Aircraft attitude control methods
AssigneeSz Dji Technology Co., Ltd.
InventorYun Yu
Life of this patent
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Abstract
Systems and methods are provided for aircraft attitude control. The aircraft attitude control may take physical parameters of the aircraft into account. For example, one or more aircraft configuration parameters, such as moment of inertia, motor lift curve, and/or axial distance may be calculated and/or taken into account based on the aircraft physical parameters. The aircraft configuration parameters may include non-linear parameters. The control systems may include feedback control systems, and may optionally use a feedforward and feedback control for angular acceleration.
Claims30
A method for controlling aircraft attitude, said method comprising:
- (a) calculating one or more aircraft configuration parameters based on one or more physical characteristics of an aircraft;
- (b) receiving, at a processor, a signal indicative of a target attitude of the aircraft;
- (c) generating, with aid of the processor, a command signal to be delivered to at least one actuator of the aircraft operably coupled to one or more propulsion units of the aircraft, wherein said generation is based on (1) the signal indicative of the target attitude of (b), and (2) the one or more aircraft configuration parameters of (a), and where said generation further uses a feedback control scheme that includes an angular acceleration loop with angular acceleration feedback;
- (d) measuring, with aid of one or more sensors operably coupled to the aircraft, dynamics of the aircraft resulting from actuation of the one or more propulsion units;
- and
- (e) feeding the dynamics to the processor to yield the feedback control scheme that adjusts or confirms the command signal of (c).
A method for controlling aircraft attitude, said method comprising:
- (a) assessing, with aid of a processor, a non-linear relationship between thrust of an actuator and actuator output;
- (b) receiving, at the processor, a signal indicative of a target attitude of an aircraft;
- (c) generating, with aid of the processor, a command signal to be delivered to at least one actuator of the aircraft operably coupled to one or more propulsion units of the aircraft, wherein said generation is based on (1) the signal indicative of the target attitude of (b), and (2) the non-linear relationship of (a), and wherein said generation uses a feedback control scheme that includes an angular acceleration loop with angular acceleration feedback;
- (d) measuring, with aid of one or more sensors operably coupled to the aircraft, dynamics of the aircraft resulting from actuation of the one or more propulsion units;
- and
- (e) feeding the dynamics to the processor to yield the feedback control scheme that adjusts or confirms the command signal of (c).
A method for controlling aircraft attitude, said method comprising:
- (a) receiving, at the processor, a signal indicative of a target attitude of an aircraft;
- (b) generating, with aid of the processor, a command signal to be delivered to at least one actuator of the aircraft operably coupled to one or more propulsion units of the aircraft, wherein said generation is based on the signal indicative of the target attitude of (a), and wherein said generation uses a feedback control scheme that includes (1) an angular acceleration loop with angular acceleration feedback and (2) direct feedforward calculation based on a target acceleration;
- (c) measuring, with aid of one or more sensors operably coupled to the aircraft, dynamics of the aircraft resulting from actuation of the one or more propulsion units;
- and
- (d) feeding the dynamics to the processor to yield the feedback control scheme that adjusts or confirms the command signal of (b).
Dependencies are inferred from the claim text.