Elevon control system

Abstract

The present application relates to an elevon control system. A system comprising an aerial vehicle or unmanned aerial vehicle (UAV) (100, 400, 1000, 1500) is configured to control pitch, roll and / or yaw via a plurality of wings (141, 142, 1345, 1346) having a plurality of resiliently mounted trailing edges opposed to fuselage shell deflection actuator joysticks (621, 622). Multiple embodiments include one or more rudder elements (1045, 1046, 1145, 1146, 1245, 1345, 1346, 1445, 1446, 1545, 1546) that are rotatably attached and actuated by a manipulator element (1049, 1149, 1249, 1349) disposed within the fuselage shell (1001) and partially extendable to engage the one or more rudder elements.

Description

[0001] This application is a divisional application of an application filed on September 9, 2010, with application number 201710041848.2 and invention name “Elevon control system”.

[0002] The application with the application date of September 9, 2010, the application number of 201710041848.2, and the invention name of “Elevon Control System” is a divisional application of the application with the application date of September 9, 2010, the application number of 201510515590.6, and the invention name of “Elevon Control System”.

[0003] The application with the application date of September 9, 2010, the application number of 201510515590.6, and the invention name of “Elevon Control System” is a divisional application of the application with the application date of September 9, 2010, the application number of 201080047106.7, and the invention name of “An Aircraft”.

[0004] This application claims priority to and the benefit of U.S. Provisional Patent Application Serial No. 61 / 240,985, filed September 9, 2009, the contents of which are hereby incorporated by reference herein. Technical Field

[0005] Various embodiments relate to aerial vehicles, and to an aileron control system for an aerial vehicle and / or an unmanned aerial vehicle (UAV). Background Art

[0006] Flight control of an aerial vehicle such as a UAV may be configured by a combination of elevators, ailerons, rudders, and / or a combination of multiple structures such as flaps and ailerons combined into flaperons, elevators and rudders combined into elevons, rudders and elevators combined into rudders. Wings for UAVs may include an actuator and an articulated flap that may be actuated about a hinge line to serve as a control surface for a subsonic UAV. Summary of the invention

[0007] An aerospace vehicle includes a fuselage housing a first fuselage-mounted actuator; a first wing including a first control surface resiliently mounted on the first wing, wherein the first control surface is opposite the first fuselage-mounted actuator; a second wing rotatably attached to the fuselage shell; and a second fuselage-mounted actuator disposed within the fuselage shell and partially extendable to engage the second wing. The aerospace vehicle may be manned or unmanned. The fuselage shell of the aircraft may include a third fuselage-mounted actuator; and a third wing including a second control surface resiliently mounted on the third wing. Additionally, the aircraft may include a fourth wing rotatably attached to the fuselage shell. In other embodiments, the fuselage shell of the aerospace vehicle having a fuselage-mounted third manipulator and a third wing (the third wing including a second control surface elastically mounted on the third wing) may also include a mid-body, wherein the first wing and the third wing are arranged along the mid-body of the fuselage. In other embodiments, the fuselage may further include a tapered rear portion, wherein the second wing and the fourth wing are arranged along the tapered rear portion of the fuselage.

[0008] In some embodiments, a manned or unmanned aerial vehicle may include a fuselage housing a fuselage-mounted first control device, wherein the fuselage-mounted first control device is a first actuator stick extendable through a fuselage opening; a first wing including a first control surface resiliently mounted on the first wing, the first control surface may be a trailing edge of the first wing hinged at a linear joint near the first wing, wherein the first control surface is opposite the fuselage-mounted first control device; a second wing rotatably attached to the fuselage shell; and a fuselage-mounted second control device disposed within the fuselage shell and partially extendable to engage the second wing. In addition, the fuselage-mounted third control device may be, for example, a second actuator stick extendable through a second fuselage opening.

[0009] In another embodiment, an aircraft flight control method may include: providing a first resiliently mounted control surface opposite a first fuselage-mounted actuator stick; and deflecting the first resiliently mounted control surface via the first fuselage-mounted actuator stick based on one or more command signals.

[0010] In another embodiment, an aerospace vehicle may include: a fuselage including a rearwardly tapering shell, wherein the rear portion of the fuselage tapers at an angle defined in part by the first wing; a first wing, which may be resiliently mounted to the fuselage shell, and / or rotatably attached to the fuselage shell, and / or mounted to the fuselage shell by a hinge; and a manipulator element disposed within the fuselage shell and partially extendable to engage the first wing. In addition, the first wing may rotate about an axis and the axis of rotation may be inclined relative to the longitudinal axis of the fuselage shell. The first wing may be responsive to translation of the manipulator element, wherein the manipulator element is laterally extendable relative to the longitudinal axis of the fuselage shell and the manipulator element is engaged with an actuator to achieve angular rotation of the first wing and the manipulator element may be further extendable from a fuselage opening, wherein the manipulator element translates on a single axis.

[0011] In another embodiment, an aerospace vehicle may include: a fuselage including a rearwardly tapering shell, wherein the rear portion of the fuselage tapers at an angle defined in part by the first wing; a first wing, which may be resiliently mounted to the fuselage shell, and / or rotatably attached to the fuselage shell, and / or mounted to the fuselage shell by a hinge; and a manipulator element disposed within the fuselage shell and partially extendable to engage the first wing, wherein the axis of rotation is about a hinge line, the hinge line is inclined relative to the longitudinal axis of the fuselage shell and the first wing is responsive to translation of the manipulator element. In addition, the manipulator element of the aerospace vehicle may be extendable laterally relative to the longitudinal axis of the fuselage shell, may be further extendable from a fuselage opening, may translate on a single axis, and may be engaged with an actuator to effect angular rotation of the first wing.

[0012] In another embodiment, an aircraft flight control method may include: providing a first resiliently mounted control surface opposite a first fuselage-mounted actuator stick; and deflecting the first resiliently mounted control surface via the first fuselage-mounted actuator stick based on one or more command signals, which may further include: a second wing rotatably attached to the fuselage shell; wherein the second wing is opposite to the first wing; wherein the rear portion of the fuselage tapers at an angle further defined by the second wing; wherein the first wing and the second wing abut against opposite ends of the manipulator element; and wherein the manipulator element engages the first wing and the second wing. In addition, the first wing and the second wing can move in cooperation with each other and / or can be resiliently mounted to the fuselage shell; wherein the rotation axes of the first wing and the second wing are inclined relative to a longitudinal axis of the fuselage shell; wherein the first wing and the second wing are responsive to translation of the manipulator element; wherein the manipulator element is laterally extendable relative to the longitudinal axis of the fuselage shell; wherein the manipulator element is engaged with an actuator to achieve angular rotation of the first wing and the second wing; wherein the manipulator element is further extendable from a fuselage opening; and wherein the manipulator element translates on a single axis. In addition, the first wing can be mounted to the fuselage shell by a hinge; wherein the axis of rotation is about a hinge line, and the hinge line is inclined relative to a longitudinal axis of the fuselage shell; wherein the first wing and the second wing are responsive to translation of the manipulator element; wherein the manipulator element is laterally extendable relative to the longitudinal axis of the fuselage shell; wherein the manipulator element is engaged with an actuator to achieve angular rotation of the first wing and the second wing; wherein the manipulator element is further extendable from a fuselage opening; and wherein the manipulator element translates on a single axis.

[0013] In yet another embodiment, an aerial vehicle includes: a fuselage including a rearwardly tapering shell; a first wing rotatably attached to the fuselage shell; and a manipulator element disposed within the fuselage shell and partially extendable to engage the first wing.

[0014] The rear portion of the fuselage may taper at an angle defined in part by the first wing.

[0015] The first wing may be resiliently mounted to the fuselage shell.

[0016] The first wing may be mounted to the fuselage shell by a hinge.

[0017] The first wing may be rotatable about an axis and the axis of rotation may be inclined relative to the longitudinal axis of the fuselage shell.

[0018] The first wing may be responsive to a translation of the manipulator element.

[0019] The manipulator element may be extendable transversely relative to a longitudinal axis of the fuselage shell.

[0020] The manipulator element may be engageable with an actuator to effect angular rotation of the first wing.

[0021] The manipulator element may further be extendable from a fuselage opening.

[0022] The manipulator element is translatable in a single axis.

[0023] The axis of rotation may be about a hinge line, which may be inclined relative to the longitudinal axis of the fuselage shell.

[0024] The first airfoil may be responsive to translation of the manipulator element.

[0025] The manipulator element may be extendable transversely relative to a longitudinal axis of the fuselage shell.

[0026] The manipulator element may be engageable with an actuator to effect angular rotation of the first wing.

[0027] The manipulator element may further be extendable from a fuselage opening.

[0028] The manipulator element is translatable in a single axis.

[0029] The aerospace vehicle may further include: a second wing rotatably attached to the fuselage shell; wherein the second wing may be opposite to the first wing; wherein the rear portion of the fuselage may taper at an angle further defined by the second wing; wherein the first wing and the second wing may abut against opposite ends of the manipulator element; and wherein the manipulator element may engage with the first wing and the second wing.

[0030] The first wing and the second wing may move in cooperation with each other.

[0031] The first wing and the second wing may be resiliently mounted to the fuselage shell; wherein the axes of rotation of the first wing and the second wing may be inclined relative to a longitudinal axis of the fuselage shell; wherein the first wing and the second wing may be responsive to translation of the manipulator element; wherein the manipulator element may be laterally extendable relative to the longitudinal axis of the fuselage shell; wherein the manipulator element may be engageable with an actuator to effect angular rotation of the first wing and the second wing; wherein the manipulator element may be further extendable from a fuselage opening; and wherein the manipulator element may be translateable on a single axis.

[0032] The first wing may be mounted to the fuselage shell by a hinge; wherein the axis of rotation may be about a hinge line which may be tilted relative to a longitudinal axis of the fuselage shell; wherein the first wing and the second wing may be responsive to translation of the manipulator element; wherein the manipulator element may be laterally extendable relative to the longitudinal axis of the fuselage shell; wherein the manipulator element may be engaged with an actuator to effect angular rotation of the first wing and the second wing; wherein the manipulator element may be further extendable from a fuselage opening; and wherein the manipulator element may translate in a single axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Embodiments are illustrated by way of example and not limitation with the aid of the accompanying drawings, in which:

[0034] Figure 1 is a plan view of an embodiment of an aerospace vehicle;

[0035] Figure 2 is a side elevation view of an embodiment of the aerospace vehicle;

[0036] Figure 3 It is a top-level functional block diagram of a system architecture implementation plan;

[0037] Figure 4 is a bottom perspective view of one embodiment in a stowed state;

[0038] Figure 5 is a bottom perspective view of one embodiment in an expanded state;

[0039] Figure 6 is a bottom perspective view of an embodiment of the present invention in a deployed state, depicting an extended starboard rudder control stick in contact with a deflected trailing edge;

[0040] Fig. 7Adepicts a side view of a port wing trailing edge region of an embodiment of the present invention showing a lever of a port actuator having been actuated to contact a top surface of the port trailing edge;

[0041] Figure 7B A side view of a port wing trailing edge region depicting an embodiment of the present invention showing a lever of a port actuator being actuated to angularly deflect a top surface of a port trailing edge relative to a top surface of the port wing;

[0042] Figure 7C depicts a cross-sectional view of a wing with a raised trailing edge produced by an unopposed elastic element;

[0043] Fig.7D depicts a cross-sectional view of a wing with a colinear trailing edge created by extension of a fuselage-based actuator stick opposing the elastic element;

[0044] Fig. 7E depicts a cross-sectional view of a wing with a deflected trailing edge produced by further extension of a fuselage-based actuator lever against the elastic element;

[0045] Fig. 8A depicts a cross-sectional view of one embodiment looking behind the actuator levers and forward, a starboard actuator lever in contact with the starboard trailing edge relative to the top of the starboard wing;

[0046] Figure 8B depicts a cross-sectional view of one embodiment behind the actuator levers and looking forward, the starboard trailing edge being deflected relative to the top of the starboard wing;

[0047] Fig. 9 depicts a functional block diagram in which an elevator command and an aileron command may be output and combined to provide commands to a port actuator and a starboard actuator;

[0048] Fig. 10A depicts a top view of one embodiment showing a tapered rear portion of an aerospace vehicle;

[0049] Fig. 10B depicts a side elevation view of one embodiment in which the rudders are shown as they would be deployed to control yaw motion;

[0050] Fig.11A An exemplary pre-deployment position of these rudder surfaces is depicted;

[0051] Fig. 11BAn exemplary starting stage of the deployed position of the rudder surfaces is depicted;

[0052] Fig. 11C An exemplary stage of the deployed position of these rudder surfaces is depicted;

[0053] Fig.11D An exemplary stage of the deployed position of the rudder surfaces is depicted as the rudder surfaces are deployed and received by the actuator;

[0054] Fig. 12A is a plan view of a portion of an embodiment of an aerospace vehicle depicting the rotation of a single rudder;

[0055] Fig. 12B is a plan view of a portion of an embodiment of an aerospace vehicle depicting the next stage of rotation of a single rudder;

[0056] Fig. 12C is a plan view of a portion of an embodiment of an aerospace vehicle depicting the next stage of rotation of a single rudder;

[0057] Fig.12D is a plan view of a portion of an embodiment of an aerospace vehicle depicting the next stage of rotation of a single rudder;

[0058] Fig.12E is a plan view of a portion of an aerospace vehicle embodiment when the rudder has been attached to the fuselage wall;

[0059] Fig.12F is a plan view of a portion of an embodiment of an aerospace vehicle in which the manipulator element is attached to the rudder and secures it in place;

[0060] Fig.13A is a side angled view of a tapered rear portion of an aerospace vehicle depicting an exemplary pre-deployment position of a rudder surface;

[0061] Fig. 13B is a side angled view of a tapered rear portion of an aerospace vehicle depicting an exemplary deployed position of the rudder surfaces;

[0062] Fig. 13C is a side angled view of a tapered rear portion of an aerospace vehicle depicting an exemplary deployed position of the rudder surfaces;

[0063] Fig.13D is a cutaway view of a rear section of an aerospace vehicle depicting an actuator actuating an actuator rod;

[0064] Fig.14A is a rear elevation view of the tapered rear portion of an aerospace vehicle, depicting the rudders in a folded position;

[0065] Fig. 14B is a rear elevation view of the tapered rear portion of an aerospace vehicle, depicting the rudders in the initial stages of deployment;

[0066] Fig. 14C is a rear view of the tapered rear portion of an aerospace vehicle, depicting the rudders as being in the middle of their deployment;

[0067] Fig.14D is a rear elevation view of the tapered rear portion of an aerospace vehicle depicting the rudders near the completion of their deployment;

[0068] Fig.14E is a rear view of the tapered rear portion of an aerospace vehicle depicting the rudders standing against the fuselage and fully deployed;

[0069] Fig.14F is a rear elevation view of a tapered rear portion of an aerospace vehicle depicting the rudders being engaged by an actuator rod;

[0070] Fig.15A is a plan view of an aerospace vehicle showing a rotatable surface with a plurality of rudders mounted on the platform;

[0071] Fig. 15B is a side elevation view of the aerial vehicle embodiment showing a rotatable surface with a plurality of rudders mounted on the platform; and

[0072] Fig.16 A functional block diagram is depicted where an elevator command, an aileron command, and a rudder command may be output and combined to provide commands to a port actuator and a starboard actuator. DETAILED DESCRIPTION

[0073] Referring to the drawings, there are shown exemplary embodiments. Figure 1A top view of an exemplary embodiment of a UAV portion 100 of the present invention is shown. This exemplary UAV includes a front end 110 having a homing sensor 111 (e.g., a pixel array for sensing visible light and / or infrared light), and a deployable payload 112, such as a warhead or other offensive munition, a deployable electronic subassembly, and a pigmenting capsule. The front end 110 may also include an electronic assembly (EA) 113 or avionics, which may include a guidance processor including guidance instructions that, when executed, receive information about the UAV's position, linear velocity and / or rotational velocity, linear acceleration and / or attitude, and generate instructions for an autopilot process and / or an engine control process or a remote manual pilot process. Such a UAV may include: one or more power sources 114, such as battery cells or fuel cells and power conditioning circuits. Such a UAV may include aircraft-specific sensors, such as a GPS antenna and a GPS receiver, for example, as part of an EA and / or an attitude and / or rate gyro and / or a linear accelerometer, which may be close to the center of gravity of the EA and / or the aircraft. Such a UAV may include a thrust generation mode, such as a propeller 130 and a propeller motor 131, and other embodiments may use turbine motors and / or rocket motors separately or in combination. Such a UAV may have multiple lift surfaces, such as airfoils 141, 142, tail surfaces 143, 144, and rudder surfaces 145, 146. These airfoils may have multiple actuated control panels 147, 148 that operate as elevons, or may be implemented as airfoils as elevators, and these tail surfaces may have multiple actuated control panels that operate as ailerons. Such a UAV may be statically stable in yaw, and may be enhanced by an articulated tail section of one or more rudder surfaces. Some embodiments of such a UAV may have two rudder assemblies mounted on rotatable platforms that may conform to the shape of the UAV fuselage to achieve enhancements in yaw control.

[0074] Figure 2An exemplary UAV is shown in side view, with the wing 142 shown with the tail control surface 148 in motion and with two antennas (not to scale) extending from the fuselage 201. One antenna element can be used as an uplink 210, specifically for receiving a mode control signal that enables a transition from a terminal homing mode to a target search / reconnaissance or air patrol mode, or from a target search to a homing mode. The other antenna element can be used as a downlink 220 for transmitting data such as live video, automatic video tracking status, flight parameters and / or UAV status. When made of a material that is nearly transparent (low loss) in the GPS frequency band, the GPS antenna 230 can be form-fittingly mounted or mounted within the fuselage, i.e., behind the fuselage skin. In general, such a GPS antenna can be mounted to receive signals from a constellation of GPS satellites.

[0075] Figure 3An exemplary functional block diagram of such a UAV processing and guidance and control subsystem 300 is shown, wherein a guidance sensor 310 provides information about the external environment related to the homing process of a seeker processor 320. A guidance sensor, and more generally a guidance sensor suite, may include a passive and / or active radar subsystem, an infrared detection subsystem, an infrared imaging subsystem, a visible light imaging subsystem (e.g., a video camera-based subsystem), an ultraviolet detection subsystem, and combinations thereof. The seeker processor 320 may include both image processing and target tracking processing, as well as target designation or redesignation input 321, which may be received from an uplink receiver 335 and / or received as an output of a guidance processor 330. Image processing and / or target tracking information 322 may be transmitted via a downlink transmitter 323, which may be part of an uplink / downlink transceiver. In executing instructions for the guidance process, the guidance processor 330 may receive target information 324 from the seeker process 320, and UAV flight state information, such as position, velocity, and attitude, from a GPS receiver 331 and a plurality of gyroscopes and accelerometers 332 (if any). The guidance processor 330 may reference a memory 333 for receiving reconnaissance waypoints and / or surveillance optimizing trajectories. For various system embodiments, the guidance process 330 may receive and / or upload reconnaissance waypoints and / or surveillance optimizing trajectories via an external data port 334 (e.g., during a pre-launch phase) or via an uplink receiver 335 (e.g., during a post-launch phase). The guidance processor 330, as part of executing instructions to determine a flight path, trajectory, or course steering angle and direction, may reference such waypoint and / or surveillance optimizing trajectory information, particularly when not in a terminal homing mode. The guidance processor 330 may receive a command to switch or otherwise transition from the terminal homing mode to the target acquisition mode, i.e., the non-terminal homing mode, and from the target acquisition mode to the terminal homing mode via an uplink receiver 335. For example, the visual target lock of the seeker processor 330 may be tracked with reference to GPS coordinates and may be integrated into a terminal homing solution that may be repeatedly determined by the guidance processor executing multiple instructions related to determining a modifiable terminal solution.

[0076] An example of a terminal homing mode may be proportional navigation with a gravity bias for the attack submode of the terminal homing mode and an acceleration bias for the aviation interception submode of the terminal homing mode. The guidance processing 330 and the autopilot processing 340 may execute instructions to implement bank-to-turn guidance in, for example, an elevon implementation to change the direction of the aircraft by redirecting its velocity vector. For example, one or more control surfaces may be redirected by one or more control surface actuators 350, which generate forces and moments to redirect the aircraft and its linear acceleration that is orthogonal to its velocity vector. The portion of the aircraft's linear acceleration along the velocity vector is greatly affected by aerodynamic drag, and the linear acceleration may be increased by the motor processor 360 and the propeller motor 370. For embodiments with full three-axis control, additional control regimes may be implemented, including skid-to-turn and other proportional-integral-derivative guidance and control architectures. Seeker processing, guidance processing, motor processing, and / or autopilot processing may be performed by a single microprocessor with addressable memory, and / or the processing may be distributed to two or more microprocessors in distributed communication, such as via a data bus.

[0077] Figure 4 An exemplary embodiment of an aerospace vehicle 400 is shown in a bottom perspective view, having a pair of first wings in a retracted position, and a pair of second wings in a retracted position, disposed on a bottom 402 of a fuselage 401 of the aerospace vehicle 400. Figure 4 Also shown is an exemplary propeller hub 430. To rotate into a deployed position, a pair of exemplary first wings 410 can pivot about a forward pivot point 411 and a pair of exemplary second wings 420 can pivot about a rearward pivot point 421. In certain embodiments, the stowed positions of the wings allow the aircraft to be stored and / or used for other purposes and transported prior to deployment.

[0078] Figure 5 An exemplary aerospace vehicle embodiment is shown in a bottom perspective view, having two pairs of wings 410, 420 in a deployed position. The front pair of exemplary wings 410 is depicted as each having a hinged trailing edge portion 541, 542 and elastic elements 551, 552 mounted on the bottom.

[0079] Figure 6Another bottom perspective view of the exemplary aircraft 400 embodiment is shown, wherein the fuselage 401, specifically the bottom portion 402 in this illustration, is shown with a port opening 611 and a starboard opening 612, from which an actuation lever 621, 622 extends from each opening. The bottom side of the two front wings near the fuselage wing trailing edge area is each depicted as having an elastic member or flexible fixture 551, 552.

[0080] Fig. 7A A side view of the port wing trailing edge region is depicted, wherein the lever 621 of the port actuator 721 has been actuated to contact the top surface of the port trailing edge 541. An exemplary wing 710 may include two internal structural elements, such as a main lift structural planar element 711 and a control surface structural element 712. Figure 7B A side view of the port wing trailing edge region is depicted wherein the joystick of the port actuator has been actuated 730 to angularly deflect the top surface of the port wing trailing edge 541 relative to the top surface of the port wing 725 . Figure 7C A raised trailing edge 541 created by an unopposed elastic element 551 is depicted in a cross-sectional view of a wing 710. A coating 713 may be disposed about the two exemplary structural elements 711, 712 and may fill the linear gap 714 between the lift surface element 711 and the control surface element 712. The coating material may thereby define the platform of the wing 710 and may be selected from, for example, resins, plastics, and synthetic rubbers to partially provide flexibility along the linear gap and provide substantially laminar flow in low subsonic flight conditions. Fig.7D A cross-sectional view of a wing 710 is depicted with a co-linear trailing edge 541 created by extension 730 of a fuselage-based actuator stick 621 against elastic element 551 . Fig. 7E A cross-sectional view of a wing 710 is depicted with a deflected trailing edge 541 produced by further extension 740 of a fuselage-based actuator stick 621 against the elastic element 551. A similar arrangement may be applied to the leading edge control surfaces in lieu of or in addition to the trailing edge control surfaces shown. Likewise, the rear pair of wings may include multiple trailing edge control surfaces and multiple fuselage-based extendable actuator sticks.

[0081] Fig. 8A Depicted is a cross-sectional view behind the actuator sticks 621 , 622 and looking forward, with a starboard actuator stick 622 contacting the starboard trailing edge 542 relative to the top of the starboard wing 801 . Figure 8BDepicted is a cross-sectional view behind the actuator sticks 621 , 622 and looking forward, in response to rotation 821 of the starboard actuator stick 622 , the starboard trailing edge 542 deflects 822 relative to the top of the starboard wing 801 .

[0082] Fig. 9 A functional block diagram 900 is depicted where an elevator command 910 (δe) and aileron command 920 (δa) from the autopilot process 340 may be output as voltage commands and may be combined according to mixer logic 930 to provide a port actuator command 931 and a starboard actuator command 932. Mixer logic 930 may be implemented as part of the autopilot process or as a separate module or circuit. A port actuator 950 may be configured where positive voltage drives the port actuator stick in a stow direction and negative voltage drives the port actuator stick in an extend direction. Similarly, a starboard actuator 960 may be configured where positive voltage drives the starboard actuator stick in a stow direction and negative voltage drives the starboard actuator stick in an extend direction. Port actuator 950 and starboard actuator 960 may be configured with extend / stow feedback that may further adjust and / or fine tune the positioning of the actuator stick. In some embodiments, the aerospace vehicle may be configured where the trailing edges may be initially deflected upward due to the rotational forces provided by the respective elastic elements. In one example, where the wings are arranged along the bottom of the fuselage and the top of the fuselage is oriented toward the sky, the trailing edge deflections may produce upward pitching moments that may then be reduced or brought to zero (i.e., trimmed) by rotational extension of each of the actuator sticks. In some embodiments, linear actuators may replace the exemplary rotary actuators that actuate the contact sticks.

[0083] In addition to the actuatable control surfaces presented herein, such as control panels 147, 148 that operate as elevons, embodiments may have additional such surfaces. These control surfaces may also be deployable to allow the UAV to be configured for storage (e.g., in a launch tube) or configured for operation (e.g., flight). The specific position and / or orientation of such deployable control surface(s) may vary depending on how the control surface(s) will effect movement of the vehicle about one or more of its degrees of motion (e.g., a rudder imparting a yaw motion to the vehicle). As with the elevons 147, 148, for each such additional actuatable control surface, one or more actuators may be arranged so that after the control surface is deployed, the actuator(s) will interact with the surface(s) to cause the desired actuation.

[0084] In embodiments, the UAV includes a fuselage with a deployable control surface assembly (e.g., a vertical stabilizer and / or rudder) mounted at or near the rear of the UAV. Deployment of the control surface assembly can be accomplished by various methods, including sliding, pivoting, rotating, or the like into place. Embodiments have a control surface assembly that rotates about a hinge with a spring, for example, positioned about the hinge to impart a biasing force to urge the control surface assembly from its stowed position to its operating position.

[0085] For example, the UAV may include one or more vertical stabilizers and / or rudders that rotate into position around an axis of rotation. Such control surfaces may be positioned at the rear of the fuselage along a tapered portion of the fuselage, wherein the tapering may be configured to maintain the control surfaces and other components (e.g., a folded propeller) when the control surfaces and other components are in a storage position. After the rudders are deployed from the storage position to their operating position, the rudders may be rotated and / or deflected by an effector member that may be arranged laterally within the fuselage shell and partially extendable to engage the rudders. The effector member may be driven by an actuator. Once engaged, the end of the effector member abuts against the rudders by attachment, affixation, snap-fitting, or other fixing methods due to partial elastic tension and / or air pressure on the rudder surfaces. The axis of rotation of the rudders may be a crease or, for example, a hinge (elastically mounted or spring-loaded) that is inclined relative to a longitudinal axis of the UAV. The longitudinal axis of the UAV extends from nose to tail through the center of the fuselage, passing through the center of gravity of the UAV. In addition, the rudders can be rotated and / or deflected by an actuator, such as by a shaft or push rod driven by an actuator. Thus, a single hinge serves to allow a rudder to rotate about it from the storage position to the operating position during deployment, and to allow the rudders to rotate about it after deployment, the rudder being moved or deflected by the actuator.

[0086] Fig. 10AA top view of an exemplary embodiment of a UAV portion 1000 of the present invention is shown. The exemplary UAV includes a fuselage 1001, which may include an electronic assembly (EA) 1013 or avionics, which may include a guidance processor including guidance instructions that, when executed, receive information about the UAV position, linear velocity and / or rotational velocity, linear acceleration and / or attitude, and generate instructions for an autopilot process and / or an engine control process or a remote manual pilot process. The UAV may include a thrust generating mode, such as a propeller 1030. The UAV may have multiple lift surfaces, such as wing surfaces 1041, 1042, tail surfaces 1043, 1044, and rudder surfaces 1045, 1046. The fuselage 1001 in this embodiment includes a portion of a rearwardly tapered housing 1050. The tapering is configured to retain the control surfaces and the folded propeller when in a stowed position. These rudder surfaces can counteract adverse yaw and can be used to control to stabilize, point and / or turn the UAV via an actuation control element 1049, which can be, for example, a rod or a curved joystick rotatable about an actuator axis. The UAV can be statically stable in yaw, but Fig. 10A In an exemplary embodiment, the rudders 1045, 1046 can change the amount of lateral force generated by the tail surface, and thus the deflection of these rudders out of the airflow can be used to generate and control the yaw motion of the UAV, for example, so as to point the centerline of the UAV. That is, these rudder surfaces can be used to control the position of the nose of the UAV. The turning of the UAV is caused by tilting the UAV to one side using ailerons or elevons. This tilting can cause the flight path of the UAV to bend, and thus these rudder surfaces 1045, 1046 can help ensure that the UAV is properly aligned with the curved flight path and the turn is coordinated. Otherwise, the UAV will encounter additional drag, which can cause the UAV to move out of the flight path and its sensors may not be guided as desired. These rudders can also be used to point or guide to allow the sensors and / or ammunition of these UAVs to be aimed in a desired direction. It should be noted for the UAV that although in Fig. 10AIn the embodiment shown in FIG. 1 , two rudders are shown, but one or more rudders or other control surfaces located elsewhere along the fuselage or other components of the UAV may be employed. It should be noted that any such deployable control surfaces may be angled or tilted so that the UAV can move with more than one degree of freedom. In some embodiments, there may be more than one single actuator for two or more control surfaces so that the surfaces can be moved separately and / or independently of each other.

[0087] Fig. 10B Depicted Fig. 10A , showing two positions of an exemplary rudder 1046. The rudder 1046 is depicted as it can sit on the fuselage wall and abut against the tapered rear portion 1050, and the rudder can be deployed to control the yaw motion. An exemplary inclined hinge line 1060 defines the axis of rotation and serves as a pivot axis for the deployment of the rudder. The hinge 1060 can include a spring to bias the rudder 1046 from its storage position against the fuselage portion 1050 to its operating position and bias the rudder against the actuator. The figure also shows the wings 1042, tail 1044, and propeller 1030.

[0088] FIG. 11A to FIG. 11D An exemplary embodiment of rudder surfaces 1145, 1146 is depicted in a top view. Fig.11A A portion of an exemplary UAV is shown in a top view with rudder surfaces 1145, 1146 (in a folded state) and a manipulator element, such as a rod 1149. The UAV as shown is in a pre-deployment stage and the rudders 1145, 1146 are forward and flush against the tapered rear portion 1150 of the fuselage 1110. Hinges 1155, 1156 are shown connecting the rudders to the fuselage. Fig. 11B The UAV is shown in the initial stage of deployment, where the rudders 1145, 1146 can be forced to deploy by dynamic pressure on the surfaces and / or as in the present example by a spring-loaded force. The springs providing this force can be positioned at or near the hinges, where the springs exert force on the rudders to move them from the storage position to the operating position and thereafter bias them. As shown, the rudders 1145, 1146 rotate around hinges 1155, 1156 with hinge axes 1160, 1161, respectively, when deployed. Fig. 11C It is shown that the rudders 1145 , 1146 are deployed further when they have been rotated about the hinge axis 1160 . Fig.11DAn actuator lever or rod 1149 is shown extending from the fuselage and located above the hinge axis 1160 to facilitate engagement with the rudders 1145, 1146 once deployed. The actuator rod 1149 is shown extending out of the fuselage body, where it can engage the rudders 1145, 1146 after they are deployed and when rotational movement at each end of the rod stops. The rudders 1145, 1146 can be connected to the rod ends 1147, 1148 by a fastening device, such as at least one of a magnet, hook, clip, flange, stake, pin, Velcro™, or a combination thereof. In this example, the length of the actuator lever 1149 may not extend beyond the difference between the lateral width of the fuselage and the width of the surfaces of the rudders 1145, 1146.

[0089] FIG. 12A to FIG. 12F An exemplary embodiment of a single rudder surface 1245 system is depicted moving through various stages. Fig. 12A An exemplary UAV is shown in a top view, where yaw control is shown with a rudder 1245. This view focuses on the rudder (in a folded state) and a manipulator element, such as a rod 1249. This embodiment depicts the rudder as a forward folded vertical tail before being deployed from the launch tube. Rod 1249 can be placed inside the fuselage shell 1201 and can be used to actuate the movement of the rudder 1245. Fig. 12B Shown with Fig. 12A The same UAV (when the UAV is being deployed and exiting the launch tube) with the rudder 1245 rotating about an axis 1260 (e.g., a hinge line). Fig. 12C The rudder 1245 is shown further along in the deployment phase as it continues to rotate about the hinge axis 1260. A larger portion of the top surface area of ​​the rudder can be seen at this point. Fig.12D As the rudder 1245 continues to move along the axis, the top surface visible from this top view decreases. Fig.12E The end of deployment is shown, with the fully deployed rudder 1245 resting against the fuselage wall. Fig.12F The same UAV is further shown with the rudder 1245 having been fully deployed after exiting the launch tube and having come into contact with the rod 1249. In some embodiments, the rod 1249 as depicted in this figure may have magnets on the ends and metal tabs on the rudder 1245 to aid in capturing the rudder 1245. Fig.12F The movement of the rudders as they are engaging the actuator rod is also depicted, and the axes of rotation associated with the rudders are shown.

[0090] Fig.13A A side view depicting the tapered rear portion of the fuselage 1301, wherein the rudder 1345 and thruster 1330 (both in a folded state) have been wrapped and tucked inwardly, as the UAV may be inside a launch tube or in a pre-deployment stage. This view further depicts the location of an exemplary actuator rod 1349 as it may be located inside the fuselage shell 1301 and extending from two opposing openings above the rudder rotation axis (e.g., hinge line 1355). This view shows the rotation axis tilted relative to the longitudinal axis of the UAV. The tilted hinge line may range from greater than zero degrees up to 90 degrees. Some embodiments as shown in these examples have a tilt angle ranging between 30 degrees and 60 degrees. A tilt angle of 45 degrees may be used. Fig. 13B The same side view is depicted with the rudders 1345, 1346 of the UAV as it is being deployed and demonstrating the position of the thrusters 1330 after deployment and the rudders 1345, 1346 as they are rotating about the hinge line 1355. Fig. 13C The fully deployed rudders 1345, 1346 are shown along with an actuator rod secured to the rudders by a securing method such as at least one of a magnet, hook, clip, flange, stake, pin, Velcro™, or a combination thereof. The actuator rod 1349 may be controlled by an actuator such as at least one of an electromechanical linkage, a gear or gear assembly, and / or a worm gear mechanism. In one embodiment, the rotation of the rudders may be by the actuator engaging the rod so that the rod translates against the spring return force of a plurality of resiliently mounted rudders. The actuator rod is used to ensure that the rudders 1345, 1346 move in concert with each other thereby providing yaw control.

[0091] Fig.13D 1 is a cutaway view of a rear section of one embodiment depicting the fuselage 1301 with the rudders 1345, 1346 (both deployed) already engaged with a manipulator element (e.g., a rod 1349). The actuator rod 1349 is depicted as being housed within the fuselage 1301 and extending from two opposing openings 1375, 1376 located above the axis of rotation of the rudders of a hinge 1354 (e.g., an inclined hinge line 1355) to the exterior of the fuselage. In some embodiments, the hinge 1354 may include a spring element 1378 surrounding a portion of the hinge, wherein the spring may function to deploy the rudders 1345, 1346 and bias the rudders 1345, 1346 against the actuator rod 1349 when the rudders 1345, 1346 are in the operating position. Fig.13DThe rudders 1345, 1346 are further depicted abutting against an actuator rod 1349, and wherein the actuator rod 1349 is depicted as being slidably supported by a rear structural element (not shown). The actuator rod 1349 may include ball-shaped ends 1372, 1373 for connecting or abutting against the rudders 1345, 1346. The actuator rod 1349 may have a plurality of teeth that mesh with a disk 1371 having a plurality of mateable teeth that converge at each tooth top. The actuator 1370 effects movement of the rudders 1345, 1346 by engaging the disk 1371 with the actuator rod 1349, by causing the disk 1371 to rotate about an axis perpendicular to the longitudinal axis 1380 of the UAV as depicted.

[0092] FIG. 14A to FIG. 14F A rear view of an exemplary embodiment of rudder surfaces 1445, 1446 and UAV fuselage 1410 is depicted. Fig.14A 14 is a rear view of a tapered rear portion 1450 of the fuselage, depicting the rudders 1445, 1446 as being in a folded position. In this embodiment, the hinge line 1460 can be seen as it tapers from the rear of the fuselage toward the mid-body. The hinge line 1460 is inclined at a selected angle relative to the longitudinal axis of the fuselage. Fig. 14B The rear view of the same tapered rear portion depicts the rudders 1445, 1446 as being in the initial stages of deployment. In this embodiment, once released, an elastic mounting force or a spring-loaded hinge (combined with wind resistance) can help these rudders move around the hinge line 1460. Fig. 14C The rudders 1445, 1446 are depicted as being deployed and rotating about a pivot axis, such as the inclined hinge line 1460. Wind resistance will be at its highest during this deployment phase of the launch process and thus may push the rudders toward the rear of the fuselage. Fig.14D The rudders 1445, 1446 are further depicted as they are near the end of their deployment and may stand against the tapering fuselage wall as deployed. Fig.14E The rudders 1445, 446 are depicted as being engaged by the actuator (and in this example, rod 1449), which acts as a stop to hold the rudders in place at a point where they can achieve a minimum amount of air resistance as they can edge on into the wind vector. Fig.14FThe movement of the rudders when they are engaged by the actuator rod 1449 is depicted, and the axes of rotation associated with the rudders are depicted. In this embodiment, the rod pushes one of the rudders 1446 laterally, thereby controlling the yaw motion of the UAV, such as to point the centerline of the UAV, and the other rudder 1445 is pushed or driven by wind, elastic hinges and / or spring loading forces.

[0093] Fig.15A A top view of an exemplary embodiment of a UAV portion 1500 of the present invention is shown. This view shows a rotatable surface 1539 with rudder surfaces 1545, 1546 mounted to the platform 1539 (the rudder surfaces are depicted as being perpendicular to the platform) and an actuator within the fuselage that can control the rotational movement of the platform actuator 1539. Fig. 15B The exemplary UAV is shown in a side view, wherein the rudder surface 1545 is shown as being mounted substantially perpendicular to the longitudinal axis of the UAV. The rudder 1545 is depicted as being fixed to this rotatable surface, wherein the rotatable surface 1539 is coplanar with a portion of the fuselage shell. In one embodiment, the platform 1539 can be in a well of the fuselage, wherein the actuator shaft has a sealing ring to help block the ingress of foreign elements. In some embodiments, the rudders 1545, 1546 include a hinge and spring at their roots so that these rudders can be folded and flush against the fuselage for storage, and can also be subsequently unfolded to a substantially vertical position for operation.

[0094] Fig.16A functional block diagram 1000 is depicted where from the autopilot process 340, an elevator command 910 (δe), an aileron command 920 (δa), and a rudder command 1025 (δr) may be output as voltage commands and may be combined according to mixer logic 930 to provide a port actuator command 931, a starboard actuator command 932, and a rudder actuator command 1070. Mixer logic 930 may be implemented as part of the autopilot process or as a separate module or circuit. A port actuator 950 may be configured where positive voltage drives the port actuator stick in a stow direction and negative voltage drives the port actuator stick in an extend direction. Similarly, a starboard actuator 960 may be configured where positive voltage drives the starboard actuator stick in a stow direction and negative voltage drives the starboard actuator stick in an extend direction. The port actuator 950 and the starboard actuator 960 can be configured with extension / retraction feedback that can further adjust and / or fine tune the positioning of the actuator stick. In some embodiments, the aircraft can be configured so that the trailing edges can be initially deflected upward due to the rotational forces provided by the corresponding elastic elements. In an example, where the wings are arranged along the bottom of the fuselage and the top of the fuselage is oriented toward the sky, the trailing edge deflections can produce upward pitching moments, which can then be reduced or brought to zero (i.e., trimmed) by rotational extension of each of the actuator sticks. In some embodiments, multiple linear actuators can replace the exemplary rotary actuators that actuate the contact sticks.

[0095] It is contemplated that different combinations and / or sub-combinations of the specific features and aspects of the above embodiments may be made and still fall within the scope of the present invention. Therefore, it should be understood that the different features and aspects of the disclosed embodiments may be combined with or replaced with each other to form a variation of the disclosed invention. Furthermore, it is intended to indicate that the scope of the invention disclosed herein by way of example should not be limited by the specific disclosed embodiments described above.

Claims

1. An aviation vehicle, comprising: a fuselage having an outer surface, wherein the outer surface is tapered at a rear portion; a first rudder surface rotatably disposed about a first hinge, wherein the first hinge extends along the rear portion of the outer surface, and wherein the first rudder surface is configured to rotate about the first hinge and wind urges the first rudder surface toward a first deployed position, an actuator rod disposed in the rear portion of the fuselage; a second rudder surface rotatably disposed about a second hinge, wherein the second hinge extends along the rear portion of the outer surface, and wherein the second rudder surface is configured to rotate about the second hinge and wind urges the second rudder surface toward a second deployed position; a first opening and a second opening, wherein the first opening and the second opening are disposed on opposite sides of the fuselage, wherein the actuator rod is operable to extend through the first opening to engage the first rudder surface, and wherein the actuator rod is operable to extend through the second opening to engage the second rudder surface; as well as A first spring and a second spring, wherein the first spring is configured to rotate the first rudder surface about the first hinge and into the first deployed position, and wherein the second spring is configured to rotate the second rudder surface about the second hinge and into the second deployed position. 2 . The aircraft according to claim 1 , wherein the first hinge has an inclination angle between 30 degrees and 60 degrees relative to the longitudinal axis of the aircraft.

3. The aerial vehicle of claim 1, wherein the first rudder surface has a first retracted position disposed along the outer surface, and wherein the second rudder surface has a second retracted position disposed along the outer surface.

4. The aircraft of claim 3, wherein the first retracted position of the first rudder surface and the second retracted position of the second rudder surface are on opposite sides of the fuselage.

5. A method of operating an aerial vehicle according to any one of claims 1 to 4, comprising: rotating the first rudder surface about the inclined first hinge on the rearwardly tapering outer surface of the fuselage from a first rotational position to a second rotational position, The first rudder surface is configured to rotate about the first hinge, and wind pushes the first rudder surface toward a first deployed position.

6. The method of claim 5, wherein rotating the first rudder surface from the first rotational position to the second rotational position further comprises rotating the first rudder surface from a retracted position disposed along the rearwardly tapered outer surface of the fuselage to the first deployed position.

7. The method according to claim 5, further comprising: Rotating a second rudder surface about an inclined second hinge on the rearwardly tapered outer surface of the fuselage from a third rotational position to a fourth rotational position, wherein the second rudder surface is configured to rotate about the second hinge and wind urges the second rudder surface toward a second deployed position, wherein rotating the second rudder surface from the third rotational position to the fourth rotational position further comprises rotating the second rudder surface from a retracted position disposed along the rearwardly tapered outer surface of the fuselage to the second deployed position.

8. The method according to claim 5, further comprising: A propeller folded in a pusher configuration is rotated from a folded position disposed along the rearwardly tapered outer surface of the fuselage to a deployed position.

9. An aviation vehicle, comprising: a fuselage having an outer surface, wherein the outer surface is tapered at a rear portion; a first rudder surface rotatably disposed about a first hinge, wherein the first hinge extends along the rear portion of the outer surface, and wherein the first hinge has an inclination angle of between 30 degrees and 60 degrees relative to a longitudinal axis of the aircraft; an actuator rod disposed in the rear portion of the fuselage; a second rudder surface rotatably disposed about a second hinge, wherein the second hinge extends along the rear portion of the outer surface, wherein the second rudder surface is configured to rotate about the second hinge toward a second deployed position; a first opening and a second opening, wherein the first opening and the second opening are disposed on opposite sides of the fuselage, wherein the actuator rod is operable to extend through the first opening to engage the first rudder surface, and wherein the actuator rod is operable to extend through the second opening to engage the second rudder surface; as well as a first spring and a second spring, wherein the first spring is configured to rotate the first rudder surface about the first hinge and into a first deployed position, and wherein the second spring is configured to rotate the second rudder surface about the second hinge and into the second deployed position; Wherein the first rudder surface is configured to rotate about the first hinge from a storage position against the rear portion to an operating position.

10. An aviation vehicle, comprising: a fuselage having an outer surface; a first rudder surface rotatably disposed about a first hinge, wherein the first hinge extends along a rear portion of the outer surface, wherein the first hinge has an angle of inclination relative to a longitudinal axis of the aircraft, and wherein the first rudder surface is configured to rotate about the first hinge toward a first deployed position; a second rudder surface rotatably disposed about a second hinge, wherein the second hinge extends along the rear portion of the outer surface, wherein the second rudder surface is configured to rotate about the second hinge toward a second deployed position; a first spring and a second spring, wherein the first spring is configured to rotate the first rudder surface about the first hinge and into the first deployed position, and wherein the second spring is configured to rotate the second rudder surface about the second hinge and into the second deployed position; as well as An actuator rod, wherein the actuator rod is operable to extend through a first opening to engage the first rudder surface, and wherein the actuator rod is operable to extend through a second opening to engage the second rudder surface.

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