WO2021119196A1 - Systèmes et dispositifs d'un moteur à onduleur à cinq phases - Google Patents

Systèmes et dispositifs d'un moteur à onduleur à cinq phases Download PDF

Info

Publication number
WO2021119196A1
WO2021119196A1 PCT/US2020/064111 US2020064111W WO2021119196A1 WO 2021119196 A1 WO2021119196 A1 WO 2021119196A1 US 2020064111 W US2020064111 W US 2020064111W WO 2021119196 A1 WO2021119196 A1 WO 2021119196A1
Authority
WO
WIPO (PCT)
Prior art keywords
magnets
phase inverter
motor
teeth
rotor
Prior art date
Application number
PCT/US2020/064111
Other languages
English (en)
Inventor
Bart Dean Hibbs
Original Assignee
Aerovironment, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aerovironment, Inc. filed Critical Aerovironment, Inc.
Publication of WO2021119196A1 publication Critical patent/WO2021119196A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
    • H02K3/28—Layout of windings or of connections between windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Definitions

  • TITLE SYSTEMS AND DEVICES OF A FIVE-PHASE INVERTER MOTOR
  • Embodiments relate generally to motors, and more particularly to a motor for an unmanned aerial vehicle (UAV).
  • UAV unmanned aerial vehicle
  • Unmanned aerial vehicles such as a high altitude long endurance aircraft, are lightweight planes that are capable of controlled, sustained flight. UAVs may be associated with ground-based operators for two-way communications. UAVs may utilize one or more motors to provide power and control to the UAV for sustained flight.
  • An embodiment may include a five-phase inverter-driven permanent magnet motor of an unmanned aerial vehicle (UAV).
  • UAV unmanned aerial vehicle
  • the UAV is a high altitude long endurance solar-powered aircraft.
  • a device embodiment may include a five-phase inverter motor comprising: a stator comprising: at least one armature; at least five teeth; a rotor comprising; at least four magnets; at least five inverters; where four magnets of the at least four magnets are associated with five teeth of the at least five teeth.
  • a maximum current is produced when each rotor tooth of the plurality of teeth associated with the rotor is lined up directly between two magnets of the plurality of magnets.
  • no current is produced when a tooth of the at least five teeth is directly facing a magnet of the at least four magnets.
  • an AC drive (420) regulates power to the at least five inverters.
  • a device embodiment may include a five- phase inverter motor comprising: a stator comprising: at least one armature containing a number of teeth divisible by five and a rotor with a number of magnets divisible by four; at least five inverters; where there are four magnets for every five teeth.
  • an AC drive (420) regulates power to the at least five inverters.
  • FIG. 1 depicts an unmanned aerial vehicle with at least one five-phase inverter-driven permanent magnet motor, according to one embodiment
  • FIG. 2 depicts a top perspective disassembled view of a rotor and a stator of the five-phase inverter-driven permanent magnet motor of FIG. 1, according to one embodiment;
  • FIG. 3 depicts an elevation view of the five-phase inverter-driven permanent magnet motor of FIG. 1, according to one embodiment
  • FIG. 4 depicts a schematic of an inverter of the five-phase inverter-driven permanent magnet motor of FIG. 1, according to one embodiment
  • FIG. 5 depicts an alternative schematic of an inverter of the five-phase inverter-driven permanent magnet motor of FIG. 1, according to one embodiment
  • FIG. 6 illustrates an example top-level functional block diagram of a computing device embodiment
  • FIG. 7 depicts a flowchart of a process of operation of the five-phase inverter- driven permanent magnet motor of FIG. 1, according to one embodiment.
  • an unmanned aerial vehicle (UAV) 101 with at least one five-phase inverter-driven permanent magnet motor 110 is depicted.
  • UAVs are aircraft with no onboard pilot and may fly autonomously or remotely.
  • the UAV 101 is a high altitude long endurance aircraft.
  • the UAV 101 may have one or more motors 110, for example, between one and 40 motors, and a wingspan between 100 feet and 400 feet.
  • the UAV 101 has a wingspan of approximately 260 feet and is propelled by a plurality of propellers 140 coupled to a plurality of motors, for example, ten electric motors, powered by a solar array covering the surface of the wing, resulting in zero emissions.
  • the UAV 101 is designed for continuous, extended missions of up to months without landing.
  • the UAV 101 may function optimally at high altitude and is capable of considerable periods of sustained flight without recourse to land.
  • the UAV 101 may weigh approximately 3,000 lbs.
  • a five-phase inverter-driven permanent magnet motor may propel a UAV for extended flight.
  • Permanent magnet motors may result in compromises that reduce motor efficiency or increase weight. Some examples of the compromises considered concern the layout of the winding and the magnets.
  • Three-phase motors are wound in several ways. A classic wind is to have each coil span three slots, forming an overlapping wind of the three phases. This has the compromise of large end turns, adding weight, resistance, and reducing efficiency.
  • each coil spans one slot, and each tooth is wound separately. This greatly reduces the bulk of the end turns.
  • the AC power in each tooth is exactly in phase with the passage of the magnets. This can be done if three teeth are included for every two magnets. As a result, the tooth is much smaller than the magnet, and some magnetic flux leaks out to adjacent teeth, reducing motor efficiency.
  • Another optional embodiment is to have fewer teeth per magnet, such as a 24 tooth, 20 magnet arrangement.
  • the teeth are sized to capture all the flux from each magnet, but the AC current in every tooth will not be in phase with the passage of the magnets. There will be small phase offsets.
  • the at least one motor 110 coupled to the UAV 101 for propulsion of the UAV 101 is shown.
  • the motor 110 is a five- phase inverter powered permanent magnet motor.
  • the motor 110 includes an out-runner rotor 120 (e.g., where the rotor, or runner, is outside the stator) with the stator 112 electrically connected with a five-way wye-configuration winding 114 about improved armatures 116.
  • each of the five phases is electrically isolated from the other phases and each phase is powered by a separate inverter power stage, allowing for redundancy in the event of a winding short or a power stage failure.
  • the motor 110 may have a casing formed of steel or other high- strength material to enclose and protect the motor.
  • a rotor 120 is positioned around the perimeter of the stator 112, with the rotor 120 having a back iron to contain the magnetic field of the rotor 120.
  • the rotor 120 may be formed of permanent magnets 122 such as neodymium and praseodymium or suitable magnet, including electromagnets.
  • the stator 112 may have the armatures 116 built up from layers of laminated electrical steel, such as silicon steel, with an oxide film positioned between each steel layer, to reduce induced ring currents and to increase efficiency of the motor 110.
  • Other armature materials may include iron or amorphous steel.
  • the motor 110 is configured to have the windings 114 wound around iron teeth like a standard combustion motor. Additionally, there may be a layer of magnets on the outside of the motor 110 that may remain glued to the motor 110 down to approximately -80° Celsius. This is useful as the UAV 101 often flies at night and at high altitude with temperatures approaching -80° Celsius.
  • the motor 110 may incorporate permendur: a cobalt-iron soft magnetic alloy with equal parts iron and cobalt, such as Hiperco®. Permendur has very low hysteresis and eddy current losses, often performing better than ironless motors.
  • iron has some very important properties that are not found in ironless motors, including; (1) mechanically supporting the winding, (2) providing inductance, thus not requiring external inductors, (3) providing a way for heat to get out of the motor, (4) gives a very thin air gap so you need far less magnetic material to make the magnetic field, and (5) keeping the magnetic field out of copper, because a magnetic field going through copper causes large energy losses in copper.
  • AC supplied to the stator windings 114 energizes the windings 114 to create a rotating magnetic flux.
  • the flux generates a magnetic field in an air gap between the rotor 120 and the stator 112 and induces a voltage, which produces current through rotor bars.
  • the rotor circuit may be shorted and current flows in rotor conductors. The action of the rotating flux and the current produces a force that generates a torque to start the five-phase inverter-driven permanent magnet motor 110.
  • Other embodiments may use an inrunner permanent magnet motor.
  • the rotor 120 may act as a field magnet, interacting with the armature 116 to create motion, or it may act as the armature 116, receiving its influence from moving field coils on the stator 112.
  • Embodiments of the present application disclose motors where by using five phases, for example, instead of three, a motor may be constructed with five teeth for every four magnets. Such configuration results in a tooth size closely equal to the magnet size, and allows for every tooth to be energized with AC current properly in phase with magnet passage.
  • the five-phase inverter-driven permanent magnet motor 110 may have five phases 150, an "A”, “B”, “C”, “D”, and ⁇ ” phase.
  • the teeth may be wound with the five phases, A, B, C, D, E, in the order A, C, E, B, D. If there are more than five teeth, the pattern repeats.
  • the number of phases refers to the different combinations of poles that are energized in sequence to attract the stator 112.
  • a separate inverter 128 may be generated for every phase.
  • a microcontroller 420 is shown connected to the phase “A” of FIG. 3.
  • the microcontroller 420 is an AC drive (e.g., an inverter).
  • the AC drive 420 may be situated between an electrical supply and the motor 110, and the AC drive 420 may receive the electrical supply.
  • the AC drive 420 may then regulate the power to be fed to the motor 110.
  • the input electrical power is run through a power stage 130 of the AC drive 420, which converts the incoming DC power to AC power that is then transmitted to the motor 110. Configured as such, the AC drive 420 may adjust the frequency and voltage that is supplied to the motor 110 at the desired speed.
  • the windings 114 receive the AC power from the AC drive 420 and become energized.
  • a winding 114 may be wound around each of a plurality of iron teeth 138 of the stator 112 in a so-called “concentrated winding”.
  • an electro-magnet is created which attracts the magnetic flux of the rotor 120, with each electro-magnet being a single north (N) - south (S) pole.
  • N north
  • S south
  • a maximum current is supplied when each stator tooth 138 is lined up 160 directly between two magnets 122.
  • a five-phase inverter motor 110 may include: a stator 112, a rotor 120, and at least five inverters 420.
  • the stator 112 may include at least one armature 116 containing a number of teeth 138 divisible by five.
  • the rotor 120 may include a number of magnets 122 divisible by four. There may be four magnets 122 for every five teeth 138 in some embodiments. If one inverter 420 of the at least five inverters 420 fails, the four remaining inverters 420 are able to run the five-phase inverter motor 110.
  • a maximum current is produced when each rotor tooth 138 of the teeth 138 associated with the rotor 120 is lined up directly between two magnets 122 of the magnets. No current is produced when a tooth 138 of the teeth 138 is directly facing a magnet 122 of the magnets 122.
  • An AC drive may regulate power to the at least five inverters 420.
  • each stator tooth 138 is approximately .75 to .8 the size of the distance from one gap or “slot” 140 between the magnets 122 and the next.
  • the size of each stator tooth 138 is approximately the same size as each magnet 122, thus all the flux may go right through a stator tooth 138 when the stator tooth 138 is directly facing a magnet 122.
  • the motor 110 has 40 poles and 45 slots 140. In one embodiment, with 5 stator teeth 138 for every 4 magnets 122, every stator tooth 138 is energized such that each stator tooth 138 is perfectly in phase with the magnet 122 that the stator tooth 138 faces.
  • FIG. 6 illustrates an example of a top-level functional block diagram of a computing device embodiment 400.
  • the example operating environment is shown as a computing device 420, such as microcontroller 420 comprising a processor 424, such as a central processing unit (CPU), addressable memory 427, an external device interface 426, e.g., an optional universal serial bus port and related processing, and/or an Ethernet port and related processing, and an optional user interface 429, e.g., an array of status lights and one or more toggle switches, and/or a display, and/or a keyboard and/or a pointer-mouse system and/or a touch screen.
  • a computing device 420 such as microcontroller 420 comprising a processor 424, such as a central processing unit (CPU), addressable memory 427, an external device interface 426, e.g., an optional universal serial bus port and related processing, and/or an Ethernet port and related processing, and an optional user interface 429, e.g., an array of
  • the addressable memory may include any type of computer-readable media that can store data accessible by the microcontroller 420, such as magnetic hard and floppy disk drives, optical disk drives, magnetic cassettes, tape drives, flash memory cards, digital video disks (DVDs), Bernoulli cartridges, RAMs, ROMs, smart cards, etc.
  • any medium for storing or transmitting computer-readable instructions and data may be employed, including a connection port to or node on a network, such as a LAN, WAN, or the Internet.
  • a connection port to or node on a network such as a LAN, WAN, or the Internet.
  • these elements may be in communication with one another via a data bus 428.
  • the processor 424 via an operating system 425 such as one supporting a web browser 423 and applications 422, the processor 424 may be configured to execute steps of a process establishing a communication channel and processing according to the embodiments described above.
  • a flowchart 200 of a process for operating the five- phase inverter-driven permanent magnet motor 110 is shown.
  • an AC drive regulates the power to be fed to an inverter of the five-phase inverter-driven permanent magnet motor.
  • windings of the motor receive the AC power and become energized.
  • a winding is wound around each of a plurality of iron teeth of the stator and an electro-magnet is created which attracts the magnetic flux of the rotor to the stator, at step 206.
  • a maximum current is produced when each stator tooth associated with the stator is lined up directly between two magnets.
  • step 210 there are 5 stator teeth for every 4 magnets of the motor, and if each stator tooth is lined up with a magnet, then no current is produced when a given rotor tooth is directly facing a magnet.
  • step 212 as the stator teeth 138 are displaced and become out of phase the motor 110 produces torque.
  • step 214 if one inverter of the five-phase inverter motor fails, the four remaining inverters are able to run the motor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'invention concerne des systèmes, des dispositifs et des procédés pour un moteur à onduleur à cinq phases (110) qui comprend : un stator (112) comportant : au moins un induit (116) ; au moins cinq dents (138) ; un rotor (120) comprenant au moins quatre aimants (122) ; au moins cinq onduleurs (420) ; quatre aimants desdits au moins quatre aimants étant associés à cinq dents desdites au moins cinq dents.
PCT/US2020/064111 2019-12-09 2020-12-09 Systèmes et dispositifs d'un moteur à onduleur à cinq phases WO2021119196A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201962945821P 2019-12-09 2019-12-09
US62/945,821 2019-12-09

Publications (1)

Publication Number Publication Date
WO2021119196A1 true WO2021119196A1 (fr) 2021-06-17

Family

ID=76330747

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2020/064111 WO2021119196A1 (fr) 2019-12-09 2020-12-09 Systèmes et dispositifs d'un moteur à onduleur à cinq phases

Country Status (1)

Country Link
WO (1) WO2021119196A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010146368A2 (fr) * 2009-06-19 2010-12-23 University Of Strathclyde Machine électrique
US8203246B2 (en) * 2009-02-20 2012-06-19 Denso Corporation Five-phase motor with improved stator structure
US8575885B2 (en) * 2010-01-25 2013-11-05 Toyota Jidosha Kabushiki Kaisha Motor drive system, control method of motor drive system, and traveling device
US20190149075A1 (en) * 2016-05-04 2019-05-16 Universiteit Gent Switched reluctance machine and power converter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8203246B2 (en) * 2009-02-20 2012-06-19 Denso Corporation Five-phase motor with improved stator structure
WO2010146368A2 (fr) * 2009-06-19 2010-12-23 University Of Strathclyde Machine électrique
US8575885B2 (en) * 2010-01-25 2013-11-05 Toyota Jidosha Kabushiki Kaisha Motor drive system, control method of motor drive system, and traveling device
US20190149075A1 (en) * 2016-05-04 2019-05-16 Universiteit Gent Switched reluctance machine and power converter

Similar Documents

Publication Publication Date Title
US7598646B2 (en) Electric motor with Halbach arrays
KR102538260B1 (ko) 소음 감소를 위한 모터 극의 수량의 변화
US7898135B2 (en) Hybrid permanent magnet motor
US9496768B2 (en) Electrical machines
US20120001502A1 (en) Multi-unit Modular Stackable Switched Reluctance Motor System with Parallely Excited Low Reluctance Circumferential Magnetic Flux loops for High Torque Density Generation
CN113785478A (zh) 一种用于控制多通道电机的系统和方法
US11731758B2 (en) Device for directly controlling a blade by means of an electromechanical actuator
JP2009504509A (ja) 円盤状飛行機
US11738876B2 (en) Electrical propulsion unit for an aircraft and method for using such a propulsion unit
US20130127284A1 (en) Aircraft
CN112550730A (zh) 用于螺旋桨发动机的电动马达
US20140340011A1 (en) High efficiency permanent magnet machine
Islam et al. Slotless lightweight motor for drone applications
Livadaru et al. Design and finite element analysis of high-density torque induction motor for traction applications
CN105703590A (zh) 具有虚拟转子的磁阻马达
CN110429779A (zh) 一种高可靠性电励磁双凸极起动发电机
Bolam et al. Implementation of electrical rim driven fan technology to small unmanned aircraft
Mecrow et al. Drive topologies for solar-powered aircraft
CN107423940B (zh) 一种快递机器人
WO2021119196A1 (fr) Systèmes et dispositifs d'un moteur à onduleur à cinq phases
CN104554720A (zh) 一种复合动力直升机
Quesada et al. Finite difference study of unconventional structures of permanent-magnet linear machines for electromagnetic aircraft launch system
CN104779755B (zh) 一种模块化双定子永磁直线电机及由其构成的电机模组
Ullah et al. Optimisation of Permanent magnet machine topologies suitable for solar powered aircraft
Nukki et al. Exterior-rotor permanent magnet synchronous machine with toroidal windings for unmanned aerial vehicles

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20898309

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20898309

Country of ref document: EP

Kind code of ref document: A1