Method for operating an aircraft, control architecture for an aircraft, and aircraft having same
A method for operating an eVTOL multirotor aircraft having distributed actuators activated by controllers that each determines an associated manipulated variable signal at least for a subset of actuators and provides it for the relevant actuator. The method provides that for an actuator: i) assigning a different priority ranking for each controller; ii) determining, by way of a given controller having a given priority ranking, at least one manipulated variable signal for the actuator and transmitting the signal identified by the given priority ranking to the relevant actuator and to a controller having a successive priority ranking; iii) receiving, via a given controller having a given priority ranking, manipulated variable signals from controllers having higher priority ranking and relaying these signals to the actuator and to a controller having a successive priority ranking; and iv) activating the actuator using the manipulated variable signal identified by the highest priority ranking.
1. A control architecture for an aircraft, the control architecture comprising:
multiple distributed actuators;
a plurality of controllers;
wherein each controller of the plurality of controllers is configured to determine and generate a respective manipulated variable signal,
wherein each controller of the plurality of controllers is assigned a respective priority ranking, each of the respective priority rankings being different and ranging successively between highest and lowest priorities,
wherein each controller of the plurality controllers has a signaling connection to a subset of the actuators,
wherein each controller is configured to transmit the respective manipulated variable signal of said controller to the subset of the actuators,
wherein each controller of the plurality of controllers, except the controller having the respective priority ranking of the lowest priority, is configured to transmit the respective manipulated variable signal of said controller to the controller having the successively lower priority ranking with respect to the respective priority ranking assigned to said controller,
wherein each controller of the plurality of controllers, except the controller having the respective priority ranking of the highest priority, is configured to receive the respective manipulated variable signal(s) generated by each of the controller(s) that are assigned higher priority rankings than the respective priority ranking assigned to said controller,
wherein each controller of the plurality of controllers, except the controller having the respective priority ranking of the highest priority, is configured to relay the received manipulated variable signal(s) to the subset of the actuators and to the controller having the successively lower priority ranking with respect to the priority ranking assigned to said controller, and
the subset of the actuators is configured to select the respective manipulated variable signal generated by the controller having the respective priority ranking of highest individual priority with respect to all the respective manipulated variable signals transmitted and relayed to the subset of actuators for activation thereof.
2. The control architecture as claimed in claim 1 , wherein the subset of the actuators is configured to select the respective manipulated variable signal generated by the controller having the respective priority ranking of highest individual priority with respect to all the respective manipulated variable signals transmitted and relayed to the subset of actuators for activation thereof via an arbiter.
3. The control architecture as claimed in claim 1 , wherein each of the controllers have integral components.
4. The control architecture as claimed in claim 3 , wherein each of the controllers is configured to activate or deactivate the integral components thereof.
5. The control architecture as claimed in claim 1 , wherein at least one of (a) the controllers have a communication connection among one another or (b) the controllers have a communication connection to the actuators via point-to-point connections in pairs.
6. The control architecture as claimed in claim 1 , wherein at least one of (a) the controllers have a communication connection among one another or (b) the controllers have a communication connection to the actuators via at least one bus structure.
7. The control architecture as claimed in claim 1 , wherein the controllers are configured as independent processor units, CPUs, Field Programmable Gate Arrays (FPGA), Programmable Logic Devices (PLD), or by a multicore CPU, a combination of FPGA and CPU, or as Application Specific Integrated Circuits (ASIC).
8. The control architecture as claimed in claim 1 , further comprising at least one feedback channel.
9. The control architecture as claimed in claim 1 , wherein the aircraft is an electrically driven vertical takeoff and landing multirotor aircraft, the actuators comprise drive units.
10. The control architecture as claimed in claim 1 , wherein the priority ranking of the controllers is performed by a priority list, and in the priority list the controllers are listed in a sequence of their priority ranking.
11. An aircraft comprising the control architecture of claim 1 .
12. The aircraft of claim 11 , wherein the aircraft is an electrically driven, vertical takeoff and landing multirotor aircraft, and the actuators comprise drive units.