Multirotor UAV Hover Control Using Dual Feedback Schemes
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Solution Overview
Problem
Conventional multirotor UAVs are unable to hover stably when upcast at any angle, particularly at sharp angles, due to motor divergence, limiting their operational flexibility and requiring horizontal orientation for takeoff and hovering.
Innovation Solution
A hover-control method using an inertia sensing unit to sense the upcast state and tilt angles, employing dual feedback schemes to correct tilt angles by adjusting motor speeds through open and negative feedback mechanisms, allowing the UAV to hover stably at any upcasting angle without increasing hardware costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the multirotor UAV is upcast at a sharp angle, then the UAV can take off at any orientation, but the motors fail to converge and the UAV becomes out of control
Solution Approach 1:
The patent implements a dual feedback control scheme that switches between open feedback and negative feedback based on tilt angle thresholds. When the tilt angle exceeds the threshold during sharp-angle upcasting, open feedback is used to prevent motor divergence. When the tilt angle is within the threshold, negative feedback is used for stable hovering control, thereby resolving the contradiction between takeoff flexibility and motor stability.
Solution Approach 2:
The control system dynamically switches between different feedback schemes based on real-time tilt angle conditions. This dynamic adaptation allows the UAV to handle sharp-angle upcasting scenarios while maintaining motor convergence stability, enabling takeoff at any orientation without sacrificing reliability.
2Adaptability or versatility
If the multirotor UAV hovers in air by being upcast, then the UAV can execute certain tasks, but the conventional UAV is unable to hover in response to any kind of upcasting
Solution Approach 1:
The dual feedback control scheme enables the UAV to hover stably at any upcasting angle by automatically adjusting the feedback type based on tilt angle. This eliminates the need for experienced users to manually adjust controls for different angles, making the system easy to operate while achieving full angular adaptability.
Solution Approach 2:
The control system automatically detects the tilt angle and switches between open and negative feedback schemes without user intervention. This self-adjusting capability allows the UAV to hover at any angle while maintaining ease of operation, as the system handles the complexity internally.
3Reliability
If a remote controller is used to control the multirotor UAV, then the UAV can hover in air, but it is difficult to control and only experienced users can use it fluently
Solution Approach 1:
The dual feedback control scheme operates automatically based on real-time tilt angle detection, eliminating the need for users to manually adjust controls. The system self-regulates to maintain stable hovering at any angle, preserving hovering reliability while dramatically improving ease of operation for users of all skill levels.
Solution Approach 2:
The control system automatically changes the feedback parameter type (open or negative) based on the tilt angle parameter. This automatic parameter adaptation maintains stable hovering while removing the complexity of manual control adjustments, making the UAV easy to operate for both novice and experienced users.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables multirotor UAVs to hover stably at any upcasting angle, enhancing operational flexibility without additional hardware costs, by effectively managing tilt angles through the dual feedback control scheme.
Implementation Method 1
sensing an upcast state of the multirotor UAV by an inertia sensing unit; sensing a tilt angle of at least one shaft of the multirotor UAV at a highest position by the inertia sensing unit
Data Source
AI summary
A hover-control method for multirotor unmanned aerial vehicle (UAV) upcast at any angle to take off is applied to correct at least one tilt angle of the multirotor UAV by dual-feedback schemes. When any of the at least one tilt angle is greater than a corresponding angle limitation, an open feedback scheme is executed to drive a plurality of motors of the multirotor UAV until a predetermined condition is achieved. When all of the at least one tilt angle are not larger than the respective angle limitations, a negative feedback scheme is executed to drive the motors of the multirotor UAV until a hover condition is achieved.