Thrust vectored multicopters

US11199858B2 · kind B2 · utility

Assignee

• Deakin University · AU

Inventors

• Sui Yang Khoo · Geelong, AU
• Michael John Norton · Freshwater Creek, AU
• Abbas Zahedi Kouzani · Freshwater Creek, AU

Key dates

• Filing date: Oct 18, 2017
• Grant date: Dec 14, 2021
• Expiry date: May 28, 2038

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B64U50/14
• WIPO field: Control
• WIPO sector: Instruments

Abstract

A method of operating a multicopter comprising a body and n thrusters, each thruster independently actuated to vector thrust angularly relative to the body about at least a first axis, the method comprising modelling dynamics of the multicoptor with a mathematical model comprising coupled, non-linear combinations of thruster variables, decoupling the mathematical model into linear combinations of thruster control variables, sensing at least one characteristic of multicopter dynamics, comparing the sensed data with corresponding target characteristic(s), computing adjustments in thruster control variables for reducing the difference between the sensed data and the target characteristic(s) according to a control algorithm, and actuating each thruster according to the computed thruster control variables to converge the multicopter towards the target characteristic(s), wherein the control algorithm is based on the decoupled mathematical model such that each thruster control variable can be adjusted independently.