Aircraft Actuator Control with Adaptive Load Limits
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Solution Overview
Problem
Actuator systems in multiactuator aerial vehicles (MAVs) face degradation and overload due to uneven power distribution, as existing methods do not consider the health status and characteristics of individual actuators, leading to overheating and failure.
Innovation Solution
A method for controlling actuator systems that allocates tasks based on a weight matrix and physical control limits, dynamically adjusting these parameters to ensure each actuator operates within its available capacity, preventing overload and degradation by using a computer algorithm to determine and apply new control inputs based on real-time sensor data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If actuators are allocated tasks without considering health status and characteristics, then task completion is achieved, but actuator degradation and overload occur
Solution Approach 1:
The patent dynamically adjusts the weight matrix W and physical maximum control limits uimax based on real-time actuator health status and characteristics. By monitoring actuator conditions and modifying these parameters accordingly, the system optimizes task allocation to prevent overload while maintaining effective task completion. This resolves the contradiction by adapting allocation parameters to current actuator states rather than using fixed allocation methods.
Solution Approach 2:
The patent implements continuous monitoring of actuator health status and characteristics, using this feedback to dynamically adjust the weight matrix and control limits. The system repeatedly performs comparisons and updates allocation parameters based on current actuator conditions, creating a closed-loop control system that prevents degradation while maintaining productivity through adaptive reallocation.
2Speed
If actuators operate at peak power continuously, then task execution speed is improved, but overheating and motor failure occur
Solution Approach 1:
The patent makes the actuator allocation dynamic by continuously adjusting the weight matrix W and control limits uimax based on real-time actuator temperature and health status. Rather than static allocation, the system adapts allocation parameters dynamically, reducing power demand on overheating actuators while maintaining overall task execution speed through redistribution to healthy actuators.
Solution Approach 2:
The patent performs preliminary monitoring of actuator temperature and health status before allocation decisions are made. By detecting early signs of overheating or degradation, the system proactively adjusts the weight matrix and control limits to prevent temperature excursions and motor failure, rather than reacting after damage occurs.
3Reliability
If power demand increases on remaining actuators after failure, then task completion is maintained, but overload cascade and further failures occur
Solution Approach 1:
The patent uses continuous feedback on actuator health status and power demand to dynamically adjust the weight matrix and control limits. When actuator failures or degradation are detected, the system monitors power demand trends and adjusts allocation parameters to prevent excessive power demands that would trigger overload cascades, maintaining system reliability through proactive power management.
Solution Approach 2:
The patent implements beforehand cushioning by setting adaptive control limits uimax based on actuator health status and historical performance. These pre-established protective limits prevent power demands from exceeding safe thresholds even when task requirements increase, cushioning the system against overload cascades and further failures before they can occur.
Data Source
AI summary
A method of controlling an actuator system including a plurality of k actuators. Each of the actuators-receives a control input ui, wherein index i denotes a particular actuator, which control input ui is determined depending on a weight matrix W including a weighting factor wi for each actuator and depending on at least a physical maximum control limit uimax for each of the actuators. The weighting factors wi and/or physical maximum control limit uimax are actively changed during operation if a first comparison of the control input ui or a function f(ui) thereof with a set first threshold value yields that the control input ui or function f(ui) thereof exceeds the set first threshold value. The first comparison is repeated during operation, and a new control input ui is determined from the adjusted weighting factor wi and/or the adjusted physical maximum control limit uimax and applied to the actuators.