This application describes the software invented to control a dual electric motor system. The dual electric motor system is a Chorus Motor system applied to electric drive for aircraft taxi. The software uses closed-loop control together with several other control laws to operate the motors. Knowled
This application describes the software invented to control a dual electric motor system. The dual electric motor system is a Chorus Motor system applied to electric drive for aircraft taxi. The software uses closed-loop control together with several other control laws to operate the motors. Knowledge of the current operating state of the motors, together with knowledge of the commands given to taxi forward, taxi in reverse, or brake in reverse, is used to configure the motors to optimal operating parameters. The software architecture is described along with the pilot interface and many details of software implementation.
대표청구항▼
1. An aircraft motor control system for controlling a drive motor associated with at least one aircraft nose wheel to drive the aircraft independently on the ground in a selected forward or reverse direction without the use of the aircraft main engines in accordance with one or more operational stat
1. An aircraft motor control system for controlling a drive motor associated with at least one aircraft nose wheel to drive the aircraft independently on the ground in a selected forward or reverse direction without the use of the aircraft main engines in accordance with one or more operational states, wherein said motor control system comprises: (a) at least one electrically powered drive motor drivingly housed within at least one aircraft nose wheel, said drive motor including a stator-rotor combination configured to generate a requested nose wheel torque or speed in response to one or more aircraft operational states to drive said nose wheel, and drive electronics electronically connected to said stator-rotor combination;(b) a pilot interface operationally connected to said at least one electrically powered drive motor comprising a plurality of input devices and a plurality of notification devices designed to overlap with said input devices, each of said input devices being configured to actuate a power command and to move the aircraft at a drive motor torque in a selected direction as required by a selected aircraft operational states;(c) a plurality of sensors in connection with said input devices, said at least one nose wheel, and said at least one electrically powered drive motor adapted to provide information relating to said selected aircraft operational state;(d) hardware drivers electronically connected to said input devices and said sensors and adapted to calibrate power commands and sensor information to produce input device variables relating to said selected aircraft operational state;(e) control loop means electronically connected to said hardware drivers, said sensors, and said input devices, wherein said control loop means comprises state change law means for defining state change laws for said input device variables, system state means for applying the state change laws to determine an aircraft nose wheel operational state, first parameter filter limit law (PFLL) means for filtering selected ones of said input device variables according to a first set of out-of-bounds conditions, first calculation means to determine a torque or speed request to apply to the drive motor in accordance with filtered selected input device variables, second parameter filter limit law (PFLL) means for filtering a requested torque or speed, second calculation means to determine a motor drive frequency and motor voltage to produce the filtered requested torque or speed, motor command generator means for producing lower level commands to drive the drive motor based on a determined motor drive frequency and motor voltage corresponding to the filtered requested torque or speed, and motor commander means for formatting said lower level commands for said drive motor; and(f) drive electronics connecting said input devices, said notification devices, said sensors, said hardware drivers, said control loop means, and said drive motor adapted to supply electric power to the stator-rotor combination of said drive motor in accordance with said lower level commands to move said aircraft nose wheels at said requested torque or speed in accordance with said selected aircraft operational state. 2. The aircraft motor control system described in claim 1, wherein said system comprises two aircraft nose wheels and two electrically powered drive motors, and each of said drive motors is drivingly connected to one of said two aircraft nose wheels, and further comprising a torque splitter adapted to divide the requested torque and share the requested torque between each said drive motor in each of said two aircraft nose wheels. 3. The aircraft motor control system described in claim 2, wherein said input devices comprise means for registering a requested nose wheel steer angle, and said system further comprises means to distribute the requested torque between the two nose wheel drive motors according to the requested steer angle. 4. A motor control system that uses algorithms and control laws to operate an aircraft wheel-mounted drive motor to allow an aircraft to taxi without main engines or a tug, said system comprising, in an open or closed control loop: a. two drive motors, each said motor comprising a mesh connected high phase order electric motor with a stator-rotor combination capable of high torque output housed within aircraft wheels to apply torque to drive to said aircraft wheels to move a taxiing an aircraft;b. a plurality of input devices and sensors designed to input data or provide data to be processed to request a desired torque or speed to drive said drive motors during taxi;c. a hardware driver designed to receive data to be processed from said input devices and to generate input variables relating to operation of said drive motors;d. a supply of stored data comprising information received from said hardware driver relating to operating parameters of each of said drive motors;e. an arrangement of algorithms comprising look-up tables and control laws adapted to process said input variables and said supply of stored data in accordance with selected control laws to determine a voltage and drive frequency required to operate each of the drive motors at said requested desired torque or speed or at a torque or speed determined by processing said input variables and said supply of stored data;f. a motor command generator designed to process voltage and drive frequency data to produce motor commands corresponding to said requested desired torque or speed and to communicate said motor commands to each of said drive motors through a motor commander adapted to format and communicate said motor commands to each of said drive motors to operate said drive motors at said requested desired torque or speed to move a taxiing aircraft; andg. a logger adapted to receive and maintain updated information relating to operation of said system. 5. The system of claim 4, further comprising, in a closed control loop, at least one proportional integral (PI) controller designed to process torque input to said hardware driver, wherein said at least one proportional integral (PI) controller is a torque proportional integral (PI) controller. 6. The control system of claim 5 wherein said one or more PI controllers are speed PI controllers. 7. The system of claim 4, further including, in a closed control loop, a proportional integral derivative (PID) controller. 8. The system of claim 4, wherein said sensors are selected from the group consisting of: temperature of motor windings sensors, rotor position sensors, DC rail voltage sensors, strut torque sensors, current sensors, speed sensors, and steering angle sensors. 9. The system of claim 4, wherein each said stator-rotor combinations is housed within each of said nose wheels to drive each of said nose wheels in said taxiing aircraft, and each stator-rotor combination is supplied with drive electronics, wherein said motor command generator provides a set of lower level commands for each stator-rotor combination. 10. The system of claim 4, wherein said drive motor further comprises a high phase order electric motor comprising more than three different phases with mesh connected windings, and wherein said system further comprises a harmonics optimizer for determining a harmonic drive frequency based on a requested torque. 11. The system of claim 4, wherein said data to be processed requests a desired torque required to move a taxiing aircraft, and said system further comprises torque sharing software designed to output the same torque to each drive motor during taxi. 12. The system of claim 11, wherein said data to be processed includes a requested desired nose wheel steer angle, and wherein said system further comprises a torque divider for steer angle designed to steer said aircraft by redistributing torque applied by each drive motor so that one drive motor turns relative to the other to steer said aircraft. 13. The system of claim 4, wherein said arrangement of algorithms and control laws comprises at least state change laws, parameter filter limit laws, an algorithm designed to calculate torque from said processed and stored data, and an algorithm designed to calculate a voltage and frequency capable of producing said requested desired torque. 14. The system of claim 13, further comprising a correction system for taking corrective action when a parameter filter limit law indicates that a defined out-of-bounds conditions is exceeded; wherein said correction system comprises means to override a power command that represents an out-of-bounds condition with a power command that does not represent an out-of-bounds condition. 15. An aircraft motor control system for controlling drive motors associated with aircraft wheels to drive the aircraft independently during taxi without use of the aircraft's main engines, wherein the motor control system comprises: a. an electrically powered high phase order drive motor housed within each one of a pair of aircraft nose wheels to drive each one of said nose wheels in response to a requested torque or speed to move an aircraft independently during taxi in accordance with a selected aircraft operational state comprising at least forward, reverse, and stationary operational states;b. input devices operable by a pilot of said aircraft operatively connected to each of said drive motors, wherein said input devices are selected from the group comprising joysticks, nudge buttons, and override buttons, and said input devices overlap with notification devices designed to communicate feedback to said pilot;c. sensors designed to be positioned in selected locations at said drive motors and said nose wheels in communication with said notification devices to notify said pilot of selected conditions relating to operation of said drive motors and said nose wheels;d. hardware drivers in communication with said input devices, said notification devices, and said sensors designed to interpret data relating to said requested torque or speed from said devices and said sensors; ande. an open or closed control loop electronically connecting at least said hardware drivers, said sensors, and said input devices, wherein said control loop includes state change laws designed to define state changes for said input device variables, a system state adapted to apply the state change laws to determine an operational state of said nose wheels, one or more parameter filter limit laws (PFLL) designed to filter input device variables according to defined out-of-bounds conditions relating to a requested torque or speed, a first calculation means to determine a torque or speed request to apply to each of the drive motors in accordance with filtered input device variables, a second calculation means to determine a motor drive frequency and a motor voltage to produce a drive motor torque or speed request, a motor command generator adapted to produce lower level commands to drive each drive motor based on motor drive frequency and motor voltage, and a motor commander designed to format said lower level commands and communicate said lower level commands to each said drive motor, wherein each said drive motor comprises a stator-rotor combination and drive electronics adapted to supply electric power to the stator-rotor combination in accordance with said lower level commands to drive said nose wheels and move said aircraft independently during taxi in accordance with a selected operational state at said requested torque or speed.
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