# US 12,015,361 B2 · Motor control device

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- Number: US 12,015,361 B2
- Document ID: US12015361B2
- Status: Granted
- Kind: B2
- Application number: 17/796,682
- Filed: 2020-03-04
- Published: 2023-02-23
- Granted: 2024-06-18
- Earliest claimed: 2020-03-04
- Assignees: Mitsubishi Electric Corporation; Japan Aerospace Exploration Agency
- Applicants: Mitsubishi Electric Corporation; Japan Aerospace Exploration Agency
- Inventors: Kenji Fujiwara; Hisatoshi Fukumoto; Tomoki Takegami; Tetsuya Kojima; Akihiko Iwata; Masahiro Sugahara; Hiroshi Kobayashi; Mari Nishiyama; Akira Nishizawa
- Web page: https://patentgrep.com/patent/US12015361B2

## CPC

- H02M 1/0095: {Hybrid converter topologies, e.g. NPC mixed with flying capacitor, thyristor converter mixed with MMC or charge pump mixed with buck}
- H02P 27/06: using DC to AC converters or inverters (H02P27/05 takes precedence)
- B60L 50/52: characterised by DC-motors
- H02K 11/33: Drive circuits, e.g. power electronics (H02K11/38 takes precedence)
- H02M 1/007: {Plural converter units in cascade (push-pull DC/DC converters with pre-regulator H02M3/3374; DC-AC converters following a DC-DC stage including a high frequency transformer H02M7/4807; DC-AC converters following a DC-DC conversion stage generating periodically varying voltages H02M7/4826)}
- H02M 3/156: with automatic control of output voltage or current, e.g. switching regulators
- H02M 3/158: including plural semiconductor devices as final control devices for a single load
- H02M 7/44: by static converters
- H02M 7/537: using semiconductor devices only, e.g. single switched pulse inverters
- H02P 29/032: Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
- B60L 2200/10: Air crafts
- B64D 33/00: Arrangement in aircraft of power plant parts or auxiliaries not otherwise provided for
- H02M 7/5387: in a bridge configuration
- H02P 2201/11: Buck converter, i.e. DC-DC step down converter decreasing the voltage between the supply and the inverter driving the motor
- H02M: APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF (transformers H01F; dynamo-electric converters H02K47/00; controlling transformers, reactors or choke coils, control or regulation of electric motors, generators or dynamo-electric converters H02P)
- H02P: CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53})
- B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT

## Abstract

A motor control device includes: a step-down device including a DC-output power conversion device having a first mode for outputting first voltage and a second mode for outputting second voltage lower than the first voltage; a power supply device; and a control device, and controls a motor. When a flying object takes off, the control device controls the power conversion device in the first mode. When the control device judges that flight information which is one or both of information of a motor parameter obtained along with control for the motor and information of an environmental factor relevant to the flight altitude of satisfies a predetermined condition, or when the control device has received an mode signal for which the second mode is selected on the basis of the flight information during control for the motor, the control device controls the power conversion device in the second mode.

## Claims

### Claim 1

A motor control device for controlling a motor of a flying object that takes off from a ground and flies, the motor control device comprising:
a step-down device which receives DC power supplied from a DC distribution network as input power and outputs DC power having voltage equal to or smaller than distribution network voltage of the DC distribution network;
a power supply device which converts the DC power to AC power and outputs the AC power to the motor; and
a control device for controlling the step-down device and the power supply device, wherein
the step-down device includes a DC-output power conversion device which converts the input power to DC power having voltage equal to or smaller than the distribution network voltage of the DC distribution network, and an output capacitor for smoothing output voltage of the DC-output power conversion device,
the DC-output power conversion device has a first operation mode for outputting first voltage and a second operation mode for outputting second voltage lower than the first voltage,
when the flying object takes off from the ground, the control device controls the DC-output power conversion device in the first operation mode, and
when the control device judges that flight information which is one or both of information of a motor parameter obtained along with control for the motor and information of an environmental factor relevant to a flight altitude of the flying object satisfies a predetermined condition, or when the control device has received an operation mode signal for which the second operation mode is selected on the basis of the flight information during control for the motor, the control device controls the DC-output power conversion device in the second operation mode.

### Claim 2 (depends on 1)

The motor control device according to claim 1, further comprising an environmental information detection sensor for detecting the information of the environmental factor, wherein
the flight information is the information of the environmental factor,
in a state in which the DC-output power conversion device is controlled in the first operation mode, when the control device judges that an information value based on the information of the environmental factor has passed through a first environmental threshold, the control device controls the DC-output power conversion device in the second operation mode, and
in a state in which the DC-output power conversion device is controlled in the second operation mode, when the control device judges that the information value based on the information of the environmental factor has passed through a second environmental threshold, the control device controls the DC-output power conversion device in the first operation mode.

### Claim 3 (depends on 2)

The motor control device according to claim 2, wherein
the environmental information detection sensor is any of an altitude sensor for detecting altitude information of the flying object, an outside air pressure sensor for detecting outside air pressure information outside the flying object, an air component concentration sensor for detecting air component concentration information outside the flying object, an outside air temperature sensor for detecting outside air temperature information outside the flying object, or a radiation sensor for detecting radiation dose information of radiation showering to the flying object, and
the information of the environmental factor is estimated altitude information obtained by estimating an altitude from any of the outside air pressure information, the air component concentration information, the outside air temperature information, or the radiation dose information detected by the environmental information detection sensor, or is the altitude information detected by the altitude sensor.

### Claim 4 (depends on 2)

The motor control device according to claim 2, wherein
the information of the environmental factor is any of altitude information of the flying object, outside air pressure information outside the flying object, air component concentration information outside the flying object, outside air temperature information outside the flying object, or radiation dose information of radiation showering to the flying object, or complex information generated from a plurality of these kinds of information.

### Claim 5 (depends on 1)

The motor control device according to claim 1, wherein
the flight information is the information of the motor parameter,
in a state in which the DC-output power conversion device is controlled in the first operation mode, when the control device judges that an information value based on the information of the motor parameter is smaller than a first parameter threshold, the control device controls the DC-output power conversion device in the second operation mode, and
in a state in which the DC-output power conversion device is controlled in the second operation mode, when the control device judges that the information value based on the information of the motor parameter is greater than a second parameter threshold greater than the first parameter threshold, the control device controls the DC-output power conversion device in the first operation mode.

### Claim 6 (depends on 5)

The motor control device according to claim 5, wherein
the information of the motor parameter is a motor parameter command for the motor,
the control device includes a motor parameter command sensor for detecting the motor parameter command,
the motor parameter command is any of a motor speed command, a motor output command, a motor AC voltage command, a motor current command, or a motor torque command, or complex information generated from a plurality of these kinds of information, and
the first parameter threshold is a first parameter command threshold, and the second parameter threshold is a second parameter command threshold.

### Claim 7 (depends on 5)

The motor control device according to claim 5, wherein
the information of the motor parameter is motor parameter detected information of the motor,
the motor control device further comprises a motor parameter sensor for detecting the motor parameter detected information,
the motor parameter detected information is any of detected motor speed information, detected motor output information, detected motor AC voltage information, detected motor current information, or detected motor torque information, or complex information generated from a plurality of these kinds of information, and
the first parameter threshold is a first parameter detection threshold, and the second parameter threshold is a second parameter detection threshold.

### Claim 8 (depends on 5)

The motor control device according to claim 5, wherein
the information of the motor parameter is motor parameter estimated information of the motor,
the control device includes an observer for outputting the motor parameter estimated information,
the motor parameter estimated information is any of estimated motor speed information, estimated motor output information, or estimated motor torque information, or complex information generated from a plurality of these kinds of information, and
the first parameter threshold is a first parameter estimation threshold, and the second parameter threshold is a second parameter estimation threshold.

### Claim 9 (depends on 1)

The motor control device according to claim 1, further comprising an environmental information detection sensor for detecting the information of the environmental factor, wherein
the flight information is the information of the motor parameter and the information of the environmental factor,
in a state in which the DC-output power conversion device is controlled in the first operation mode, when the control device judges that an information value based on the information of the environmental factor has passed through a first environmental threshold, the control device determines a judgment result as environmental second operation mode judgment, and when the control device judges that the information value based on the information of the environmental factor has not passed through the first environmental threshold, the control device determines a judgment result as environmental first operation mode judgment,
in a state in which the DC-output power conversion device is controlled in the second operation mode, when the control device judges that the information value based on the information of the environmental factor has passed through a second environmental threshold, the control device determines a judgment result as the environmental first operation mode judgment, and when the control device judges that the information value based on the information of the environmental factor has not passed through the second environmental threshold, the control device determines a judgment result as the environmental second operation mode judgment,
when the judgment result based on the information of the environmental factor is the environmental first operation mode judgment and the control device judges that an information value based on the information of the motor parameter is smaller than a first parameter threshold, the control device controls the DC-output power conversion device in the second operation mode, and
when the judgment result based on the information of the environmental factor is the environmental second operation mode judgment and the control device judges that the information value based on the information of the motor parameter is greater than a second parameter threshold greater than the first parameter threshold, the control device controls the DC-output power conversion device in the first operation mode.

### Claim 10 (depends on 1)

The motor control device according to claim 1, further comprising an environmental information detection sensor for detecting the information of the environmental factor, wherein
the flight information is the information of the motor parameter and the information of the environmental factor,
in a state in which the DC-output power conversion device is controlled in the first operation mode, when the control device judges that an information value based on the information of the motor parameter is smaller than a first parameter threshold, the control device determines a judgment result as internal second operation mode judgment, and when the control device judges that the information value based on the information of the motor parameter is not smaller than the first parameter threshold, the control device determines a judgment result as internal first operation mode judgment,
in a state in which the DC-output power conversion device is controlled in the second operation mode, when the control device judges that the information value based on the information of the motor parameter is greater than a second parameter threshold greater than the first parameter threshold, the control device determines a judgment result as the internal first operation mode judgment, and when the control device judges that the information value based on the information of the motor parameter is not greater than the second parameter threshold, the control device determines a judgment result as the internal second operation mode judgment,
when the judgment result based on the information of the motor parameter is the internal first operation mode judgment, the control device controls the DC-output power conversion device in the first operation mode,
when the judgment result based on the information of the motor parameter is the internal second operation mode judgment, and in a state in which the DC-output power conversion device is controlled in the first operation mode, the control device judges that an information value based on the information of the environmental factor has passed through a first environmental threshold, the control device controls the DC-output power conversion device in the second operation mode, and
when the judgment result based on the information of the motor parameter is the internal second operation mode judgment, and in a state in which the DC-output power conversion device is controlled in the second operation mode, the control device judges that the information value based on the information of the environmental factor has passed through a second environmental threshold, the control device controls the DC-output power conversion device in the first operation mode.

### Claim 11 (depends on 1)

The motor control device according to claim 1, wherein
on the basis of a plurality of kinds of the flight information for which priorities are set,
when a first condition is satisfied, the control device controls the DC-output power conversion device in the second operation mode, and when the first condition is not satisfied, the control device controls the DC-output power conversion device in the first operation mode, and
when a second condition is satisfied, the control device controls the DC-output power conversion device in the first operation mode, and when the second condition is not satisfied, the control device controls the DC-output power conversion device in the second operation mode,
the first condition is that, in a state in which the DC-output power conversion device is controlled in the first operation mode, whether or not each information value based on the flight information has passed through a first flight information threshold is judged in accordance with the priority, and the information value based on the flight information corresponding to a selected priority has passed through the first flight information threshold, and
the second condition is that, in a state in which the DC-output power conversion device is controlled in the second operation mode, whether or not each information value based on the flight information has passed through a second flight information threshold is judged in accordance with the priority, and the information values based on all kinds of the flight information for which the priorities are set have passed through the respective second flight information thresholds.

### Claim 12 (depends on 1)

The motor control device according to claim 1, further comprising an operating panel connected to the control device, wherein
the operating panel includes either a first switch for permitting change of the DC-output power conversion device to the second operation mode or a second switch for selecting the first operation mode or the second operation mode,
when a change permission signal outputted from the first switch indicates permission, the control device uses both of the first operation mode and the second operation mode for control of the DC-output power conversion device, and
when the second switch selects the first operation mode, the control device controls the DC-output power conversion device in the first operation mode, and when the second switch selects the second operation mode, the control device controls the DC-output power conversion device in the second operation mode.

### Claim 13 (depends on 1)

The motor control device according to claim 1, wherein
the second voltage is 0.25 times or more and 0.75 times or less of the first voltage.

### Claim 14 (depends on 1)

The motor control device according to claim 1, wherein
the DC-output power conversion device is a chopper,
the first voltage is the distribution network voltage of the DC distribution network,
the chopper includes, between a high-potential-side input terminal, and a low-potential-side input terminal and a low-potential-side output terminal, one high-potential-side semiconductor switching element or a plurality of high-potential-side semiconductor switching elements connected in series, and one low-potential-side semiconductor switching element or a plurality of low-potential-side semiconductor switching elements connected in series,
the chopper includes a reactor between a high-potential-side output terminal and a connection point between the one or plurality of high-potential-side semiconductor switching elements and the one or plurality of low-potential-side semiconductor switching elements, and
in the first operation mode, the one or plurality of high-potential-side semiconductor switching elements are controlled to be on and the one or plurality of low-potential-side semiconductor switching elements are controlled to be off.

### Claim 15 (depends on 1)

The motor control device according to claim 1, wherein
the control device includes a second voltage determination circuitry for determining a voltage value of the second voltage on the basis of a detected value or an estimated value of the flight altitude of the flying object, or on the basis of a detected value or an estimated value of a radiation dose of radiation showering to the flying object, and
when controlling the DC-output power conversion device in the second operation mode, the control device outputs a control signal in accordance with the voltage value of the second voltage determined by the second voltage determination circuitry, to the DC-output power conversion device.