Methods and systems for flight control configured for use in an electric aircraft

Patent metadata

Field	Value
Publication number	US-12379730-B2
Application number	US-202117478143-A
Country	US
Kind code	B2
Filing date	Sep 17, 2021
Priority date	Mar 31, 2021
Publication date	Aug 5, 2025
Grant date	Aug 5, 2025

Abstract

A system for flight control configured for use in an electric aircraft includes an inertial measurement unit (IMU) and configured to detect an aircraft angle and an aircraft angle rate. The system includes a flight controller including an outer loop controller configured to receive the input datum from the sensor, receive the aircraft angle from the IMU, and generate a rate setpoint as a function of the input datum. The system includes an inner loop controller configured to receive the aircraft angle rate, receive the rate setpoint from the outer loop controller, and generate a moment datum as a function of the rate setpoint. The system includes a mixer configured to receive the moment datum, perform a torque allocation as a function of the moment datum, and generate a motor command datum as a function of the torque allocation.

First claim

What is claimed is:

1. A system for flight control configured for use in an electric aircraft, the system comprising:
at least one sensor attached to at least one flight component and configured to detect signal datum from the at least one flight component;
an inertial measurement unit, the inertial measurement unit configured to:
detect at least an aircraft angle; and
detect at least an aircraft angle rate; and

a flight controller configured to generate an autonomous function, the flight controller comprising:
an outer loop controller, the outer loop controller configured to:
receive at least an input datum;
receive at least the aircraft angle from the inertial measurement unit; and
generate a rate setpoint as a function of at least the input datum;

an inner loop controller, the inner loop controller configured to:
receive at least the aircraft angle rate;
receive the rate setpoint from the outer loop controller; and
generate a moment datum as a function of the rate setpoint; and

a mixer, the mixer configured to:
receive the moment datum from the inner loop controller;
receive the signal datum from the at least one sensor;
perform a torque allocation as a function of the moment datum and the signal datum; and
generate at least a motor command datum as a function of the torque allocation.

2. The system of claim 1 , wherein the system further comprises a remote device, wherein the remote device is configured to transmit the at least the input datum to the flight controller.

3. The system of claim 2 , wherein the remote device is one of a controller or a remote pilot control.

4. The system of claim 1 , wherein, the motor command datum is provided as feedback datum to one or more of the outer loop controller or the inner loop controller.

5. The system of claim 1 , wherein the flight controller further comprises a processor.

6. The system of claim 1 , wherein the mixer further comprises a logic circuit.

7. The system of claim 1 , wherein the mixer further comprises an inertia compensator.

8. The system of claim 1 , wherein the inner loop controller further comprises a lead-lag filter.

9. The system of claim 1 , wherein the inner loop controller further comprises an integrator.

10. The system of claim 1 , wherein the motor command datum is transmitted to a plurality of flight components.

11. A method of flight control configured for use in electric aircraft, the method comprising:
detecting, by at least one sensor attached to at least one flight component, signal datum;
detecting, at an inertial measurement unit, at least an aircraft angle;
detecting, at the inertial measurement unit, at least an aircraft angle rate;
receiving, at a flight controller configured to generate an autonomous function, at least an input datum;
receiving, at the flight controller, at least the aircraft angle from the inertial measurement unit;
generating, at the flight controller, a rate setpoint as a function of at least the input datum;
receiving, at the flight controller, at least the aircraft angle rate from the inertial measurement unit;
generating, at the flight controller, a moment datum as a function of the rate setpoint;
receiving, at a mixer of the flight controller, the moment datum;
receiving, at the mixer, the signal datum;
performing, at the mixer, a torque allocation as a function of the moment datum and the signal datum; and
generating, at the mixer, at least a motor command datum as a function of the torque allocation.

12. The method of claim 11 , wherein the method further comprises transmitting, by a remote device, the at least the input datum to the flight controller.

13. The method of claim 12 , wherein the remote device is one of a controller or a remote pilot control.

14. The method of claim 11 , wherein the motor command datum is provided as feedback datum to one or more of an outer loop controller or an inner loop control.

15. The method of claim 11 , wherein the flight controller is implemented using a processor.

16. The method of claim 11 , wherein the mixer is implemented using an electrical logic circuit.

17. The method of claim 11 , wherein the mixer comprises an inertia compensator.

18. The method of claim 11 , wherein the flight controller includes an inner loop controller.

19. The method of claim 11 , wherein the flight controller includes an outer loops controller.

20. The method of claim 11 , wherein the motor command datum is transmitted to a plurality of flight components.

21. The system of claim 1 , wherein the input datum represents a desired change in a trajectory associated with the electric aircraft.

22. The system of claim 1 , wherein the input datum represents a pilot input.

Assignees

• Beta Air Llc

Inventors

• Moy Nicholas
• Auerbach Joshua E

Classifications

• B64D27/24

  using steam or spring force (jet aircraft B64D27/16) · CPC title

• G05D1/439

  on the runway during take-off or landing · CPC title

• G05D1/617

  Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) · CPC title

• G05D1/495

  to ensure stability · CPC title

• G05D2109/23

  Vertical take-off and landing [VTOL] aircraft; Short take-off and landing [STOL, STOVL] aircraft · CPC title