Multirotor Control Matrix Reconfiguration for Rotor Failure
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Solution Overview
Problem
Multirotor aircraft lose lifting force and control when power is lost to one or more propellers, lacking the ability to glide or auto-rotate, necessitating improved control systems to manage rotor failures dynamically.
Innovation Solution
A method for controlling each rotor on a multirotor aircraft involves receiving sensed states, determining a dynamic control scheme using a control effect matrix, detecting rotor conditions, and redefining the matrix to account for failed rotors by performing matrix inversion or pseudo-inversion, allowing for real-time reconfiguration of thrust outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional fixed control schemes are used for multirotor aircraft, then the control system is simple to implement, but the aircraft loses control and stability when rotor failure occurs
Solution Approach 1:
The control system dynamically determines the control scheme based on real-time sensed states of the aircraft. The control effect matrix is recalculated during operation to adapt to changing conditions, including rotor failures. This dynamic approach allows the system to maintain reliability by adjusting control inputs based on current aircraft state and detected rotor conditions, rather than using a static pre-programmed control scheme.
Solution Approach 2:
The system continuously receives sensed states from sensors and uses this feedback to detect rotor conditions by comparing expected states to actual sensed states. When a rotor failure is detected through this feedback mechanism, the control scheme is automatically reconfigured. This closed-loop feedback ensures the control system responds to failures and maintains stability despite the increased complexity of real-time monitoring and adaptation.
2Reliability
If dynamic control reconfiguration is implemented for rotor failures, then control stability is maintained during failures, but the control system becomes more complex
Solution Approach 1:
The control system performs self-diagnosis by detecting rotor conditions through comparison of expected states to sensed states. When a failure is detected, the system automatically reconfigures the control scheme without external intervention. The matrix inversion or pseudo-inversion calculations are performed autonomously by the control system itself, allowing it to service its own control needs and maintain stability despite the complexity of self-monitoring and self-reconfiguration.
3Measurement precision
If matrix inversion methods are used for control calculation, then control precision is improved, but computational time increases
Solution Approach 1:
The control effect matrix is determined based on the specific configuration of rotors (number and arrangement). By pre-establishing the matrix structure according to the known rotor configuration, the system prepares the computational framework in advance. When control calculations are needed, the pre-configured matrix structure enables faster inversion or pseudo-inversion operations, reducing computational delay while maintaining the precision benefits of matrix-based control allocation.
Data Source
AI summary
A method for controlling each rotor on a multirotor aircraft includes receiving one or more sensed states of the multirotor aircraft, and determining a control scheme dynamically using the sensed one or more states of the multirotor aircraft. Receiving one or more sensed states can include receiving one or more of a rotational rate or acceleration of the aircraft, or any other suitable aircraft state.