Quadrotor Mid-Flight Coupling Control via Variable Gain Scheduling

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Solution Overview

Problem

Current research lacks a systematic approach to model and control the mid-flight coupling dynamics of quadrotors, particularly in terms of mechanical influences and controller gain tuning for desired system response characteristics.

Innovation Solution

A system comprising a first and second rotorcraft with coupling points, a processor-based controller for navigating and mechanically coupling the rotorcraft, and a joint controller with variable gains to accommodate coupled configurations, utilizing magnet-based coupling and PID control for stable operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If quadrotors are mechanically coupled in mid-flight to accomplish collaborative tasks, then the versatility and collaborative capability of the system is improved, but the complexity of controlling the coupled configuration and tuning controller gains increases significantly

Engineering Contradiction:

Improvecollaborative capabilityVSAvoidcontroller complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The control system is segmented into individual quadrotor controllers that maintain their original control laws, and a separate coupling controller that specifically handles the coupling dynamics. This segmentation allows each controller to focus on specific aspects of control, reducing overall complexity while enabling collaborative functionality.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The controller gains are made dynamic and adaptive, automatically adjusting based on the coupling state. When coupling is detected, the controller transitions from individual control parameters to coupled control parameters, allowing the system to adapt to changing configuration without manual intervention or complex fixed-parameter designs.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If quadrotors are mechanically coupled mid-flight, then new collaborative applications become possible, but the difficulty of modeling and controlling the coupling dynamics increases

Engineering Contradiction:

Improveapplication versatilityVSAvoidcoupling dynamics control difficulty

Core Design Contradiction:

Adaptability or versatilityVSDifficulty of detecting and measuring

Solution Approach 1:

The system pre-defines multiple coupling configurations and their associated controller gain schedules before flight. When coupling occurs, the controller selects from these pre-configured parameters based on detected coupling state, avoiding the need to solve complex coupling dynamics equations in real-time.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The control system continuously monitors the coupling state between quadrotors and uses this feedback to dynamically adjust controller gains. This closed-loop approach simplifies the control problem by reacting to actual coupling conditions rather than requiring precise predictive modeling of coupling dynamics.

Inventive Principle:

Principle #23Feedback

3Reliability

If controller gains are tuned for coupled configuration, then stable operation of coupled quadrotors is achieved, but the time and complexity of gain tuning increases

Engineering Contradiction:

Improvestable operationVSAvoidgain tuning time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The system uses parameter scheduling where controller gains are changed based on the coupling state. Pre-computed gain schedules for both individual and coupled configurations are stored, and the appropriate set is selected based on real-time detection of coupling status, eliminating iterative tuning during operation.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

When coupling occurs, the system discards the individual quadrotor control parameters and recovers/activates the coupled configuration parameters. This switching approach allows rapid transition between control modes without requiring time-consuming re-tuning, as both parameter sets are pre-prepared.

Inventive Principle:

Principle #34Discarding and recovering

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 effective modeling and simulation of coupled quadrotor dynamics, improving stability and response characteristics, and opens new applications such as enemy pursuit and team lift operations, enhancing the versatility of quadrotor systems.

Implementation Method 1

utilizing magnet-based coupling and PID control for stable operation

Methodology Applied

Scientific EffectMagnetism: Magnetism

Data Source

PatentUS10642285B2Systems and methods for dynamics, modeling, simulation and control of mid-flight coupling of quadrotors

Publication Date: 2020.05.05 THE ARIZONA BOARD OF REGENTS ON BEHALF OF THE UNIV OF ARIZONA

AI summary

A first rotorcraft is provided, including a plurality of first coupling points. A second rotorcraft is provided, including a plurality of second coupling points. The first rotorcraft is mechanically coupled to the second rotorcraft using the plurality of first coupling points and the plurality of second coupling points to form a coupled configuration. A joint controller is implemented to maneuver the first rotorcraft and the second rotorcraft of the coupled configuration. Gains associated with the joint controller are set dependent on the application and anticipated maneuvers. The gains are scheduled to be moderate at time instances immediately following the formation of the coupled configuration and then the gains are changed to more aggressive values once the coupled configuration has been stabilized.