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11. 发明申请

US20210284327A1 METHOD FOR CONTROLLING AN AIRCRAFT, CONTROL DEVICE FOR AN AIRCRAFT AND AIRCRAFT WITH SUCH A CONTROL DEVICE 有权
公开(公告)号：US20210284327A1
公开(公告)日：2021-09-16
申请号：US17202519
申请日：2021-03-16
申请人： Volocopter GmbH
发明人： Jan ZWIENER , Jan-Hendrik BOELENS , Benjamin KIRSCH
IPC分类号： B64C13/50 , G05D1/10 , G06F17/11
摘要： A method for controlling an aircraft (1), in particular a VTOL multirotor aircraft, in which flight influencing units of the aircraft a) are supplied with control commands via a first/control channel from a first computer (COM), which control commands originate or are derived from a pilot input (PE), and b) the control commands are monitored by a second/monitoring channel and a second computer (MON), which checks whether the control commands are suitable for a given physical state of the aircraft and the pilot input, c) the second computer determines whether a current navigation state of the aircraft (1) coincides with the pilot input, which has been transformed into a desired navigation state of the aircraft, preferably by the second computer, within a prescribed deviation, and d) a control signal for controlling the aircraft (1) is generated in dependence on a determination result of step c). A corresponding control device (4) and aircraft (1) with such a device are provided.

12. 发明申请

US20210163144A1 METHOD OF OPERATING AN ACTUATOR SYSTEM, ACTUATOR SYSTEM, AND AIRCRAFT COMPRISING SAID METHOD AND SYSTEM 有权
公开(公告)号：US20210163144A1
公开(公告)日：2021-06-03
申请号：US17086826
申请日：2020-11-02
申请人： Volocopter GmbH
发明人： Burak YUKSEL , Ulrich SCHAFERLEIN , Tobias VERMEULEN , Johannes STEPHAN
IPC分类号： B64D31/06 , B64D27/24 , B64C29/00
摘要： A method of operating an actuator system (1) having a number k, kϵ, of actuators (2), in particular individual propulsion units of an MAV-VTOL aircraft (10), in particular electrically powered actuators, wherein a desired control command upϵm, mϵ, for controlling the actuator system (1) is allocated to real actuator commands uϵk, kϵ, by using a weighted allocation matrix D (W), from an equation u=D−1(W)up, wherein D−1(W) is an inverse of the weighted allocation matrix, and the real actuator commands u are applied for controlling the actuators (2). The method includes determining a characterizing value u* from the real actuator commands u; determining, at least for some of the actuators (2), preferably for all of the actuators (2), a deviation ei, i=1, 2, . . . , k of a respective actuator command ui, i=1, 2, . . . , k from said characterizing value u*; determining, at least for some of the actuators (2), preferably for all of the actuators (2), a weight wi, i=1, 2, . . . , k for a given actuator (2) as a function wi(ei), i=1, 2, . . . , k of said deviation ei; and using the weights wi for determining said weighted allocation matrix D(W). An actuator system which is operated according to this method and an aircraft with a plurality of propulsion units as a specific use case are also provided.

13. 发明申请

US20210072771A1 METHOD OF CONTROLLING AN ACTUATOR SYSTEM AND AIRCRAFT USING SAID METHOD 有权
公开(公告)号：US20210072771A1
公开(公告)日：2021-03-11
申请号：US16943414
申请日：2020-07-30
申请人： Volocopter GmbH
发明人： Jan ZWIENER , Burak YUKSEL
IPC分类号： G05D1/10 , G05D1/00 , B64C39/02 , B64C27/08
摘要： A method of controlling an actuator system including a plurality of k actuators, preferably for controlling a multiactuator aerial vehicle with the actuators configured as individual propulsion units thereof. Each of the actuators, during operation, receives a control input ui, wherein index i denotes a particular actuator, which control input ui is determined depending on a weight matrix W including a weighting factor wi for each actuator and depending on at least a physical maximum control limit uimax for each of the actuators. The weighting factors wi and/or physical maximum control limit uimax are actively changed during operation if a first comparison, for at least some of the actuators, of the control input ui or a function ƒ(ui) thereof with a set first threshold value yields that the control input ui or function ƒ(ui) thereof exceeds the set first threshold value. The first comparison is repeated during operation, and a new control input ui is determined from the adjusted weighting factor wi and/or the adjusted physical maximum control limit uimax and applied to the actuators.

14. 发明申请

US20200327814A1 MOTION PLANNING METHOD AND SYSTEM FOR AIRCRAFT, IN PARTICULAR FOR LOAD-CARRYING AND/OR PEOPLE-CARRYING VTOL AIRCRAFT 审中-公开
公开(公告)号：US20200327814A1
公开(公告)日：2020-10-15
申请号：US16785146
申请日：2020-02-07
申请人： Volocopter GmbH
发明人： Florian-Michael Adolf , Markus Ortlieb
IPC分类号： G08G5/00 , B64D27/24 , B64C29/00 , G05D1/10
摘要： A motion planning method and system for aircraft, in particular for separately electrically driven, load-carrying and/or people-carrying multicopters, includes: a motion preliminary planning unit that executes a preliminary planning algorithm using a computer on the ground or on board an aircraft in question, by which algorithm a reference trajectory, emergency trajectories are determined at intervals along the reference trajectory and confidence intervals are determined along the reference trajectory, which confidence intervals specify a spatial volume in which to maneuver without a pre-planned path but that the aircraft can't leave or is able to leave only at predefined locations; a data store in which parameters of the reference trajectory, parameters of the confidence intervals and parameters regarding a permissible deviation of the aircraft from the reference trajectory are stored on the aircraft according to instructions of the motion preliminary planning unit; a real-time control unit on the aircraft for the real-time motion planning using the parameters and the confidence intervals and using system data of the aircraft recorded by sensors; and an actuation apparatus that actuates flight control/regulation apparatuses of the aircraft using control/regulation signals derived from the real-time motion planning, wherein the flight control/regulation apparatuses of the aircraft are actuatable such that the aircraft is moved or is able to be moved either a) along the reference trajectory or b) along a real-time trajectory within a confidence interval or along an emergency trajectory with a given or required deviation from the reference trajectory.

15. 发明授权

US11640179B2 Flight control unit and method for flight stabilization of a person-carrying or load-carrying multicopter 有权
公开(公告)号：US11640179B2
公开(公告)日：2023-05-02
申请号：US16722535
申请日：2019-12-20
申请人： Volocopter GmbH
发明人： Jan Zwiener , Thomas Ruf , Walter Fichter , Johannes Stephan
IPC分类号： G05D1/10 , B64C27/08 , B64D27/24 , B64D31/14 , B60L15/20 , B64D31/04
摘要： 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.

16. 发明授权

US11603181B2 Supporting wing structure for an aircraft, and aircraft having such a supporting wing structure 有权
公开(公告)号：US11603181B2
公开(公告)日：2023-03-14
申请号：US16879909
申请日：2020-05-21
申请人： Volocopter GmbH
发明人： Michael Harms , Ulrich Schaferlein , Manuel Kessler , Sebastian Miesner
IPC分类号： B64C3/14 , B64C29/00 , B64D11/00 , B64D27/24
摘要： A supporting wing structure for an aircraft, in particular for a load-carrying and/or passenger-carrying aircraft, preferably an aircraft in the form of a vertical take-off and landing multicopter having a plurality of electrically driven rotors which are disposed in a distributed manner. The supporting wing structure has a plurality of struts. A first number of the struts are at least largely disposed in a first direction, while a second number of the struts are at least largely disposed in a second direction, the second direction being oriented orthogonal to the first direction. At least the struts of the second number have an aerodynamic profile in cross section, and/or in the struts are connected to one another at least in pairs between neighboring struts by a connecting structure, preferably from individual connecting segments, and the connecting structure or the connecting segments have an aerodynamic profiling. Furthermore an aircraft is provided equipped with such a supporting wing structure.

17. 发明申请

US20220374028A1 METHOD AND CONTROL UNIT FOR CONTROLLING AN OVERDETERMINED SYSTEM, SYSTEM AND AIRCRAFT 有权
公开(公告)号：US20220374028A1
公开(公告)日：2022-11-24
申请号：US17729089
申请日：2022-04-26
申请人： Volocopter GmbH
发明人： Burak YÜKSEL , Johannes STEPHAN
IPC分类号： G05D1/10 , B64D27/02 , B64C27/08
摘要： A method for controlling an overdetermined system with multiple power-restricted actuators that perform a primary task and non-primary tasks, including: a) determining a pseudo-control command based on a physical model of the system, which pseudo-control command represents the torques and a total thrust force acting on the system, b) determining a control matrix, c) dissociating the control matrix into sub control matrices, wherein the sub control matrices and the corresponding sub pseudo-control commands correspond to the primary task for i=1 and for i>1 correspond to the non-primary task(s) and a priority of the non-primary tasks decreases with increasing index i, d) determining actuator control commands for solving the primary task, e) projecting the non-primary tasks into the null space of the primary task, and into respective null spaces of all of the non-primary tasks of higher priority, if present, and f) providing the actuator control commands from d) and e) at the actuators.

18. 发明申请

US20220348339A1 AIRCRAFT WITH FOLDING MECHANISM 有权
公开(公告)号：US20220348339A1
公开(公告)日：2022-11-03
申请号：US17731344
申请日：2022-04-28
申请人： Volocopter GmbH
发明人： Francisco Javier INFANTE AGUIRRE , Michael HARMS
IPC分类号： B64D27/26 , B64C27/32
摘要： An aircraft with folding mechanism, the aircraft including a fuselage, optionally a payload and/or landing gear attached to the fuselage, at least two longitudinal beams attached to the fuselage that preferably extend parallel to each other and parallel to a first aircraft axis, with lifting units attached to each of the longitudinal beams. At least one crossbeam is attached to the fuselage, and preferably extending parallel to a second aircraft axis and at right angles with respect to the longitudinal beams, with lifting units attached to the crossbeam. The longitudinal beams are rotatably attached to the fuselage by at least one respective first pivot joint configured for pivoting the longitudinal beams around a respective first pivot axis to a pivoted position. The crossbeam is rotatably attached to the fuselage, preferably by at least one second pivot joint, for pivoting the crossbeam around a second pivot axis to a pivoted position.

19. 发明申请

US20220285752A1 BATTERY COOLING DEVICE WITH FIRE PROTECTION MATERIAL, BATTERY MODULE WITH FIRE PROTECTION MATERIAL, AND AIRCRAFT 有权
公开(公告)号：US20220285752A1
公开(公告)日：2022-09-08
申请号：US17687763
申请日：2022-03-07
申请人： Volocopter GmbH
发明人： Nils ZIEGLER
IPC分类号： H01M10/613 , H01M10/659 , H01M50/143
摘要： A battery cooling device for cooling at least one battery cell (1) of an electrically driven aircraft is provided, with a latent heat store (3). The battery cell is surrounded by a multilayer system having at least two layers (2,4) of fire protection material and a layer of the phase change material of the latent heat store, where an inner layer of the multilayer system, facing the battery cell, and an outer layer of the multilayer system, facing the surroundings, are formed of the fire protection material, and a middle layer, which is disposed between the inner and the outer layers, is formed of the phase change material of the latent heat store, and the fire protection material is of at least two-layer form, where a first layer of the fire protection material is mechanically stable in form and a second layer of the fire protection material comprises hydrated material.

20. 发明申请

US20220250766A1 METHOD AND CONTROL UNIT FOR CONTROLLING AN OVERDETERMINED SYSTEM, SYSTEM AND AIRCRAFT 有权
公开(公告)号：US20220250766A1
公开(公告)日：2022-08-11
申请号：US17579758
申请日：2022-01-20
申请人： Volocopter GmbH
发明人： Burak YÜKSEL , Johannes STEPHAN
IPC分类号： B64D45/00 , G05D1/10 , B64D31/12
摘要： A method for controlling an overdetermined system with multiple actuators, for example an aircraft (1) with multiple propulsion units (3). The actuators perform at least one primary task and at least one non-primary task, including: a) determining a pseudo-control command up ∈p′ 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∈p′×k according to up=Du, where u1=D−1upu1 ∈k 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 Du2=0 if u2u2 ∈k 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.

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