Distributed Rotor Edge Computing for Fault-Tolerant Multi-Rotor Control
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Solution Overview
Problem
Multi-rotor vehicles face reliability and survivability issues due to their centrally-located flight controller, which increases weight and complexity, and existing redundancy solutions do not adequately address these concerns.
Innovation Solution
Implementing distributed modular-based edge computing systems, each embedded with an integrated flight and motor control system, allowing for independent operation of electric motors and rotors, with a primary and secondary edge computing system configuration for redundancy and communication with remote stations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a centrally-located flight controller is used, then control coordination is simplified, but reliability decreases due to single point of failure and weight increases due to redundant routing
Solution Approach 1:
The patent divides the centralized flight controller into multiple distributed edge computing systems, each responsible for specific rotor control. This segmentation eliminates the single point of failure while distributing control functions across independent modules, thereby improving reliability without proportionally increasing overall system complexity.
Solution Approach 2:
The patent introduces a coordinator module that acts as an intermediary between distributed edge computing systems. This mediator enables centralized coordination of control commands while allowing individual nodes to operate independently, resolving the contradiction between centralized simplicity and distributed reliability.
2Reliability
If triple redundant flight control computers are used, then reliability improves, but weight increases due to additional components and routing requirements
Solution Approach 1:
Instead of implementing full triple redundancy in a centralized controller, the patent segments control functions across multiple distributed edge computing systems. Each system handles specific rotor control independently, providing functional redundancy without requiring complete duplication of all control computers and their interconnections, thereby reducing weight.
Solution Approach 2:
The patent applies local quality by placing computing resources directly at the rotor level rather than concentrating them centrally. Each edge computing system is optimized for its specific local control function, eliminating the need for heavy redundant routing infrastructure while maintaining reliability through distributed architecture.
3Ease of operation
If control forces and sensor communication are routed from central flight controller to each actuator, then centralized control is simplified, but weight and complexity increase
Solution Approach 1:
The coordinator module serves as an intermediary that maintains centralized coordination logic while enabling distributed execution. It simplifies control coordination by providing a unified interface for issuing commands, while the distributed edge computing systems handle local communication with actuators, reducing overall system complexity.
Solution Approach 2:
The patent segments the communication system into centralized command issuance and distributed local execution. This division allows simplified centralized control logic while reducing communication complexity by eliminating the need for direct point-to-point routing from a central controller to all actuators.
Data Source
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AI summary
A multi-rotor vehicle (108) includes a plurality of electric motors (204) and edge computing systems (208). The electric motors (204) are operatively coupled to respective rotors (206), and cause the respective rotors to rotate relative to the airframe (202). The edge computing systems (ECSs) are independent, distinct and distributed to the electric motors (204), each operatively coupled to a respective electric motor (204) and thereby a respective rotor (206). Each ECS is configured to acquire and process sensor data for the respective rotor (206) to determine rotor status information, and execute motor commands to control the respective electric motor (204) and thereby the respective rotor (206). The ECSs are configured according to a model in which any of the ECSs is selectable as a primary ECS, and others of the ECSs are operable as secondary ECSs, the secondary ECSs configured to communicate respective rotor (206) status information to the primary ECS, and the primary ECS configured to provide the motor commands to the secondary ECSs.