Method of adjusting directional movement ability in a multi-rotor aircraft

A method of adjusting a directional movement ability in an aircraft having two or more rotors comprises the steps of:

• receiving a plurality of desired thrust demands such that a desired thrust demand is received for each rotor of the two or more rotors;
• comparing, via a processor, the plurality of desired thrust demands to determine a maximum thrust demand of the plurality of desired thrust demands;
• determining, via the processor, whether the maximum thrust demand exceeds a maximum thrust limit of the two or more rotors;
• comparing, via the processor, the plurality of desired thrust demands to determine a minimum thrust demand of the plurality of desired thrust demands;
• determining, via the processor, whether the minimum thrust demand is below a minimum thrust limit of the two or more rotors;
• adjusting each desired thrust demand of the plurality of desired thrust demands based on a select one or both of an amount that the maximum thrust demand exceeds the maximum thrust limit and an amount that the minimum thrust demand is below the minimum thrust limit to provide a plurality of adjusted thrust demands such that an adjusted thrust demand is provided for each rotor of the two or more rotors;
• operating each rotor of the two or more rotors based on a respective adjusted thrust demand of the plurality of adjusted thrust demands;
• limiting a collective thrust of the two or more rotors to improve pitch, roll, and/or turning authority of the aircraft during a disturbance;
• and
• increasing the collective thrust after the disturbance.

A flight control system for controlling directional movement ability of an aircraft having two or more rotors, wherein the flight control system comprises a control coupled with at least one motor of each of the two or more rotors such that the control is configured to actuate the at least one motor to thereby drive the two or more rotors, wherein the control comprises:

• a max algorithm incorporated into a processor and configured to receive a desired thrust demand for each rotor of the one or more rotors, wherein the max algorithm is configured to determine a maximum thrust demand of the received desired thrust demands;
• a first difference algorithm incorporated into the processor and configured to receive the maximum thrust demand, wherein the first difference algorithm is configured to determine a first difference between the maximum thrust demand and a maximum thrust limit;
• a first switch configured to receive the first difference, wherein the first switch is configured to transmit a first signal having a value of the first difference when the first difference is greater than zero, wherein the first switch is configured to transmit the first signal having a value of zero when the first difference is equal to or less than zero;
• and
• at least one second difference algorithm configured to receive the first signal from the first switch, wherein the at least one second difference algorithm is configured to subtract the value of the first signal from each of the received thrust demands to provide an adjusted thrust demand for each rotor of the two or more rotors;
• wherein the control is configured to actuate the at least one motor of each of the two or more rotors based on the respective adjusted thrust demand;
• and
• wherein the control is configured to limit a collective thrust of the two or more rotors to improve pitch, roll, and/or turning authority of the aircraft during a disturbance.