Method for controlling an aircraft in the form of a multicopter and corresponding control system
First Claim
1. A method for controlling an aircraft in the form of a multicopter, which comprises redundant rotors arranged in a common rotor plane, in order to generate lift and propulsion by an inclining of at least one rotor plane, with a position control to control the multicopter by changes of rotary speeds of the rotors depending on pilot control instructions, the method comprising:
- connecting the rotors to each other in a data-technology fashion via a failsafe network, communicating their respective operating state including a rotary speed;
determining data relevant for the control using a first plurality of redundant sensors included in the network, and making the data available in the network, including at least one of an incline, acceleration, yaw rate, or position in all three spatial axes of the multicopter;
providing a second plurality of controls in the network, and using said second plurality of controls for autonomously and decentrally determining respectively, based on the sensor data, a control signal for at least one of the rotors for each of the second plurality of controls and making the control signal available in the network; and
controlling the rotors by the control signals such that a flight behavior of the multicopter is essentially equivalent to specifications from pilot control instructions.
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Accused Products
Abstract
A method and a system are provided for controlling an aircraft in the form of a multicopter which has a plurality of redundant rotors (4), preferably arranged in a common rotor plane, in order, on the one hand, to generate lift, and, on the other hand, also propulsion by inclining the at least one rotor plane, wherein the regulation of the position and the control of the multicopter are carried out by changing rotor rotational speeds as a function of pilot control instructions. The system is characterized in that the rotors (4) are connected to one another in terms of data technology via a failsafe network (8), and they communicate their respective operating state, in particular their rotor rotational speed, in the network (8), and in that the network contains a first multiplicity of redundant sensors which determine control-relevant data and make it available in the network, in particular inclination, acceleration, rotational speed and/or position in all three spatial axes of the multicopter.
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Citations
40 Claims
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1. A method for controlling an aircraft in the form of a multicopter, which comprises redundant rotors arranged in a common rotor plane, in order to generate lift and propulsion by an inclining of at least one rotor plane, with a position control to control the multicopter by changes of rotary speeds of the rotors depending on pilot control instructions, the method comprising:
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connecting the rotors to each other in a data-technology fashion via a failsafe network, communicating their respective operating state including a rotary speed; determining data relevant for the control using a first plurality of redundant sensors included in the network, and making the data available in the network, including at least one of an incline, acceleration, yaw rate, or position in all three spatial axes of the multicopter; providing a second plurality of controls in the network, and using said second plurality of controls for autonomously and decentrally determining respectively, based on the sensor data, a control signal for at least one of the rotors for each of the second plurality of controls and making the control signal available in the network; and controlling the rotors by the control signals such that a flight behavior of the multicopter is essentially equivalent to specifications from pilot control instructions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A control system for an aircraft in the form of a multicopter, which comprises several rotors arranged in a common rotor plane, in order to generate lift and propulsion by inclining at least one rotor plane, with a position control and control of the multicopter occurring by changing rotor speeds depending on pilot control instructions,
the rotors are connected to each other via a failsafe network in a data-technological fashion, and embodied to communicate a respective operating state in the network; -
a first plurality of redundant sensors provided in the network (8) are embodied to determine data relevant for the control and render said data available in the network, including at least one of an incline, an acceleration, a yaw rate, or a position in all three spatial axes of the multicopter; a second plurality of controls in the network, embodied to determine autonomously and decentrally, based on sensor data and preferably also based on the operating states of the rotors, respectively a control signal for respectively at least one rotor and render it available in the network; the rotors being adjustable via control signals such that a flight behavior of the multicopter is essentially equivalent to specifications of the pilot control instructions. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification