Moving Body Attitude Control Using Wind Force Estimation
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Solution Overview
Problem
Existing techniques for controlling small moving bodies, such as multirotor helicopters, lack accurate methods for measuring and mitigating the influence of wind, particularly in terms of wind direction and strength, leading to suboptimal control strategies.
Innovation Solution
A data processing device and method that acquires acceleration and wind information using sensors, estimates external forces, and generates relationship information between wind strength and these forces, enabling precise control adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a predetermined aerodynamic formula is used to derive control signals from wind vectors, then the control system can be implemented with existing theoretical models, but the accuracy of wind influence estimation deteriorates because the formula may not match actual flight conditions
Solution Approach 1:
The patent employs feedback by using actual acceleration measurements from the moving body to verify and adjust wind influence estimates. The system compares expected acceleration (from propulsive force and wind) with actual acceleration, and uses this feedback to refine the relationship between wind strength and external force through continuous data collection and model updating.
Solution Approach 2:
The system dynamically adjusts the relationship parameters between wind strength and external force based on actual flight data. Instead of using fixed aerodynamic coefficients, the patent accumulates measurement data under various flight conditions and updates the force-wind relationship parameters to reflect actual conditions, thereby adapting the model to match real-world performance.
2Measurement precision
If wind direction and strength are not accurately measured, then the control system remains simple without additional sensors, but the control precision deteriorates leading to suboptimal movement control
Solution Approach 1:
The system uses the moving body's own acceleration measurements and propulsive force data to estimate wind influence, rather than relying on separate dedicated wind sensors. The existing sensors (accelerometers and propulsive force sensors) serve dual purposes: monitoring flight state and estimating wind conditions, thereby avoiding additional hardware complexity.
Solution Approach 2:
The patent introduces an intermediate estimation model that translates readily available data (acceleration and propulsive force) into wind influence information. This intermediary approach avoids direct wind measurement while still providing accurate wind effect estimates by using the relationship between known forces and observed motion.
3Stability of the object's composition
If general movement control techniques are applied without considering specific wind conditions, then the control algorithm remains simple, but the stability of the moving body deteriorates in windy environments
Solution Approach 1:
The system performs preliminary estimation of wind influence before executing movement control commands. By continuously estimating external wind forces and incorporating this information into the control calculation, the system proactively compensates for wind effects rather than reacting to instability after it occurs.
Solution Approach 2:
The control algorithm dynamically adjusts control parameters based on estimated wind conditions. The relationship between wind strength and external force is continuously updated based on flight data, allowing the control system to adapt its parameters to match actual wind conditions and maintain stability across varying environmental conditions.
Data Source
AI summary
This data processing device is provided with: an acceleration acquisition unit that acquires the acceleration of a moving body equipped with a mechanism for generating a propulsion force and equipped with a measuring instrument for measuring the strength of at least a one-direction component of the wind to which the moving body is exposed; a wind information acquisition unit that acquires wind information indicating the blowing direction of the wind and the strength of the wind, both of which are identified from the values measured by the measuring instrument; an external force estimation unit that estimates, on the basis of the acceleration and the direction and magnitude of the propulsion force, the magnitude of an external force exerted by the wind on the moving body; and a generation unit that generates relational information indicating the relation between the wind strength and the estimated magnitude of the external force.