Aircraft attitude control methods

Patent metadata

Field	Value
Publication number	US-10845825-B2
Application number	US-201815946013-A
Country	US
Kind code	B2
Filing date	Apr 5, 2018
Priority date	May 30, 2014
Publication date	Nov 24, 2020
Grant date	Nov 24, 2020

Abstract

A method for controlling an aircraft includes determining a target angular velocity of the aircraft based at least in part on a target attitude of the aircraft, determining a target angular acceleration of the aircraft based at least in part on the target angular velocity, and generating a command signal for at least one propulsion unit of the aircraft based at least in part on the target angular acceleration.

First claim

What is claimed is:

1. A method for controlling an aircraft, comprising:
determining, using a first feedback controller, a target angular velocity of the aircraft based at least in part on a target attitude of the aircraft;
determining, using a second feedback controller, a target angular acceleration of the aircraft based at least in part on the target angular velocity; and
generating a command signal for at least one propulsion unit of the aircraft based at least in part on the target angular acceleration.

2. The method of claim 1 , wherein the command signal is generated at least in part by a third feedback controller.

3. The method of claim 1 , wherein the target angular acceleration is provided to a feedforward controller and wherein an output of the feedforward controller is used to generate the command signal.

4. The method of claim 1 , further comprising obtaining one or more aircraft configuration parameters based on one or more physical characteristics of the aircraft and wherein at least one of the aircraft configuration parameters is used to generate the command signal.

5. The method of claim 4 , wherein the one or more aircraft configuration parameters comprise a moment of inertia of the aircraft.

6. The method of claim 4 , wherein the one or more aircraft configuration parameters are provided to a feedforward controller that is based on the target angular acceleration.

7. A control system for an aircraft, comprising:
one or more processors individually or collectively configured to:
determine, using a first feedback controller, a target angular velocity of the aircraft based at least in part on a target attitude of the aircraft;
determine, using a second feedback controller, a target angular acceleration of the aircraft based at least in part on the target angular velocity; and
generate a command signal for at least one propulsion unit of the aircraft based at least in part on the target angular acceleration.

8. The control system of claim 7 , wherein the command signal is generated at least in part by a third feedback controller.

9. The control system of claim 7 , wherein the target angular acceleration is provided to a feedforward controller and wherein an output of the feedforward controller is used to generate the command signal.

10. The control system of claim 7 , wherein the one or more processors are further configured to obtain one or more aircraft configuration parameters based on one or more physical characteristics of the aircraft and wherein at least one of the aircraft configuration parameters is used to generate the command signal.

11. The control system of claim 10 , wherein the one or more aircraft configuration parameters comprise a moment of inertia of the aircraft.

12. The control system of claim 10 , wherein the one or more aircraft configuration parameters are provided to a feedforward controller that is based on the target angular acceleration.

13. An unmanned aerial vehicle (UAV), comprising:
one or more propulsion units for generating a lift; and
one or more processors individually or collectively configured to:
determine, using a first feedback controller, a target angular velocity of the UAV based at least in part on a target attitude of the UAV;
determine, using a second feedback controller, a target angular acceleration of the UAV based at least in part on the target angular velocity; and
generate a command signal for at least one propulsion unit of the UAV based at least in part on the target angular acceleration.

14. The UAV of claim 13 , wherein the command signal is generated at least in part by a third feedback controller.

15. The UAV of claim 13 , wherein the target angular acceleration is provided to a feedforward controller and wherein an output of the feedforward controller is used to generate the command signal.

16. The UAV of claim 13 , wherein the one or more processors are further configured to obtain one or more aircraft configuration parameters based on one or more physical characteristics of the UAV and wherein at least one of the aircraft configuration parameters is used to generate the command signal.

17. The UAV of claim 16 , wherein the one or more aircraft configuration parameters are provided to a feedforward controller that is based on the target angular acceleration.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Yu Yun

Classifications

• B64C29/0025

  the propellers being fixed relative to the fuselage · CPC title

• G05D1/0858 Primary

  specially adapted for vertical take-off of aircraft · CPC title

• B64C15/00

  Attitude, flight direction, or altitude control by jet reaction · CPC title