Multi-VTOL Sling Load Control Through Synchronized Maneuvering
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Solution Overview
Problem
Existing methods for transporting heavy cargo loads using Vertical Take Off and Landing (VTOL) aircraft face challenges such as maintaining safe distances between aircraft, managing sling load forces, and minimizing pilot workload and ground crew interaction.
Innovation Solution
A multi-lift system that uses synchronized maneuvering and load feedback control, where multiple VTOL aircraft work together to transport a common load. This system includes units for directing load operations, estimating aircraft states, measuring sling load forces, and sharing data among aircraft, allowing for coordinated flight and load regulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If multiple VTOL aircraft are used to transport heavy loads, then the load capacity is improved, but the complexity of coordinating aircraft movements and managing sling load forces increases
Solution Approach 1:
The system divides the heavy load transport task among multiple VTOL aircraft, with each aircraft independently measuring its own sling load forces through onboard sensors. This segmentation allows the total load capacity to be distributed across several vehicles while maintaining individual control over each aircraft's contribution to the shared load.
Solution Approach 2:
Each aircraft is equipped with sensors that continuously measure sling load forces, and this data is fed back to the autonomous flight control system. The control system uses this real-time feedback to automatically adjust each aircraft's position and power output, regulating the load distribution without requiring complex manual coordination between pilots.
Solution Approach 3:
The system implements autonomous flight control that allows each aircraft to self-regulate its contribution to the shared load. The onboard computers automatically process load data and adjust aircraft maneuvers independently, eliminating the need for complex inter-aircraft communication and reducing pilot workload while maintaining safe coordination.
2Adaptability or versatility
If manual piloting is used to coordinate multi-lift operations, then flexibility in handling uncertain conditions is improved, but pilot workload increases
Solution Approach 1:
The autonomous flight control system performs the complex task of coordinating multiple aircraft and regulating load forces automatically. Each aircraft's computer independently processes sensor data and adjusts control surfaces, power output, and positioning without pilot intervention, dramatically reducing workload while maintaining adaptability to changing conditions through real-time autonomous decision-making.
Solution Approach 2:
The system continuously monitors sling load forces, aircraft positions, and environmental conditions through onboard sensors, feeding this data back to the autonomous control algorithms. This closed-loop feedback enables the system to automatically adapt to uncertain wind conditions and load variations, providing handling flexibility equivalent to manual piloting but with minimal pilot involvement.
3Device complexity
If geometric load equalization is used, then system simplicity is improved, but measurement precision of actual load forces deteriorates
Solution Approach 1:
The system employs onboard sensors that directly measure the actual sling load forces on each aircraft, providing precise real-time data about the true load distribution. This measurement feedback is then used by the autonomous control system to regulate and equalize loads accurately, combining the precision of direct measurement with the simplicity of automated control.
Solution Approach 2:
The system replaces complex mechanical load equalization mechanisms with autonomous flight control that uses electronic sensors and computer algorithms. Instead of relying on mechanical linkages or geometric constraints to equalize loads, the system uses electronic measurement and software-based control to achieve precise load distribution, simplifying the physical system while improving measurement accuracy.
Data Source
AI summary
Systems and methods are disclosed to transport a common load attached by slings by two or more Vertical Take Off and Landing (VTOL) aircraft using synchronized maneuvering and load feedback control. In one embodiment, a system includes: a unit configured to direct the load operation with macro level commands input by a system operator; a unit, on each aircraft, configured to estimate its state; a unit configured to measure the sling load forces on each aircraft; a unit configured to release the load from the aircraft; a unit configured to allow all aircraft to share their load data and aircraft state data; a computing system on each aircraft with access to the shared data and the ability to control the aircraft control effectors and sling release mechanism; and a computing unit configured to execute a Guidance & Navigation system (or equivalent) and a Multi-Lift Autonomous Flight Control System (MLAFCS) with Multi-Lift Synchronized Maneuvering, Load Distribution Regulation, and Load Swing Feedback (or equivalent) on the aforementioned computing unit.