Aerial Motor Control Under Changing Wind and Torque Limits
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Solution Overview
Problem
Conventional flight controller systems for aerial vehicles are ill-equipped to handle changing environmental conditions, often calculating motor inputs that are unachievable and non-feasible, leading to performance issues.
Innovation Solution
A controller system that adjusts motor inputs based on real-time environmental data, using an iterative process to determine feasible motor speeds and prioritize sub-torque values to ensure the aerial vehicle operates within safe limits, preventing failure from sudden changes like gusts of wind.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional controller systems calculate motor inputs to compensate for environmental changes, then the aerial vehicle attempts to maintain performance, but the calculated motor inputs become unachievable and non-feasible
Solution Approach 1:
The controller dynamically adjusts motor input calculations based on real-time environmental conditions (air pressure, temperature, humidity). The system transitions from static motor input values to dynamic, condition-dependent values that remain achievable across varying environmental parameters.
Solution Approach 2:
The system changes the parameters used in motor input calculations by incorporating environmental condition parameters (air pressure, temperature, humidity) into the control algorithm. This allows the controller to adjust motor inputs according to actual atmospheric conditions while maintaining feasibility through iterative validation.
2Force
If the controller increases motor input to compensate for environmental changes, then thrust compensation is attempted, but the motor exceeds achievable speed limits causing failure
Solution Approach 1:
The controller performs preliminary validation of motor input calculations against known motor capabilities and environmental conditions before executing the control command. By anticipating potential exceedances of motor speed limits, the system prevents unsafe operations before they occur.
Solution Approach 2:
The system incorporates feedback loops that continuously monitor environmental conditions and motor performance, adjusting motor inputs in real-time to maintain thrust compensation while staying within safe operational limits. The iterative process validates each calculated motor input against achievable speed limits.
Data Source
AI summary
A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.