Patent ID: 11939041
Assignee: VOLOCOPTER GMBH
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 2:
3. The method as claimed in claim 1, wherein the first force/moment vector τCmd, derived from the control commands (SB), is given by the relationship:, τ
   Cmd
  
  =
  
   
    
     
      (
      
       
        
         
          
           m
           _
          
          1
          b
         
        
        
         
          
           m
           _
          
          2
          b
         
        
        
         ⋯
        
        
         
          
           m
           _
          
          N
          b
         
        
       
       
        
         
          
           f
           _
          
          1
          b
         
        
        
         
          
           f
           _
          
          2
          b
         
        
        
         ⋯
        
        
         
          
           f
           _
          
          N
          b
         
        
       
      
      )
     
     ︸
    
    K
   
   ·
   
    
     
      (
      
       
        
         
          Ω
          1
          2
         
        
       
       
        
         
          Ω
          2
          2
         
        
       
       
        
         ⋮
        
       
       
        
         
          Ω
          N
          2
         
        
       
      
      )
     
     ︸
    
    Ω
   
  
 

with a matrix K, elements m (moment) and f (force) being given by a configuration of the aircraft (1) and the flight influencing units (2.1, . . . , 2.N), and with a setpoint output value vector Ω with the control commands (SB) of the first computer (COM) for the flight influencing units (2.1, . . . , 2.N).