Control of Large Multicopters with Rate-Limited Electric Motors
M. Welsch, and W. Fichter. Proceedings of AIAA Scitech 2020 Forum, American Institute of Aeronautics and Astronautics, (January 2020)
DOI: 10.2514/6.2020-1832
Abstract
Rate-limited actuators introduce nonlinearities into a control system, which results in a loss of phase and a reduction of amplitude of the control signal. These effects have been identified as being a main contributor to pilot induced oscillation incidents and therefore methods were developed in the field of aircraft control systems in order to compensate the detrimental effects. This work evaluates the application of such a method when used for rate-limited electric motors in a large-scale (man-carrying) multicopter vehicle. An approach using a feedback-type method is presented and its performance evaluated using a simulation model. It can be shown that the approach improves the vehicle behavior and stability in situations where extreme changes of the motor turning speeds are required.
%0 Conference Paper
%1 Welsch_2020
%A Welsch, Marc
%A Fichter, Walter
%B Proceedings of AIAA Scitech 2020 Forum
%D 2020
%I American Institute of Aeronautics and Astronautics
%K ifr
%R 10.2514/6.2020-1832
%T Control of Large Multicopters with Rate-Limited Electric Motors
%U https://arc.aiaa.org/doi/10.2514/6.2020-1832
%X Rate-limited actuators introduce nonlinearities into a control system, which results in a loss of phase and a reduction of amplitude of the control signal. These effects have been identified as being a main contributor to pilot induced oscillation incidents and therefore methods were developed in the field of aircraft control systems in order to compensate the detrimental effects. This work evaluates the application of such a method when used for rate-limited electric motors in a large-scale (man-carrying) multicopter vehicle. An approach using a feedback-type method is presented and its performance evaluated using a simulation model. It can be shown that the approach improves the vehicle behavior and stability in situations where extreme changes of the motor turning speeds are required.
@inproceedings{Welsch_2020,
abstract = {Rate-limited actuators introduce nonlinearities into a control system, which results in a loss of phase and a reduction of amplitude of the control signal. These effects have been identified as being a main contributor to pilot induced oscillation incidents and therefore methods were developed in the field of aircraft control systems in order to compensate the detrimental effects. This work evaluates the application of such a method when used for rate-limited electric motors in a large-scale (man-carrying) multicopter vehicle. An approach using a feedback-type method is presented and its performance evaluated using a simulation model. It can be shown that the approach improves the vehicle behavior and stability in situations where extreme changes of the motor turning speeds are required.},
added-at = {2021-02-22T15:02:48.000+0100},
author = {Welsch, Marc and Fichter, Walter},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2cbce3ef9b9d5d80f2b4605db657f66a8/janolucak},
booktitle = {Proceedings of {AIAA} Scitech 2020 Forum},
doi = {10.2514/6.2020-1832},
eventdate = {6-10 January 2020},
eventtitle = {AIAA Scitech 2020 Forum},
interhash = {03265d376d04286962bbc2d8cdfb3d19},
intrahash = {cbce3ef9b9d5d80f2b4605db657f66a8},
keywords = {ifr},
month = jan,
publisher = {American Institute of Aeronautics and Astronautics},
timestamp = {2021-02-22T14:02:48.000+0100},
title = {Control of Large Multicopters with Rate-Limited Electric Motors},
url = {https://arc.aiaa.org/doi/10.2514/6.2020-1832},
venue = {Orlando, FL},
year = 2020
}
