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    VARIABLE CONDITION MOTOR CONTROLLER
    11.
    发明申请
    VARIABLE CONDITION MOTOR CONTROLLER 有权

    公开(公告)号：US20210354822A1

    公开(公告)日：2021-11-18

    申请号：US17331962

    申请日：2021-05-27

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

    ADAPTIVE RATE GAIN CONTROLLER
    12.
    发明申请
    ADAPTIVE RATE GAIN CONTROLLER 审中-公开

    公开(公告)号：US20180081351A1

    公开(公告)日：2018-03-22

    申请号：US15707029

    申请日：2017-09-18

    Applicant: GoPro, Inc.

    Inventor： Benjamin Tankersley ,  Joseph Anthony Enke ,  Donald Allen Severns

    IPC: G05D1/00 ,  B64C39/02

    CPC classification number: G05D1/0011 ,  B64C39/024 ,  B64C2201/042 ,  B64C2201/108 ,  B64C2201/127 ,  B64C2201/146 ,  G03B15/006 ,  G05D1/0038 ,  G05D1/0858

    Abstract: An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify power signals transmitted to actuators of the aerial vehicle, causes the aerial vehicle to conform within the indicated flight characteristics of the determined mode, generate an output signal modified by the gain value based on the input signal, and transmit a power signal based on the output signal to each actuator of the aerial vehicle.

    Variable condition motor controller
    14.
    发明授权
    Variable condition motor controller 有权

    公开(公告)号：US11673665B2

    公开(公告)日：2023-06-13

    申请号：US17331962

    申请日：2021-05-27

    Applicant: GoPro, Inc.

    Inventor： Joseph Anthony Enke ,  Benjamin Tankersley ,  Jean-Bernard Berteaux ,  Axel Murguet ,  Garance Bruneau

    IPC: B64C39/02 ,  G05D1/06 ,  G05D1/08

    CPC classification number: B64C39/024 ,  G05D1/063 ,  G05D1/0858 ,  B64C2201/027 ,  B64C2201/146

    Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.

    ADAPTIVE RATE GAIN CONTROLLER
    15.
    发明申请
    ADAPTIVE RATE GAIN CONTROLLER 有权

    公开(公告)号：US20220066439A1

    公开(公告)日：2022-03-03

    申请号：US17521516

    申请日：2021-11-08

    Applicant: GoPro, Inc.

    Inventor： Benjamin Tankersley ,  Joseph Anthony Enke ,  Donald Allen Severns

    IPC: G05D1/00 ,  B64C39/02 ,  G05D1/08 ,  G03B15/00

    Abstract: An aerial vehicle comprises one or more sensors to environmental data, a communication system to receive control inputs from a user, two or more actuators, with each actuator coupled to a rotary wing. The aerial vehicle also comprises a controller to determine a mode of the aerial vehicle based on the environmental data and the control inputs, each mode indicating a set of flight characteristics for the aerial vehicle, generate a gain value based on the mode, the gain value, when used to modify power signals transmitted to actuators of the aerial vehicle, causes the aerial vehicle to conform within the indicated flight characteristics of the determined mode, generate an output signal modified by the gain value based on the input signal, and transmit a power signal based on the output signal to each actuator of the aerial vehicle.

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