Online optimization-based flight control system
Techniques to control flight of an aircraft are disclosed. In various embodiments, a set of inputs associated with a requested set of forces and moments to be applied to the aircraft is received. An optimal mix of actuators and associated actuator parameters to achieve to an extent practical the requested forces and moments is determined.
1. An aircraft comprising:
an airframe;
actuators coupled with the airframe, wherein the actuators comprise lift fans;
sensors via which sensor data is generated, wherein the sensor data is indicative of one or more current operational parameters of the aircraft; and
a flight controller configured to:
receive a set of flight control inputs;
generate a set of flight control parameters indicative of a set of forces and moments to be applied to the aircraft based on the set of flight control inputs;
process the sensor data to determine a current state of the aircraft;
determine a maximum rotations per minute (RPM) for each of at least one of the lift fans based on the current state of the aircraft, wherein the maximum RPM is determined to limit loads applied to the lift fan;
process the set of flight control parameters based on the sensor data to compute a mix of the actuators and associated actuator parameters for use in applying the set of forces and moments to the aircraft, wherein a rotational speed of at least one of the lift fans is limited to the maximum RPM for the lift fan.
2. The aircraft of claim 1 , wherein the set of flight control parameters defines the set of forces and moments to be applied to the aircraft.
3. The aircraft of claim 1 , wherein:
the airframe comprises a fuselage, a left wing attached to the fuselage, and right wing attached to the fuselage;
two or more of the lift fans are attached to the left wing; and
two or more of the lift fans are attached to the right wing.
4. The aircraft of claim 3 , wherein:
the left wing comprises a first left wing pylon, a second left wing pylon, and a third left wing pylon;
the right wing comprises a first right wing pylon, a second right wing pylon, and a third right wing pylon;
two of the lift fans are attached to the first left wing pylon;
two of the lift fans are attached to the second left wing pylon;
two of the lift fans are attached to the third left wing pylon;
two of the lift fans are attached to the first right wing pylon;
two of the lift fans are attached to the second right wing pylon; and
two of the lift fans are attached to the third right wing pylon.
5. The aircraft of claim 3 , wherein:
the aircraft comprises a propeller driven by one of the actuators and configured to propel the aircraft in a forward direction of the aircraft;
the actuators comprise a left wing aileron mounted to the left wing;
the actuators comprise a right wing aileron mounted to the right wing;
the aircraft comprises a tail structure;
the actuators comprise an elevator mounted to the tail structure; and
the actuators comprise a rudder mounted to the tail structure.
6. The aircraft of claim 1 , wherein:
the actuators comprise a flight control surface; and
the flight controller is configured to:
process the sensor data to determine a dynamic pressure for the current state of the aircraft;
determine a reduced maximum deflection for the flight control surface when the dynamic pressure is above a dynamic pressure threshold selected for use in limiting loads applied to the flight control surface; and
compute the mix of the actuators and associated actuator parameters subject to the reduced maximum deflection for the flight control surface to limit loads applied to the flight control surface.
7. The aircraft of claim 6 , wherein the current state of the aircraft is indicative of one or more of:
an airspeed of the aircraft;
an attitude of the aircraft; and
an altitude of the aircraft.
8. The aircraft of claim 7 , wherein the sensor data is indicative of one or more environmental conditions of the aircraft.
9. The aircraft of claim 1 , wherein the flight controller is configured to compute the mix of the actuators and associated actuator parameters to minimize combined thrust of the lift fans.
10. The aircraft of claim 1 , wherein:
the actuators are electrically powered; and
the flight controller is configured to compute the mix of the actuators and associated actuator parameters subject to a maximum power constraint that limits a total electrical power draw of the actuators.
11. An aircraft comprising:
an airframe;
actuators coupled with the airframe, wherein the actuators are electrically powered and comprise lift fans;
sensors via which sensor data is generated, wherein the sensor data is indicative of one or more current operational parameters of the aircraft; and
a flight controller configured to:
receive a set of flight control inputs;
generate a set of flight control parameters based on the set of flight control inputs;
process the sensor data to determine a current state of the aircraft; and
process the set of flight control parameters based on the sensor data to compute a mix of the actuators and associated actuator parameters, subject to a maximum power constraint selected to limit a total electrical power draw of the actuators, for use in applying a set of forces and moments to the aircraft.
12. The aircraft of claim 11 , wherein:
the airframe comprises a fuselage, a left wing attached to the fuselage, and right wing attached to the fuselage;
two or more of the lift fans are attached to the left wing; and
two or more of the lift fans are attached to the right wing.
13. The aircraft of claim 12 , wherein:
the left wing comprises a first left wing pylon, a second left wing pylon, and a third left wing pylon;
the right wing comprises a first right wing pylon, a second right wing pylon, and a third right wing pylon;
two of the lift fans are attached to the first left wing pylon;
two of the lift fans are attached to the second left wing pylon;
two of the lift fans are attached to the third left wing pylon;
two of the lift fans are attached to the first right wing pylon;
two of the lift fans are attached to the second right wing pylon; and
two of the lift fans are attached to the third right wing pylon.
14. The aircraft of claim 12 , wherein:
the aircraft comprises a propeller driven by one of the actuators and configured to propel the aircraft in a forward direction of the aircraft;
the actuators comprise a left wing aileron mounted to the left wing;
the actuators comprise a right wing aileron mounted to the right wing;
the aircraft comprises a tail structure;
the actuators comprise an elevator mounted to the tail structure; and
the actuators comprise a rudder mounted to the tail structure.
15. The aircraft of claim 11 , wherein:
the actuators comprise a flight control surface; and
the flight controller is configured to:
process the sensor data to determine a dynamic pressure for a current flight state of the aircraft;
determine a reduced maximum deflection for the flight control surface when the dynamic pressure is above a dynamic pressure threshold selected for use in limiting loads applied to the flight control surface; and
compute the mix of the actuators and associated actuator parameters subject to the reduced maximum deflection for the flight control surface to limit loads applied to the flight control surface.
16. The aircraft of claim 15 , wherein the current state of the aircraft is indicative of one or more of:
an airspeed of the aircraft;
an attitude of the aircraft; and
an altitude of the aircraft.
17. The aircraft of claim 16 , wherein the sensor data is indicative of one or more environmental conditions of the aircraft.
18. The aircraft of claim 11 , wherein:
the actuators comprise flight control surfaces; and
the flight controller is configured to:
process the sensor data to determine a dynamic pressure for a current flight state of the aircraft;
determine a reduced maximum deflection for at least one of the flight control surfaces when the dynamic pressure is above a dynamic pressure threshold selected for use in limiting loads applied to the at least one of the flight control surfaces; and
compute the mix of the actuators and associated actuator parameters subject to the reduced maximum deflection for the at least one of the flight control surfaces.
19. The aircraft of claim 11 , wherein the flight controller is configured to compute the mix of the actuators and associated actuator parameters to minimize combined thrust of the lift fans.
20. The aircraft of claim 11 , wherein:
the actuators are electrically powered; and
the flight controller is configured to compute the mix of the actuators and associated actuator parameters to minimize the total electrical power draw of the actuators.