Rotor noise reduction using signal processing

1. A vehicle, comprising:

a flight controller that is configured to:

receive one or more desired forces or moments associated with a plurality of rotors in the vehicle;

determine a plurality of motor control signals for the plurality of rotors based at least in part on the desired forces or moments, including by performing thrust allocation using a feed-forward, multi-function thrust allocation optimization block that finds the plurality of motor control signals that achieve the desired forces and moments and optimize a plurality of cost functions, including a control authority function and a noise function;

determine if a moving window of past motor control signals satisfies a steady state criteria, wherein it is a necessary condition that the moving window of past motor control signals satisfies the steady state criteria in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the moving window of past motor control signals does not satisfy the steady state criteria, determine the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function; and

the plurality of rotors, wherein the plurality of motor control signals is used to control the plurality of rotors.

2. The vehicle of claim 1 , wherein the vehicle includes a vertical takeoff and landing (VTOL) multicopter.

3. The vehicle of claim 1 , wherein the flight controller is further configured to:

determine if the vehicle is located in a defined space, wherein it is a necessary condition that the vehicle be located in the defined space in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the vehicle is not located in the defined space, determine the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function.

4. The vehicle of claim 1 , wherein the flight controller is further configured to:

determine if the vehicle is located in a defined space, wherein:

it is a necessary condition that the vehicle be located in the defined space in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments and, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

the defined space has a maximum velocity that is automatically enforced and the automatically-enforced maximum velocity is slower than a second automatically-enforced maximum velocity associated with a second defined space that is mutually exclusive with the defined space; and

in the event it is determined that the vehicle is not located in the defined space, determine the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function.

5. The vehicle of claim 1 , wherein the flight controller is further configured to:

determine if a battery level satisfies a minimum battery level, wherein it is a necessary condition that the battery level satisfies the minimum battery level in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the battery level does not satisfy the minimum battery level, determine the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function.

6. The vehicle of claim 1 , wherein:

the vehicle includes an autonomously flown vehicle; and

an autonomous flight control system included in the autonomously flown vehicle generates a noise reduced trajectory based at least in part on an expected rotor noise produced by at least one of the plurality of rotors.

7. The vehicle of claim 1 , wherein:

the vehicle includes an piloted vehicle; and

the piloted vehicle includes a hand control and an input shaper, wherein the input shaper inputs a raw input signal from the hand control that generates a shaped and noise reduced input signal.

8. A method, comprising:

receiving one or more desired forces or moments associated with a plurality of rotors in a vehicle;

determining a plurality of motor control signals for the plurality of rotors based at least in part on the desired forces or moments, including by:

performing thrust allocation using a feed-forward, multi-function thrust allocation optimization block that finds the plurality of motor control signals that achieve the desired forces and moments and optimize a plurality of cost functions, including a control authority function and a noise function;

determining if a moving window of past motor control signals satisfies a steady state criteria, wherein it is a necessary condition that the moving window of past motor control signals satisfies the steady state criteria in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the moving window of past motor control signals does not satisfy the steady state criteria, determining the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function; and

controlling the plurality of rotors using the plurality of motor control signals.

9. The method of claim 8 , wherein the vehicle includes a vertical takeoff and landing (VTOL) multicopter.

10. The method of claim 8 , wherein determining the plurality of motor control signals includes:

determining if the vehicle is located in a defined space, wherein it is a necessary condition that the vehicle be located in the defined space in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the vehicle is not located in the defined space, determining the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function.

11. The method of claim 8 , wherein determining the plurality of motor control signals includes:

determining if the vehicle is located in a defined space, wherein:

it is a necessary condition that the vehicle be located in the defined space in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

the defined space has a maximum velocity that is automatically enforced and the automatically-enforced maximum velocity is slower than a second automatically-enforced maximum velocity associated with a second defined space that is mutually exclusive with the defined space; and

in the event it is determined that the vehicle is not located in the defined space, determining the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function.

12. The method of claim 8 , wherein determining the plurality of motor control signals includes:

determining if a battery level satisfies a minimum battery level, wherein it is a necessary condition that the battery level satisfies the minimum battery level in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the battery level does not satisfy the minimum battery level, determining the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function.

13. The method of claim 8 , wherein:

the vehicle includes an autonomously flown vehicle; and

an autonomous flight control system included in the autonomously flown vehicle generates a noise reduced trajectory based at least in part on an expected rotor noise produced by at least one of the plurality of rotors.

14. The method of claim 8 , wherein:

the vehicle includes an piloted vehicle; and

the piloted vehicle includes a hand control and an input shaper, wherein the input shaper inputs a raw input signal from the hand control that generates a shaped and noise reduced input signal.

15. A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:

receiving one or more desired forces or moments associated with a plurality of rotors in a vehicle;

determining a plurality of motor control signals for the plurality of rotors based at least in part on the desired forces or moments, including by:

performing thrust allocation using a feed-forward, multi-function thrust allocation optimization block that finds the plurality of motor control signals that achieve the desired forces and moments and optimize a plurality of cost functions, including a control authority function and a noise function;

determining if a moving window of past motor control signals satisfies a steady state criteria, wherein it is a necessary condition that the moving window of past motor control signals satisfies the steady state criteria in order for the plurality of motor control signals to be determined based at least in part on the desired forces or moments, including by performing thrust allocation using the feed-forward, multi-function thrust allocation optimization block; and

in the event it is determined that the moving window of past motor control signals does not satisfy the steady state criteria, determining the plurality of motor control signals based at least in part on the desired forces or moments and without the feed-forward, multi-function thrust allocation optimization block taking into account the noise function; and

controlling the plurality of rotors using the plurality of motor control signals.