Aerial Thrust Allocation Across Propulsion Rings Under Saturation

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Solution Overview

Problem

Existing aerial vehicle control systems face challenges in maintaining stability and reducing yaw torque during vertical propulsion unit failures, leading to increased stress on the airframe and potential loss of control effectiveness.

Innovation Solution

The implementation of a control system with counter-rotating vertical propulsion units organized into quadrants and propulsion rings, which includes a saturation scheme to transfer thrust from outer to inner rings and real-time monitoring to adjust flight control dynamics upon unit failure, reducing net yaw torque and stress on the airframe.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional propulsion unit arrangements are used, then the vehicle can maintain basic flight capability, but yaw torque increases and stress on the airframe increases during unit failures

Engineering Contradiction:

Improveflight stability during propulsion unit failureVSAvoidyaw torque and stress on airframe

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The propulsion system is segmented into multiple independent vertical propulsion units distributed across quadrants, allowing the vehicle to maintain stability by redistributing thrust from failed units across remaining functional units in different quadrants

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Counter-rotating propulsion units are positioned to create opposing rotational forces that balance each other during normal operation and during failure conditions, reducing net yaw torque and preventing unbalanced rotational moments that would stress the airframe

Inventive Principle:

Principle #8Anti-weight (Counterweight)

2Ease of operation

If thrust is transferred from outer to inner rings, then control effectiveness is maintained during saturation, but the complexity of the control system increases

Engineering Contradiction:

Improvecontrol effectiveness during thrust saturationVSAvoidcontrol system complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The control system dynamically adjusts thrust distribution by monitoring saturation conditions in real-time and automatically transferring thrust commands from outer rings to inner rings, maintaining control effectiveness without requiring manual intervention or overly complex predetermined control logic

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The control system uses feedback from thrust saturation detection to automatically redistribute thrust commands across propulsion rings, ensuring that when outer rings reach maximum thrust capacity, the demanded thrust is smoothly transferred to inner rings to maintain overall vehicle control

Inventive Principle:

Principle #23Feedback

Data Source

PatentEP3755624B1Thrust allocation for aerial vehicle

Publication Date: 2023.12.27 WING AVIATION LLC

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AI summary

A technique for controlling vertical propulsion units of an aerial vehicle includes determining whether an initial thrust command output vector results in a thrust command clipping of one of the vertical propulsion units. The vertical propulsion units are physically organized into propulsion rings including an inner ring and an outer ring. Torque associated with the initial thrust command output vector is transferred from each the vertical propulsion units in the outer ring to the vertical propulsion units in the inner ring when the thrust command clipping of one of the vertical propulsion units in the outer ring occurs. A revised thrust command output vector is determined after transferring the torque. The vertical propulsion units are driven according to the revised thrust command output vector.