Tilt Rotor Control Using Weighted Compensation for Uniform Thrust
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Solution Overview
Problem
In aircraft with multiple tilt rotors, achieving uniform thrust is challenging due to individual motor outputs, and existing electric speed control methods risk motor overload during vertical climbs or high-speed flights.
Innovation Solution
An apparatus and method that includes a thrust command generator, rotation speed compensator, compensation weight generator, collective pitch angle command generator, and motor controller to adjust and synchronize the output of each tilt rotor, using weighted averages and compensation values to maintain consistent thrust and prevent motor overload.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If individual motors are used to power tilt rotors, then the aircraft can achieve versatile flight modes, but uniform thrust generation becomes difficult
Solution Approach 1:
The system applies individualized compensation to each motor based on its specific characteristics. The rotation speed compensator generates motor-specific compensation values, and the compensation weight generator creates individualized weight values for each motor according to flight speed, allowing each motor to be optimized locally while maintaining overall system versatility
Solution Approach 2:
The system dynamically adjusts control parameters (ESC commands and collective pitch angles) based on motor rotation speeds and flight conditions. By changing these parameters in real-time according to each motor's performance characteristics and current flight speed, the system achieves both versatility and thrust uniformity
2Stability of the object's composition
If electric speed control is used to maintain constant motor rotation speed, then thrust consistency is improved, but motor overload risk increases during vertical climbs or high-speed flight
Solution Approach 1:
The system dynamically adjusts the balance between ESC command and collective pitch angle based on flight speed. The compensation weight generator creates speed-dependent weight values that shift the control strategy: at lower speeds, ESC commands dominate for speed consistency, while at higher speeds, collective pitch angle adjustments dominate to prevent motor overload, making the system adaptive to changing flight conditions
Solution Approach 2:
The system uses feedback from motor rotation speed to continuously adjust control commands. The rotation speed compensator monitors actual rotation speed and generates compensation values, which are then weighted and applied to ESC commands and collective pitch angles. This closed-loop feedback ensures rotation speed consistency while preventing overload by adjusting the control mix based on real-time motor performance
3Stability of the object's composition
If compensation work is performed to ensure uniform motor output, then thrust uniformity is improved, but system complexity and adjustment difficulty increase
Solution Approach 1:
The compensation weight generator serves multiple functions: it generates weight values for ESC commands, generates weight values for collective pitch angles, and adapts to different flight speeds. This single component handles multiple compensation tasks across different operating conditions, reducing overall system complexity while achieving motor output uniformity
Solution Approach 2:
The system pre-generates compensation weight values based on flight speed ranges before actual flight operations. The compensation weight generator creates speed-dependent weight values in advance, allowing the control system to quickly apply appropriate compensation without complex real-time calculations during flight, simplifying the control architecture
Data Source
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AI summary
An apparatus for controlling a tilt rotor is provided. The apparatus includes a thrust command generator (100) configured to generate a first collective pitch angle based on a throttle command, a rotation speed compensator (200) configured to generate a compensation value based on a target rotation speed and a current rotation speed of the motor, a compensation weight generator (300) configured to generate weight values according to a flight speed, a collective pitch angle command generator (400) configured to generate a collective pitch angle adjustment command of the rotor blade of the motor, based on a first compensation value and the first collective pitch angle, the first compensation value being obtained by multiplying the compensation value by a preset conversion ratio and a first weight value, and a motor controller (500) configured to generate a motor control command based on a second compensation value being obtained by multiplying the compensation value by a second weight value and the first collective pitch angle.