Rotor Health-Based Actuator Allocation for Longer eVTOL Flight
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Solution Overview
Problem
Existing aircraft designs, particularly those capable of vertical takeoff and forward flight, face limitations in flight time and range due to uneven rotor module health, leading to premature landings despite available battery power, without the ability to add new components.
Innovation Solution
A flight computer system that determines rotor module commands based on health metrics, adjusting thrust levels to balance load among healthier and less healthy modules, preventing overburdening and extending flight time and range without additional physical components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Duration of action of moving object
If traditional actuator allocation methods are used without considering health metrics, then the control system is simpler to implement, but the flight time and range are limited due to premature landings caused by uneven rotor module health
Solution Approach 1:
The system performs preliminary assessment of rotor module health metrics before allocating control commands. By evaluating health status in advance and proactively adjusting thrust distribution, the system prevents premature landings and extends flight duration without requiring complex real-time interventions
Solution Approach 2:
The control system continuously monitors health metrics from rotor modules and uses this feedback to dynamically adjust thrust allocation. This closed-loop approach optimizes flight time by redistributing load away from deteriorating modules while maintaining overall aircraft performance
2Duration of action of moving object
If thrust is increased to extend range, then the aircraft can fly farther, but the already degraded rotor modules fail sooner due to overburdening
Solution Approach 1:
The system applies differentiated thrust allocation to individual rotor modules based on their specific health conditions. Healthier modules are assigned higher thrust commands while degraded modules receive reduced commands, optimizing range extension without compromising the reliability of vulnerable components
Solution Approach 2:
The control system dynamically changes thrust parameters for each rotor module based on monitored health metrics. By adjusting these parameters in real-time, the system extends operational range while preventing further degradation of unreliable modules
3Duration of action of moving object
If new components are added to extend flight time, then the aircraft performance improves, but the weight increases which violates ultralight aircraft constraints
Solution Approach 1:
The system uses existing rotor modules and their built-in health monitoring capabilities to extend flight time. By intelligently managing the utilization of existing components through health-based allocation, the aircraft achieves extended range without adding new hardware or increasing weight
Solution Approach 2:
The health-based allocation algorithm provides multiple functions using the same hardware: it optimizes flight time, extends range, maintains reliability, and adheres to weight constraints all through software-based control of existing rotor modules
Data Source
AI summary
A vertical takeoff and landing vehicle which includes an allocation block that receives a set of desired forces or desired moments and a health metric associated with at least one of: (1) a motor controller or (2) a rotor that operates in a vertical takeoff and landing mode at least some of the time. A command signal is determined per a first manner that attempts to satisfy both the set of desired forces or desired moments and the health metric. If the command signal is unable to be determined in the first manner, a second manner is used that prioritizes flight control associated with one or more of a roll axis or a pitch axis over flight control associated with a yaw axis where the axes are mutually orthogonal. The command signal is output to the motor controller that controls the rotor using the command signal.