Control method to damp quadrotor slung payload mode

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United States of America Patent

PATENT NO 10739790
APP PUB NO 20150331427A1
SERIAL NO

14276534

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Abstract

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A quadrotor or other vertical lift aerial vehicle measures an angle of a payload slung from the quadrotor relative to a body of the quadrotor. Using this measurement a signal may be generated that adjusts a flight characteristic of the quadrotor to counteract swing in the payload. A feedback function for generating the feedback signal may include proportional and derivative gain functions as well as non-linear signal processing functions. The feedback signal may be added to normal input control signals to cause acceleration in the direction of the payload angle that damp oscillation of the slung payload caused by wind or movements of the quadrotor.

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Patent Owner(s)

Patent OwnerAddress
THE BOEING COMPANY929 LONG BRIDGE DRIVE ARLINGTON VA 22202

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Chaudhary, Ashwani K Cypress, US 5 11

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