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1. 发明公开

EP4280009A1 AIRCRAFT, METHOD OF CONTROLLING AN AIRCRAFT AND DISTRIBUTED CONTROL SYSTEM IN AN AIRCRAFT 审中-公开转让
公开(公告)号：EP4280009A1
公开(公告)日：2023-11-22
申请号：EP22174676.1
申请日：2022-05-20
申请人： Volocopter GmbH
发明人： Ruf, Thomas , Zwiener, Jan , Wolf, Stephan
IPC分类号： G05D1/00 , G06F11/16
摘要： We propose a method of controlling an aircraft, wherein a first lane and a second lane operate on same input data (ID) to produce respective computing results, said computing results comprising a combination of discrete system states ( H 0 , H 1, ... H m ) of the aircraft, the second lane being devised to reproduce computing results of the first lane in order to detect any deviations in said computing results and to initiate mitigation measures in the case of deviations, e.g., disabling a first lane output, comprising:
a) computing discrete system states ( H 0 , H 1 , ... H m ) of the aircraft on said first lane based on said input data (ID), thus generating a first result;
b) monitoring said computation on said second lane based on the same input data (ID), thus generating a second result;
c) if said first result and said second result are different, examining, on the second lane, at least a number of elementary input variables ( R 0 , R 1 , ... R n ), which input variables ( R 0 , R 1 , ... R n ) represent said input data (ID) on a respective lane and which lead to said discrete system states ( H 0 , H 1, ... H m );
d) if respective examined variables are identical within a predefined range on the first lane and on the second lane, performing a test on the second lane while using the first lane representation of the input data (ID), said test comprising at least one arithmetic operation that is used to compute said discrete system states ( H 0 , H 1, ... H m ) from the input data (ID), thus generating a test result, and initiating said measures only if said test result is outside a predefined acceptance range.

2. 发明公开

EP3819209A1 METHOD OF OPERATING A SYSTEM AND SYSTEM OPERABLE ACCORDINGLY, PREFERABLY IN THE FORM OF AN AIRCRAFT 有权转让
公开(公告)号：EP3819209A1
公开(公告)日：2021-05-12
申请号：EP19208294.9
申请日：2019-11-11
申请人： Volocopter GmbH
发明人： Zwiener, Jan , Yüksel, Burak , Stephan, Johannes
IPC分类号： B64C13/16 , G05D1/00 , B64D31/06 , B64C27/00 , B64C39/02 , B64C27/08 , G05D1/08
摘要： We disclose a method of operating a system, for example an aircraft (1), said system comprising a structure (5) made from a plurality of structural parts (5a-5d) interconnected via a plurality of mechanical connections, which parts and connections present inherent elasticity, said system further comprising at least one actuator, for example a propulsion unit (3), which actuator is mechanically attached to said structure (5) and which actuator is controlled by means of a control signal ( u i ) generated by a control unit (2), said system further comprising at least one sensor unit (4) for measuring a physical property of the system, the method comprising, during system operation,
a) detecting a first oscillation in an output signal of the sensor unit (4);
b) detecting a second oscillation in the control signal ( u i ), preferably on a computed control signal and, if available, on actuator states;
c) comparing said first oscillation and said second oscillation;
d) based on the comparison in step c), adapting a property of the control signal.

3. 发明公开

EP4279382A1 METHOD OF CONTROLLING OPERATION OF AN AIRCRAFT AND CONTROL ARRANGEMENT 审中-实审转让
公开(公告)号：EP4279382A1
公开(公告)日：2023-11-22
申请号：EP22174684.5
申请日：2022-05-20
申请人： Volocopter GmbH
发明人： Wolf, Stephan , Zwiener, Jan , Stephan, Johannes
IPC分类号： B64C39/02 , G05D1/08 , B64C27/20 , B64D27/24
摘要： We propose a method of controlling operation of an aircraft with a plurality of n rotors (6), n ∈ , and a corresponding plurality of drive units (2), preferably a vertical take-off and landing aircraft with electrically powered rotors (6), comprising:
a) determining, by means of a flight control unit (1), a respective desired resulting thrust setpoint, preferably in Newton (N) or an equivalent unit, for each of said plurality of rotors (6);
b) directly commanding, by means of said flight control unit (1), a respective thrust setpoint to a drive unit (2) associated with a given rotor (6) of said plurality of rotors (6) by sending a corresponding thrust command to said drive unit (2);
c) measuring a thrust (T), preferably in Newton (N) or an equivalent unit, within said drive unit (2); and
d) processing said measured thrust (T) as a controlled variable.

4. 发明公开

EP3792184A1 METHOD OF CONTROLLING AN ACTUATOR SYSTEM AND AIRCRAFT USING SAID METHOD 审中-实审转让
公开(公告)号：EP3792184A1
公开(公告)日：2021-03-17
申请号：EP19196435.2
申请日：2019-09-10
申请人： Volocopter GmbH
发明人： Zwiener, Jan , Yüksel, Burak
IPC分类号： B64D31/12 , B64C29/00 , G05D29/00 , G05B13/02 , G05D1/08
摘要： We propose a method of controlling an actuator system comprising a plurality of k actuators (3), preferably for controlling a multiactuator aerial vehicle (1), wherein said actuators (3) are preferably devised as individual propulsion units of the multiactuator aerial vehicle (1), wherein each of said actuators (3), during operation, receives a control input u i , wherein index i denotes a particular actuator (3), which control input u i is determined depending on a weight matrix W comprising a weighting factor w i for each actuator (3) and depending on at least a physical maximum control limit u i max for each of the actuators (3), wherein said weighting factors w i and/or physical maximum control limit u i max are actively changed during operation of the actuator system if a first comparison, for at least some of the actuators (3), of said control input u i or a function f(u i ) thereof with a set first threshold value yields that said control input u i or said function f(u i ) thereof exceeds said set first threshold value, said first comparison being repeated over time during operation of the actuator system, preferably at regular time intervals; and wherein a new control input u i is determined from the adjusted weighting factor w i and/or the adjusted physical maximum control limit u i max and applied to the actuators (3).

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