A takeoff location and a landing location are received for an autonomous vertical takeoff and landing (VTOL) vehicle that includes a plurality of rotors. An autonomous and noise-reduced flight trajectory for the autonomous VTOL vehicle is determined based at least in part on the takeoff location, the landing location, a jerk function, and a noise function, including by minimizing the jerk function and minimizing the noise function. A set of one or more desired forces or moments is determined for the autonomous VTOL vehicle based at least in part on autonomous and noise-reduced flight trajectory. A plurality of motor control signals is determined for the plurality of rotors based at least in part on the set of one or more desired forces or moments.

A takeoff location and a landing location are received for an autonomous vertical takeoff and landing (VTOL) vehicle that includes a plurality of rotors. An autonomous and noise-reduced flight trajectory for the autonomous VTOL vehicle is determined based at least in part on the takeoff location, the landing location, a jerk function, and a noise function, including by minimizing the jerk function and minimizing the noise function. A set of one or more desired forces or moments is determined for the autonomous VTOL vehicle based at least in part on autonomous and noise-reduced flight trajectory. A plurality of motor control signals is determined for the plurality of rotors based at least in part on the set of one or more desired forces or moments.

An interconnect drive system for an aircraft has a driveline and clutch control system. The driveline comprises a shaft for each propulsion assembly, each shaft for transferring torque to and from the associated propulsion assembly, and a clutch operably coupling the shafts and configured for selective engagement. The clutch is capable of transferring a first amount of torque between the shafts while engaged and a second amount of torque between the shafts while disengaged. The system also has a clutch control system, comprising a computer operably connected to the clutch for controlling operation of the clutch and sensors for sensing torque applied to the driveline, output from the sensors being communicated to the computer. The computer commands operation of the clutch in response to the output from the sensors, the clutch being commanded to disengage to relieve a transient torque imbalance in the driveline.

A device for controlling vibrations generated by electric machines of a vehicle is provided. The vehicle includes a first electric machine unit for driving a first wheel and a second electric machine unit for driving a second wheel. The device is configured to operate the first electric machine unit depending on a first torque to be applied to the first wheel and to operate the second electric machine unit depending on a second torque to be applied to the second wheel. Furthermore, the device is configured to operate the first electric machine unit and the second electric machine unit in a manner coordinated to one another such that predefined target vibrations can be generated as a result of the superimposition of first vibrations caused by the operation of the first electric machine unit and second vibrations caused by the operation of the second electric machine unit.

A method of operating a motor driving a rotating member includes directing rotation of the rotating member at the motor at an initial speed, determining a first frequency of a first noise component generated by the rotating member at the initial speed, determining a second noise component having a second frequency phase shifted 180° with respect to the first frequency, determining a torque modifier of the motor to generate the second noise component from the motor, and directing activation of the motor according to the determined torque modifier.

A vehicle which includes a flight controller that is configured to receive one or more desired forces or moments associated with a plurality of rotors in the vehicle and determine a plurality of motor control signals for the plurality of rotors based at least in part on the desired forces or moments and an expected rotor noise produced by at least one of the plurality of rotors. The vehicle further includes the plurality of rotors, where the plurality of motor control signals is used to control the plurality of rotors.

An aircraft includes a first rotor assembly, a second rotor assembly, and a rotor phase angle control system. The system includes a phase adjustor operably associated with the first rotor assembly and the second rotor assembly. The method includes sensing vibrations exerted on the aircraft and offsetting a phase angle of the first rotor assembly and the second rotor assembly to minimize the vibrations.

An aircraft includes a first rotor assembly, a second rotor assembly, and a rotor phase angle control system. The system includes a phase adjustor operably associated with the first rotor assembly and the second rotor assembly. The method includes sensing vibrations exerted on the aircraft and offsetting a phase angle of the first rotor assembly and the second rotor assembly to minimize the vibrations.

A takeoff location and a landing location are received for an autonomous vertical takeoff and landing (VTOL) vehicle that includes a plurality of rotors. An autonomous and noise-reduced flight trajectory for the autonomous VTOL vehicle is determined based at least in part on the takeoff location, the landing location, a jerk function, and a noise function, including by minimizing the jerk function and minimizing the noise function. A set of one or more desired forces or moments is determined for the autonomous VTOL vehicle based at least in part on autonomous and noise-reduced flight trajectory. A plurality of motor control signals is determined for the plurality of rotors based at least in part on the set of one or more desired forces or moments.

An interconnect drive system for an aircraft has a driveline and clutch control system. The driveline comprises a shaft for each propulsion assembly, each shaft for transferring torque to and from the associated propulsion assembly, and a clutch operably coupling the shafts and configured for selective engagement. The clutch is capable of transferring a first amount of torque between the shafts while engaged and a second amount of torque between the shafts while disengaged. The system also has a clutch control system, comprising a computer operably connected to the clutch for controlling operation of the clutch and sensors for sensing torque applied to the driveline, output from the sensors being communicated to the computer. The computer commands operation of the clutch in response to the output from the sensors, the clutch being commanded to disengage to relieve a transient torque imbalance in the driveline.