Multicopter Fail-Safe Flight Using Primary-Axis Torque Control
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Solution Overview
Problem
Conventional multicopter systems face challenges in maintaining controlled flight and safety due to effector failures, which can lead to catastrophic losses of control and crashes, especially in adverse conditions like wind and turbulence.
Innovation Solution
A method for controlling a multicopter with as few as one functioning effector by computing the orientation and angular velocity of a primary axis and adjusting the torque and thrust forces produced by the remaining effectors to achieve stable rotation and translational motion, allowing for controlled flight even in the event of effector failures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional multicopter systems use effector redundancy (e.g., hexacopters and octocopters) or encasing effectors (e.g., shrouds, ducted fans) or parachutes as safety backup, then safety and reliability are improved, but device complexity and mass increase
Solution Approach 1:
The patent extracts and removes the redundant effectors and safety backup systems (parachutes, encasing) from the multicopter design. By proving that a quadcopter can achieve fail-safe operation with only four effectors through novel control methods, the invention eliminates the need for additional redundant components, thereby reducing device complexity while maintaining reliability
Solution Approach 2:
The patent enables the multicopter to self-manage effector failures through automated control systems. When an effector fails, the control system automatically redistributes the workload among remaining effectors and adjusts control algorithms to maintain stable flight, allowing the system to service itself without external intervention or additional safety hardware
2Reliability
If conventional multicopter systems use effector redundancy (e.g., hexacopters and octocopters) or encasing effectors (e.g., shrouds, ducted fans) or parachutes as safety backup, then safety and reliability are improved, but mass increases
Solution Approach 1:
The patent removes redundant effectors and safety backup components (parachutes, encasing structures) from the multicopter design. By demonstrating that fail-safe operation is achievable with a standard quadcopter configuration through advanced control algorithms, the invention eliminates the additional mass associated with redundancy systems while maintaining safety
Solution Approach 2:
The patent changes the control parameters and algorithms to enable efficient utilization of remaining effectors after failure. By dynamically adjusting control gains, thrust distribution, and flight characteristics, the system maintains safety without requiring additional mass for redundant hardware
3Device complexity
If conventional multicopter control methods are used after effector failure, then system simplicity is maintained, but loss of control and crashes occur
Solution Approach 1:
The patent implements dynamic control adaptation that automatically adjusts control algorithms and parameters based on the failure state. The control system transitions from standard hover-capable control to fail-safe control modes that enable translational motion through rotation, maintaining reliability while adapting the control scheme to the degraded configuration
Solution Approach 2:
The patent changes control parameters including thrust distribution ratios, control gains, and flight characteristics based on the specific failure mode detected. By dynamically adjusting these parameters, the system maintains controlled flight capability despite the loss of effectors, preventing crashes while keeping the control scheme adaptable rather than overly complex
4Reliability
If multicopters are designed with effector redundancy to ensure safety, then reliability is improved, but ease of manufacture and design flexibility are reduced
Solution Approach 1:
The patent removes the need for effector redundancy designs (hexacopters, octocopters) and special safety components (encasing, parachutes) from the manufacturing process. By proving that standard quadcopter configurations can achieve fail-safe operation through control algorithms alone, the invention simplifies manufacturing and increases design flexibility
Solution Approach 2:
The patent makes the control system universal by enabling it to handle both normal operation and failure conditions with the same hardware configuration. The fail-safe control algorithms can be applied to standard quadcopter designs without requiring specialized components, easing manufacturing and allowing broader design flexibility across different applications
Data Source
AI summary
According to a first aspect of the invention, there is provided a method for operating a multicopter experiencing a failure during flight, the multicopter comprising a body, and at least four effectors attached to the body, each operable to produce both a torque and a thrust force which can cause the multicopter to fly when not experiencing said failure. The method may comprise the step of identifying a failure wherein the failure affects the torque and/or thrust force produced by an effector, and in response to identifying a failure carrying out the following steps, (1) computing an estimate of the orientation of a primary axis of said body with respect to a predefined reference frame, wherein said primary axis is an axis about which said multicopter rotates when flying, (2) computing an estimate of the angular velocity of said multicopter, (3) controlling one or more of said at least four effectors based on said estimate of the orientation of the primary axis of said body with respect to said predefined reference frame and said estimate of the angular velocity of the multicopter. The step of controlling one or more of said at least tour effectors may be performed such that (a) said one or more effectors collectively produce a torque along said primary axis and a torque perpendicular to said primary axis, wherein (i) the torque along said primary axis causes said multicopter to rotate about said primary axis, and (ii) the torque perpendicular to said primary axis causes said multicopter to move such that the orientation of said primary axis converges to a target orientation with respect to said predefined reference frame, and (b) such that said one or more effectors individually produce a thrust force along said primary axis.