The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 30, 2024
Filed:
Dec. 15, 2021
The Boeing Company, Chicago, IL (US);
David H. Mason, Glenmoore, PA (US);
Eric L. Hathaway, Springfield, PA (US);
Roger W. Lacy, West Chester, PA (US);
Brandon R. Brown, Malvern, PA (US);
Michael J. Duffy, Saint Charles, MO (US);
The Boeing Company, Chicago, IL (US);
Abstract
A method is provided for operating a vehicle that includes rotors driven by actuators to cause the vehicle to move. The method includes determining rotational speeds at which to drive the rotors to achieve a controlled movement of the vehicle. The rotational speeds include a rotational speed for a rotor of a pair of the rotors driven by a pair of the actuators. The method includes monitoring the rotational speed to detect that the rotational speed has approached or reached a defined avoid band of rotational speeds, and biasing the rotational speed to produce at least one biased rotational speed for respective rotors of the pair that is outside the defined avoid band. The method includes generating commands for the actuators based on the rotational speeds, and modifying the commands including those of the commands for the pair of the actuators based on the at least one biased rotational speed.