A method is provided for stabilizing an orientation and height of a person or load-carrying multicopter with a plurality of motors, wherein the drive of the individual motors in flight is continuously calculated by a flight control unit and correspondingly prescribed to the motors using control technology, for which purpose, based on a desired torque τ, of a desired thrust s preferably prescribed by a pilot signal, and of a motor matrix M, the drive of the motors is calculated by a motor allocation algorithm f and provided as a control signal to the motors, wherein the following applies to the drive and the corresponding motor control variables u: u=f(τ, s, M). The method provides that A) the individual motors are weighted with a preferably diagonally filled matrix P, so that the following applies: u=f(τ, s, M, P), the motor allocation algorithm calculates the drive u such that the individual motors make an individual contribution to the desired forces and torques T and to the thrust s in accordance with the matrix P depending on the weighting; and/or B) zero space orientations with 0=M·uN that do not generate any torques or thrust, and therefore do not influence the flight movement, are used to drive the motors.


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    Titel :

    Flight control unit and method for flight stabilization of a person-carrying or load-carrying multicopter


    Beteiligte:
    ZWIENER JAN (Autor:in) / RUF THOMAS (Autor:in) / FICHTER WALTER (Autor:in) / STEPHAN JOHANNES (Autor:in)

    Erscheinungsdatum :

    02.05.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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