Adaptive UAV Actuation for Dynamic Center of Gravity Redistribution
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Solution Overview
Problem
Current multirotor UAVs designed with a coplanar rotor configuration assume a static center of gravity, failing to adapt to dynamic changes, which can lead to dangerous oscillations and stability issues.
Innovation Solution
An adaptive aerial vehicle with a nonplanar rotor configuration and a control system that compensates for dynamic changes in the center of gravity through an actuation assembly that extends or retracts to redistribute weight, using load sensors and a controller to maintain stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a coplanar rotor configuration is used with a static center of gravity assumption, then the UAV structure is simplified, but the UAV cannot adapt to dynamic changes in center of gravity leading to oscillations and stability issues
Solution Approach 1:
The patent implements a nonplanar rotor configuration where the rotor planes are arranged at different heights and orientations, creating a three-dimensional structure that can dynamically adjust to center of gravity changes. The asymmetric positioning of rotors allows the system to adapt its configuration in response to varying payload conditions, resolving the contradiction between structural simplicity and dynamic adaptability.
2Device complexity
If the center of gravity is assumed static and known, then control schemes are simpler, but dangerous oscillations occur when the center of gravity changes dynamically
Solution Approach 1:
The patent incorporates sensors and control systems that continuously monitor the actual center of gravity position and provide feedback to the flight controller. This feedback mechanism enables real-time adjustments to rotor thrust distributions, preventing oscillations and maintaining stability even when the center of gravity changes dynamically during flight operations.
Solution Approach 2:
The control system dynamically changes operational parameters including rotor speeds, thrust vectors, and configuration settings based on detected center of gravity variations. By adjusting these parameters in real-time, the system maintains flight stability without requiring a fundamentally complex control architecture.
3Reliability
If a nonplanar rotor configuration with dynamic center of gravity compensation is implemented, then flight stability is improved, but the device complexity increases
Solution Approach 1:
The patent divides the UAV into modular components including separate frame assemblies, independently controlled rotor modules, and distributed sensor systems. This segmentation allows each component to be optimized independently while working together to achieve overall flight stability, managing complexity through modular architecture rather than monolithic design.
Solution Approach 2:
The patent transitions from a two-dimensional coplanar rotor arrangement to a three-dimensional nonplanar configuration, utilizing vertical and angular dimensions to create additional control degrees of freedom. This dimensional expansion provides more pathways for stabilizing the vehicle without proportionally increasing system complexity.
Data Source
AI summary
An adaptive aerial vehicle includes a vehicle support, at least one frame assembly mounted relative to the support, at least one propulsion unit mounted to the frame assembly and operable to move the adaptive aerial vehicle, and an actuator configured to move the support relative to the frame assembly to redistribute the weight of the adaptive aerial vehicle.