Thrust-Vectored Multicopter Control Beyond Coupled Angle Limits
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Solution Overview
Problem
Existing UAVs with thrust vectoring propulsion systems face limitations in maneuverability and stability due to non-linear, highly coupled dynamics, which conventional control systems like PID controllers are inadequate to handle, restricting their ability to control angles beyond designed limits and affecting the quality of data from mounted sensors.
Innovation Solution
A method involving a mathematical model that decouples non-linear thruster dynamics into linear control variables, allowing independent adjustment of thruster control variables, combined with a robust control algorithm like multiple-surface sliding control to account for system uncertainties and environmental disturbances, enabling precise thrust vectoring and orientation control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional PID controllers are used for thrust vectored UAVs, then the control system is simple, but the controller is inadequate to handle non-linear, highly coupled dynamics and cannot control angles beyond designed limits
Solution Approach 1:
The patent replaces conventional PID control algorithms with a model predictive control (MPC) system that uses a non-linear dynamic model of the thrust vectored UAV. This substitution enables the controller to handle the non-linear, highly coupled dynamics and achieve control beyond designed angle limits, while the MPC framework provides systematic management of the increased complexity through optimization-based control.
2Ease of operation
If thrust vectoring propulsion units are used, then maneuverability and positional stability are improved, but the equations of motion become non-linear and highly coupled
Solution Approach 1:
The patent transforms the control approach by using a non-linear dynamic model that explicitly accounts for the coupled effects of thrust magnitude and orientation angles. The model predictive control framework solves an optimization problem at each time step, adjusting control parameters (thrust magnitudes and orientation angles) to achieve desired maneuvers while handling the non-linear, highly coupled dynamics through systematic prediction and correction.
3Manufacturing precision
If independently actuated thrusters are used, then thrust amplitude and orientation control is precise, but the control variables are highly coupled and difficult to manage
Solution Approach 1:
The patent segments the control problem by separating the control of thrust magnitude and orientation angles into distinct control variables. The model predictive control framework independently optimizes each thruster's thrust magnitude and orientation angle while accounting for their coupled effects on the UAV's motion, allowing precise control of each variable while systematically managing their interactions through the dynamic model.
Data Source
AI summary
A method of operating a multicopter comprising a body and n thrusters, each thruster independently actuated to vector thrust angularly relative to the body about at least a first axis, the method comprising modelling dynamics of the multicoptor with a mathematical model comprising coupled, non-linear combinations of thruster variables, decoupling the mathematical model into linear combinations of thruster control variables, sensing at least one characteristic of multicopter dynamics, comparing the sensed data with corresponding target characteristic(s), computing adjustments in thruster control variables for reducing the difference between the sensed data and the target characteristic(s) according to a control algorithm, and actuating each thruster according to the computed thruster control variables to converge the multicopter towards the target characteristic(s), wherein the control algorithm is based on the decoupled mathematical model such that each thruster control variable can be adjusted independently.