Multicopter Flight Control Unit Dynamic Motor Weighting
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Solution Overview
Problem
Multicopters face premature flight termination due to uneven load distributions causing motor overheating, rapid battery discharge, and structural deformation, leading to reduced flight time and safety concerns.
Innovation Solution
A method and flight control unit that dynamically weight individual motors based on a diagonally filled matrix and secondary control variables, allowing for adjusted motor contributions to torque and thrust without affecting flight movement, thereby mitigating overheating, discharge, and deformation issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If individual motors are operated at high power to extend flight time, then productivity increases, but motors overheat and batteries discharge rapidly reducing reliability
Solution Approach 1:
The patent implements dynamic motor weighting where the weighting matrix P is continuously adapted during flight based on real-time motor temperatures and battery states. This allows the system to optimize power distribution dynamically - increasing power to motors that can handle it while reducing load on overheating motors, thereby extending flight time without compromising reliability
Solution Approach 2:
The system changes operational parameters by adjusting motor weighting factors in the control algorithm. By modifying the weighting matrix P based on thermal and electrical state parameters, the system optimizes power distribution to extend flight time while preventing motor overheating and excessive battery discharge
2Stability of the object's composition
If motors are operated at high power to maintain stable flight, then stability is improved, but structural deformation increases
Solution Approach 1:
The patent applies local quality by assigning different weighting factors to different motors based on their individual conditions and structural impact. The weighting matrix P allows selective reduction of power to motors that cause excessive structural stress while maintaining adequate power to other motors, thereby preserving flight stability while reducing overall structural deformation
3Duration of action of moving object
If motor load is increased to extend flight time, then duration of action increases, but motors generate excessive noise
Solution Approach 1:
The system dynamically adjusts motor operating parameters through adaptive weighting. By modifying the weighting matrix P based on noise thresholds and flight conditions, the system can extend flight time while keeping noise generation within acceptable limits through optimized power distribution
Data Source
AI summary
A method is provided for stabilizing an orientation and height of a person or load-carrying multicopter with a plurality of motors, wherein the drive of the individual motors in flight is continuously calculated by a flight control unit and correspondingly prescribed to the motors using control technology, for which purpose, based on a desired torque τ, of a desired thrust s preferably prescribed by a pilot signal, and of a motor matrix M, the drive of the motors is calculated by a motor allocation algorithm f and provided as a control signal to the motors, wherein the following applies to the drive and the corresponding motor control variables u: u=f(τ, s, M). The method provides that A) the individual motors are weighted with a preferably diagonally filled matrix P, so that the following applies: u=f(τ, s, M, P), the motor allocation algorithm calculates the drive u such that the individual motors make an individual contribution to the desired forces and torques T and to the thrust s in accordance with the matrix P depending on the weighting; and/or B) zero space orientations with 0=M·uN that do not generate any torques or thrust, and therefore do not influence the flight movement, are used to drive the motors.