Health based actuator allocation
US12110124B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 9, 2023 |
| Grant date | Oct 8, 2024 |
| Priority date | — |
| Expiry date | Oct 9, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/606
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.