モータに関する回転数と、駆動電流と、駆動電圧と、推力と、のうちの少なくとも１つの計測結果を取得する計測結果取得部（１９２）と、
取得された前記計測結果を用いて前記機能試験の合否を判定する合否判定部（１９３）と、
を備える、制御装置。 In the control device according to claim 1,
A measurement result acquisition unit (192) that acquires a measurement result of at least one of the rotation speed, the drive current, the drive voltage, and the thrust of the drive motor.
A pass / fail determination unit (193) that determines the pass / fail of the functional test using the acquired measurement results, and
A control device.
前記電駆動システムは、前記回転数を計測する回転数計測部を有し、
前記計測結果取得部は、前記回転数計測部から前記回転数の計測結果を取得する、制御装置。 In the control device according to claim 2,
The electric drive system has a rotation speed measuring unit for measuring the rotation speed.
The measurement result acquisition unit is a control device that acquires the measurement result of the rotation speed from the rotation speed measurement unit.
前記電駆動システムは、前記推力を計測する推力計測部をさらに有し、
前記計測結果取得部は、前記推力計測部から前記推力の計測結果を取得し、
前記合否判定部は、前記機能試験モードにおける前記推力の想定値である推力想定値と、取得された前記推力の前記計測結果と、を用いて、前記機能試験の合否を判定する、制御装置。 In the control device according to claim 2 or claim 3.
The electric drive system further has a thrust measuring unit for measuring the thrust.
The measurement result acquisition unit acquires the measurement result of the thrust from the thrust measurement unit, and obtains the measurement result of the thrust.
The pass / fail determination unit is a control device that determines the pass / fail of the functional test by using the estimated thrust value which is the assumed value of the thrust in the functional test mode and the measured result of the acquired thrust.
大気密度と、前記駆動用モータに対する前記回転数の指令値と、前記回転翼の取付角度とから、前記推力想定値を算出する推力想定値算出部（１９４）と、
をさらに備える、制御装置。 In the control device according to claim 4,
A thrust estimation value calculation unit (194) that calculates the thrust estimation value from the atmospheric density, the command value of the rotation speed with respect to the drive motor, and the mounting angle of the rotor blade.
Further equipped with a control device.
前記推力想定値を外部から入力するための入力インターフェイスを、さらに備える制御装置。 In the control device according to claim 4,
A control device further provided with an input interface for inputting the assumed thrust value from the outside.
前記電駆動システムは、
直接的に、または、前記電動垂直離着陸機の機体（２０）を介して間接的に、前記電駆動システムを推力発生方向に保持可能な治具と連結するための機械的な連結部（６０）を、有する、制御装置。 In the control device according to claim 2,
The electric drive system is
A mechanical connection (60) for connecting the electric drive system to a jig that can hold the electric drive system in the thrust generation direction, either directly or indirectly via the airframe (20) of the electric vertical takeoff and landing aircraft. Has a control device.
前記電駆動システムは、前記治具に配置されている前記駆動用モータの推力を計測する
推力計測装置から計測結果を入力するための入力インターフェイスを有し、
前記計測結果取得部は、前記入力インターフェイスから入力される前記推力の前記計測結果を取得する、制御装置。 In the control device according to claim 7,
The electric drive system has an input interface for inputting measurement results from a thrust measuring device that measures the thrust of the drive motor arranged in the jig.
The measurement result acquisition unit is a control device that acquires the measurement result of the thrust input from the input interface.
前記駆動用モータに関する回転数と、駆動電流と、駆動電圧と、推力と、のうちの少なくとも１つの計測結果を取得する計測結果取得部と、
前記駆動用モータへの指令値と、取得された前記計測結果と、前記機能試験の合否結果と、のうちの少なくとも１つを記憶する記憶部（１９ｂ）を、さらに備える、制御装置。 The control device according to any one of claims 1 to 8.
A measurement result acquisition unit that acquires a measurement result of at least one of the rotation speed, the drive current, the drive voltage, and the thrust of the drive motor.
A control device further comprising a storage unit (19b) for storing at least one of a command value to the drive motor, the acquired measurement result, and a pass / fail result of the functional test.
前記駆動用モータに関する回転数と、駆動電流と、駆動電圧と、推力と、のうちの少なくとも１つの計測結果を取得する計測結果取得部と、
前記駆動用モータへの指令値と、取得された前記計測結果と、前記機能試験の合否結果と、のうちの少なくとも１つを前記電駆動システムが有する送信インターフェイスを介して外部に送信するための送信インターフェイスを、さらに備える、制御装置。 In the control device according to any one of claims 1 to 9.
A measurement result acquisition unit that acquires a measurement result of at least one of the rotation speed, the drive current, the drive voltage, and the thrust of the drive motor.
To transmit at least one of the command value to the drive motor, the acquired measurement result, and the pass / fail result of the functional test to the outside via the transmission interface of the electric drive system. A control device further equipped with a transmission interface.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019156466A JP7255426B2 (en) | 2019-08-29 | 2019-08-29 | Control device for electric vertical take-off and landing aircraft |
| CN202080060389.2A CN114286782A (en) | 2019-08-28 | 2020-08-17 | Control device of electric vertical take-off and landing machine |
| EP20856859.2A EP4023552A4 (en) | 2019-08-28 | 2020-08-17 | Control device of electric vertical takeoff and landing aircraft |
| PCT/JP2020/031007 WO2021039469A1 (en) | 2019-08-28 | 2020-08-17 | Control device of electric vertical takeoff and landing aircraft |
| US17/678,170 US20220177123A1 (en) | 2019-08-28 | 2022-02-23 | Control device for electric vertical takeoff and landing aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019156466A JP7255426B2 (en) | 2019-08-29 | 2019-08-29 | Control device for electric vertical take-off and landing aircraft |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2021031007A JP2021031007A (en) | 2021-03-01 |
| JP2021031007A5 true JP2021031007A5 (en) | 2021-11-25 |
| JP7255426B2 JP7255426B2 (en) | 2023-04-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2019156466A Active JP7255426B2 (en) | 2019-08-28 | 2019-08-29 | Control device for electric vertical take-off and landing aircraft |
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| JP (1) | JP7255426B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7267903B2 (en) * | 2019-11-26 | 2023-05-02 | 国立大学法人徳島大学 | flying object |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006082775A (en) * | 2004-09-17 | 2006-03-30 | Hiroboo Kk | Unmanned flying object controlling system and method |
| US9501061B2 (en) | 2015-02-24 | 2016-11-22 | Qualcomm Incorporated | Near-flight testing maneuvers for autonomous aircraft |
| JP7226376B2 (en) | 2020-03-10 | 2023-02-21 | 株式会社デンソー | Abnormal diagnosis system |
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