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:
May. 21, 2024
Filed:
Jan. 20, 2022
Volocopter Gmbh, Bruchsal, DE;
Burak Yüksel, Mannheim, DE;
Johannes Stephan, Stuttgart, DE;
Volocopter GmbH, Bruchsal, DE;
Abstract
A method for controlling an overdetermined system with multiple actuators, for example an aircraft () with multiple propulsion units (). The actuators perform at least one primary task and at least one non-primary task, including: a) determining a pseudo-control command u∈based on a physical model of the system, which command represents the torques (L, M, N) and a total thrust force (F) acting on the system, b) determining a control matrix D, D∈according to u=Du, where u=Duu∈represents a control command for the actuators to perform the primary task, c) projecting the non-primary task into the null space N(D) of the primary task, so that Du=0 if uu∈represents a control command for the actuators to perform the non-primary task, and d) providing the control commands from b) and c) to the actuators. In this way, the solution of the primary task is not adversely affected by the non-primary task or its solution.