Quadrotor Slung Payload Damping via Real-Time Angle Feedback
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Solution Overview
Problem
Quadrotor aerial vehicles face instability and reduced efficiency when lifting slung payloads due to oscillatory motion caused by wind and acceleration, which existing predictive techniques struggle to accurately address.
Innovation Solution
A method and system where a quadrotor measures the angle and rate of change of a slung payload in two dimensions to generate adjustment commands that dampen oscillatory motion by adjusting the quadrotor's pitch and roll angles, eliminating the need for payload characterization and predictive modeling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If predictive techniques and flight path modeling are used to control payload oscillation, then some level of oscillation control is achieved, but the control accuracy is insufficient because the models do not accurately portray actual circumstances
Solution Approach 1:
The patent implements a feedback control system that uses actual real-time measurements of payload angle and rate of change from sensors, rather than relying on predictive models. The controller continuously receives feedback about the actual payload state and adjusts control commands accordingly, ensuring accurate representation of actual circumstances rather than modeled predictions.
Solution Approach 2:
The patent replaces complex predictive modeling and simulation systems with direct sensor measurement systems. Instead of using computational models to predict payload behavior, the system directly measures payload angle and rate of change using sensors, substituting mechanical/physical measurement for computational prediction.
2Stability of the object's composition
If the quadrotor accelerates to counter payload oscillation, then payload stability is improved, but the quadrotor's flight efficiency is reduced
Solution Approach 1:
The patent applies partial action by using only the minimum necessary control input to damp payload oscillation. The controller generates adjustment commands based on actual payload angle and rate of change, applying just enough corrective acceleration to reduce oscillation without excessive energy consumption. The system avoids continuous or excessive control actions by activating corrections only when oscillation thresholds are exceeded.
Solution Approach 2:
The patent changes the control parameter from continuous model-based prediction to event-triggered measurement-based correction. The system monitors payload angle and rate of change parameters, and only applies energy-consuming control actions when these parameters indicate oscillation beyond acceptable thresholds, thereby reducing overall energy consumption while maintaining stability.
3Reliability
If manual pilot control is used to counter swinging payload, then oscillation can be controlled, but the operation becomes complex and difficult for automated systems
Solution Approach 1:
The patent implements self-service automation where the quadrotor system automatically measures payload angle and rate of change, processes this information through control logic, and generates appropriate adjustment commands without human intervention. The system serves itself by using onboard sensors and controllers to autonomously damp oscillations, making manual piloting skills unnecessary for automated operation.
Solution Approach 2:
The patent creates a universal control system that handles both the quadrotor's flight control and payload oscillation damping through a single integrated controller. The controller universally processes inputs from multiple sensors and generates commands that simultaneously manage flight path and payload stability, eliminating the need for separate manual control mechanisms and enabling automated operation.
Data Source
AI summary
A quadrotor or other vertical lift aerial vehicle measures an angle of a payload slung from the quadrotor relative to a body of the quadrotor. Using this measurement a signal may be generated that adjusts a flight characteristic of the quadrotor to counteract swing in the payload. A feedback function for generating the feedback signal may include proportional and derivative gain functions as well as non-linear signal processing functions. The feedback signal may be added to normal input control signals to cause acceleration in the direction of the payload angle that damp oscillation of the slung payload caused by wind or movements of the quadrotor.