Aircraft with tilting fan assembly

Abstract

Embodiments provide an aircraft having one or more tilting fan assemblies configured to tilt between a forward flight position and a vertical lift position. The aircraft may also include a plurality of lift fan assemblies for vertical movement. The tilt fan assembly may be coupled to a fuselage or wing of an aircraft via one or more tilt mechanisms. A control system coupled to the aircraft may control the one or more tilt mechanisms to move the tilt fan assembly between a forward flight position and a vertical lift position. The tilt fan assembly may be coupled to one or more support structures that couple a fuselage or wings of the aircraft.

Description

[0001] This application is a divisional application of the patent application filed on January 29, 2021, with application number 202180025808.3 and entitled "Aircraft with Tilting Fan Assembly".

[0002] Related applications This application claims the benefit of U.S. Provisional Patent Application No. 62 / 968,852, filed January 31, 2020, entitled “Aircraft with Tilting Fans,” entitled under 35 USC §119(e), the disclosure of which is incorporated herein by reference in its entirety for all purposes. Technical Field

[0003] The described embodiments generally relate to aircraft with vertical takeoff and landing capabilities. In particular, the embodiments provide aircraft with one or more tiltfan assemblies that provide vertical and horizontal thrust in a controlled manner for hovering, transition, and cruise flight. Background Technology

[0004] Aircraft capable of vertical takeoff and landing (VTOL) require lift fans to hover, take off, and land vertically. However, such aircraft also require forward thrust to cruise in the air. Thrust generated in the vertical direction provides lift to the vehicle; thrust generated horizontally provides forward movement. VTOL aircraft must generate both vertical and horizontal thrust and be able to control these forces in a balanced manner. Summary of the Invention

[0005] Various embodiments provide an aircraft configured for vertical takeoff and landing. The aircraft includes a fuselage, a pair of wings coupled to opposite sides of the fuselage, a plurality of lift fan assemblies coupled to the pair of wings, a plurality of tilt fan assemblies, and a control system. The plurality of lift fan assemblies are configured to generate vertical lift. The plurality of tilt fan assemblies are configured to move between a vertical lift position and a forward flight position. The control system may be configured to control the plurality of tilt fan assemblies between the vertical lift position and the forward flight position.

[0006] Some embodiments provide an aircraft configured for vertical takeoff and landing. The aircraft includes a fuselage, a pair of wings coupled to opposite sides of the fuselage, a plurality of tiltfan assemblies coupled to the wings and configured to move between a vertical lift position and a forward flight position, and a control system configured to control the plurality of tiltfan assemblies between the vertical lift position and the forward flight position. The plurality of tiltfan assemblies are configured to generate vertical lift when in the vertical lift position. The aircraft also includes one or more battery cells comprising a plurality of battery cells configured to power the plurality of tiltfan assemblies.

[0007] The embodiment provides a method executed by a control system coupled to an aircraft configured for vertical takeoff and landing to control one or more tiltfan assemblies of the aircraft. The control system receives flight commands; determines the positions of multiple tiltfan assemblies coupled to the aircraft; controls one or more of the multiple tiltfan assemblies between a vertical lift position and a forward flight position based on the flight commands; and continuously monitors the positions of the multiple tiltfan assemblies according to the flight commands.

[0008] If the flight command is a takeoff or landing command, the control system will move one or more of the tiltfan assemblies that are in the forward flight position to the vertical lift position. If the flight command is a forward flight command, the control system will move one or more of the tiltfan assemblies that are in the vertical lift position to the forward flight position.

[0009] These and other embodiments are described in further detail below. Attached Figure Description

[0010] Figure 1A Simplified schematic diagrams of exemplary VTOL aircraft according to various embodiments are shown.

[0011] Figure 1B Top view, plan view, side view and front view (clockwise from the top left corner) of a VTOL aircraft according to various embodiments are shown, in which a pair of tilt fan assemblies are in the forward flight position.

[0012] Figure 1C Top view, plan view, side view and front view (clockwise from the top left corner) of a VTOL aircraft according to various embodiments are shown, in which a pair of tilt fan assemblies are in a vertical lift position.

[0013] Figure 2A Top view, plan view, side view and front view (clockwise from the top left corner) of a VTOL aircraft according to various embodiments are shown, with the forward tilt fan assembly in the forward flight position.

[0014] Figure 2B Top view, plan view, side view and front view (clockwise from the top left corner) of a VTOL aircraft according to various embodiments are shown, with the forward tilt fan assembly in the vertical lift position.

[0015] Figure 3A Top view, plan view, side view and front view (clockwise from the top left corner) of a VTOL aircraft according to various embodiments are shown, with the tilt fan assembly in the forward flight position.

[0016] Figure 3B Top view, plan view, side view and front view (clockwise from the top left corner) of a VTOL aircraft according to various embodiments are shown, with the tilt fan assembly in the vertical lift position.

[0017] Figure 4 This is a flowchart illustrating an embodiment of the process of controlling the flight of a VTOL aircraft through the transition between vertical flight and forward flight, according to various embodiments. Detailed Implementation

[0018] The technology disclosed herein generally relates to aircraft having multiple lift fan assemblies and at least one tilt fan assembly. More specifically, the technology disclosed herein provides a VTOL aircraft having multiple lift fan assemblies for vertical movement, and one or more tilt fan assemblies configured to tilt between a forward flight position and a vertical lift position for forward movement. Various inventive embodiments, including methods, processes, systems, apparatuses, etc., are described herein.

[0019] To better appreciate the features and aspects of fan assembly orientation for aircraft according to this disclosure, further context for this disclosure is provided in the following sections by discussing specific implementations of VTOL aircraft according to embodiments of this disclosure. These embodiments are for illustrative purposes only, and other fan configurations may be used in conjunction with the VTOL aircraft described herein.

[0020] Figure 1A A simplified schematic diagram of an exemplary VTOL aircraft 100 is shown. According to various embodiments, the VTOL aircraft 100 may be an electric aircraft. In some embodiments, the VTOL aircraft 100 may be configured to carry one or more passengers and / or cargo and may be automatically and / or remotely controlled (e.g., it may not require an onboard pilot to operate the aircraft and may be controlled based on control signals or commands received from a remote entity). Figure 1AIn the example shown, the VTOL aircraft 100 includes a fuselage 102, which may include a cabin section 140 for carrying passengers and / or cargo. For example, the cabin section 140 may be oriented toward the nose of the VTOL aircraft 100. The VTOL aircraft 100 may also include a horizontal stabilizer (e.g., a horizontal tail) 130 coupled to the rear end of the fuselage 102. The horizontal tail 130 may be of any suitable shape or form. For example, the horizontal tail 130 may be V-shaped (e.g., a V-tail). A pair of wings (e.g., a first wing 106 and a second wing 108) are coupled to opposite sides of the fuselage 102. In some embodiments, the pair of wings may be a high-wing configuration coupled to the fuselage. That is, as... Figure 1A As shown, the pair of wings can be mounted on the upper portion of the fuselage. Multiple fan assemblies (e.g., lift fan assemblies and / or tilt fan assemblies) can be coupled to the pair of wings. For example, the VTOL aircraft 100 may include a total of 12 fan assemblies (e.g., fans, rotors, propellers) evenly distributed between the wings. In some embodiments, the fan assemblies may be directly coupled to the wings. In other embodiments, the fan assemblies may be mounted on a support structure 104 (such as a boom that can be coupled to the underside of the wings 106, 108).

[0021] According to some embodiments, each wing 106, 108 may include two support structures (e.g., booms) 104, each including a pair of lift fan assemblies (also referred to as "lift fans") 110 mounted thereon. For example, each lift fan assembly may be coupled to an end of the boom 104 such that a first lift fan assembly 113 is in front of the wing 106, 108, and a second lift fan assembly 110 is behind the wing 106, 108. In some embodiments, the two lift fan assemblies 110, 113 coupled to opposite ends of the boom 104 may have their blades mounted with opposite angles of attack, and thus the two lift fan assemblies 110, 113 may spin in opposite directions. The lift fan assemblies 110, 113 are configured to generate vertical lift for the VTOL aircraft 100.

[0022] According to various embodiments, each lift fan assembly 110 may take the form of an electric motor-driven rotor (e.g., a combined fan and motor) and may be configured to move the aircraft 100 vertically during, for example, takeoff, hovering, and / or landing. The rotor may include blades attached to a hub, or may be manufactured as a single piece with the hub as an integral unit. The hub provides a central structure to which the blades are attached and, in some embodiments, is shaped to surround the motor. In some embodiments, the motor portion is low-profile, such that the entire motor is fitted within the rotor's hub, presenting lower drag on airflow during forward flight. The rotor is attached to the rotating portion of the motor. The fixed portion of the motor is attached to the boom 104. In some embodiments, the motor is a permanent magnet motor and is controlled by an electronic motor controller. The electronic motor controller sends current to the motor in a precise sequence to allow the rotor to rotate at a desired speed or with a desired torque.

[0023] The lift fan assembly 110 may have any suitable number of blades that can be oriented in a predetermined manner. The orientation of the lift fan assembly may be fixed (e.g., the lift fan assembly 110 may be mounted in a fixed position relative to wings 106, 108). In some embodiments, one or more of the lift fan assemblies 110 may be configured to be manually or in response to a control signal (e.g., from a control system 150 controlling the VTOL aircraft 100, such as a flight control system) repositioned relative to wings 106, 108. According to various embodiments, the lift fan assembly 110 may have two blades having a predetermined angle of attack. In some embodiments, two adjacent lift fan assemblies (e.g., lift fan assembly 110 and lift fan assembly 111) may have opposite angles of attack, such that the two adjacent fan assemblies rotate in opposite directions. Two adjacent lift fan assemblies may be on the same wing (e.g., Figure 1A The lift fan assemblies 110 and 111 in the middle) or on the opposite wing (e.g. Figure 1B (Lift fan assemblies 117 and 119 in the embodiment). According to various embodiments, a first subset of the lift fan assembly is rotatable in a first direction, and a second subset of the lift fan assembly (e.g., the remainder) is rotatable in a second direction opposite to the first direction.

[0024] In some embodiments, each wing 106, 108 may include at least one support structure (e.g., a boom) 112 that carries at least one tilt fan assembly 114 (also referred to in various embodiments as a "propeller assembly" or "propeller-fan assembly"). The tilt fan assembly 114 is configured to be in a forward flight position (e.g., Figure 1B (as shown) and vertical lift position (as shown) Figure 1CThe boom 112, having at least one tilt fan assembly 114, may supplement or replace the boom(s) carrying the lift fan assembly(s). The tilt fan assembly 114 may be in a forward flight position (as shown in the diagram). Figures 1A to 1B (as shown) and vertical lift position ( Figure 1C Switching between (e.g., rotation) positions as shown in the diagram. The tilt fan assembly 114 can be coupled to the boom 112 via a tilting mechanism 116, which includes, for example, a motor and a coupling mechanism. In the forward flight position, the tilt fan assembly 114 can be substantially vertically oriented relative to the fuselage 102. In the vertical lift position, the tilt fan assembly 114 can be substantially horizontally oriented relative to the fuselage 102.

[0025] Each tilt fan assembly 114 may include a combined rotor and motor. The rotor may include blades attached to a hub, or may be manufactured as a single piece with the hub as an integral unit. The hub provides a central structure to which the blades connect, and in some embodiments is shaped to surround the motor. In some embodiments, the motor portion is small-profile, such that the entire motor is fitted within the rotor hub, presenting low drag on airflow during forward flight. The rotor is attached to the rotating portion of the motor. The fixed portion of the motor is attached to the boom 112 or other parts of the fuselage 102. In some embodiments, the motor is a permanent magnet motor and is controlled by an electronic motor controller. The electronic motor controller sends current to the motor in a precise sequence to allow the rotor to rotate at a desired speed or with a desired torque. The tilt fan assembly 114 may have any suitable number of blades that can be oriented in a predetermined manner. For example, the tilt fan assembly 114 may have five blades with a predetermined angle of attack.

[0026] According to various embodiments, the tilt fan assembly 114 on the first wing 108 may tilt simultaneously with the tilt fan assembly 124 on the second wing 106. For example, the aircraft's control system 150 may simultaneously control at least a subset of multiple tilt fan assemblies. That is, the control system 150 may operate the respective tilt mechanisms 116 and 126 substantially simultaneously. In some embodiments, the tilt mechanisms 116 and 126 may operate independently of each other. According to some embodiments, the control system 150 may be configured to automatically and / or remotely (e.g., via control signals received from a remote entity such as a remote controller, remote pilot, or remote control tower) control the VTOL aircraft 100 (e.g., control the position of the tilt fan assemblies). In various embodiments, the control system 150 includes one or more processors configured to perform the processing and control functions described herein.

[0027] In some embodiments, each wing 106, 108 may further include at least one support structure (e.g., a boom) 112 that carries a lift fan assembly 110 (e.g., a rear fan assembly) and a tilt fan assembly 114. For example, the lift fan assembly 110 may be coupled to the rear of the wing 106, 108, and the tilt fan assembly 114 may be coupled to the front of the wing 106, 108. According to various embodiments, multiple lift fan assemblies may be coupled to the trailing edges of a pair of wings 106, 108, and / or multiple tilt fan assemblies may be coupled to the leading edges of a pair of wings 106, 108 via one or more tilting mechanisms.

[0028] Figures 1A to 1C The exemplary VTOL aircraft 100 shown may include a total of twelve fan assemblies: ten lift fan assemblies and two tilt fan assemblies. In some embodiments, at least one (or preferably a pair) of the fan assemblies of the exemplary VTOL aircraft is a tilt fan assembly. When in a forward flight position, tilt fan assemblies 114 and 124 provide thrust (and / or transition to them) for forward flight, climb, descent, and cruise. For example, during takeoff, hovering, and / or landing, lift fan assembly 110 provides sufficient thrust to lift the aircraft off the ground and maintain control. According to various embodiments, lift fan assembly 110 may cease operation during forward flight of the VTOL aircraft 100.

[0029] One or more battery units 135 may be coupled to the VTOL aircraft 100 to power fan assemblies (lift fan assembly and tilt fan assembly). More specifically, the fan assemblies may be driven by electric motors powered by an electrical system including one or more battery units 135. In some embodiments, each fan assembly may have a dedicated battery unit 135. The battery units 135 may be located on a boom carrying the fan assembly, within the fuselage, or a combination thereof. Each battery unit 135 may include multiple individual battery cells configured to power the fan assembly. Thus, the VTOL aircraft 100 may be an electric aircraft. In an alternative embodiment, the VTOL aircraft 100 may be a hybrid electric aircraft.

[0030] Figure 1B The top view, plan view, side view and front view (clockwise from the top left corner) of the VTOL aircraft 100 are shown, in which a pair of tilt fan assemblies 114, 124 are in the forward flight position.

[0031] Figure 1C The top view, plan view, side view and front view (clockwise from the top left corner) of the VTOL aircraft 100 are shown, in which a pair of tilt fan assemblies 114, 124 are in the vertical lift position.

[0032] A control system 150 (e.g., a flight control system) coupled to the aircraft 100 may be configured to control multiple tilt fan assemblies between a vertical lift position and a forward flight position. For example, the control system 150 may be configured to control one or more tilt mechanisms 116, 126 to position the tilt fan assemblies 114, 124 from the forward flight position (in the vertical lift position) to the forward flight position. Figures 1A to 1B (As shown) Switch to the vertical lift position ( Figure 1C (as shown); and from the vertical lift position (as shown); Figure 1C (As shown) Switch to forward flight position ( Figures 1A to 1B (As shown in the diagram). In some embodiments, the control system 150 may receive flight data from one or more sensors (e.g., sensors that measure air temperature, motor temperature, airspeed of the aircraft, etc.), a computer, and other input / output devices coupled to the aircraft. The control system 150 may then control the tilt fan assemblies 114, 124 between two locations based on the sensor data and / or flight data received from the sensors (e.g., sensors that measure air temperature, motor temperature, airspeed of the aircraft, etc.), the computer, and other input / output devices coupled to the aircraft.

[0033] According to various embodiments, the control system 150 may be configured to receive flight commands, such as takeoff, hovering, cruise, or landing commands. The control system 150 may then determine the positions of a plurality of tiltfan assemblies and, based on the flight commands, control one or more of the tiltfan assemblies between a vertical lift position and a forward flight position. During operation of the VTOL aircraft 100, the control system 150 may be configured to continuously monitor the positions of the plurality of tiltfan assemblies according to flight commands.

[0034] Figures 1A to 1C The exemplary VTOL aircraft 100 shown includes a pair of tilt fan assemblies 114, 124 located closer to the fuselage 102, with one tilt fan assembly on each wing 106, 108. Those skilled in the art will recognize that the number and location of the tilt fan assemblies are not limited to... Figures 1A to 1C The quantities and positions shown are not identical, and the VTOL aircraft may include fewer or more tilt fan assemblies and / or lift fan assemblies. For example, according to one embodiment, boom 112 may be interchanged with any of booms 104. According to yet another embodiment, all front fan assemblies (or all rear fan assemblies) may be tilt fan assemblies.

[0035] Figures 2A to 2B Another exemplary embodiment of a VTOL aircraft with a tilt fan assembly is shown. Figures 2A to 2B In the exemplary embodiment shown, a plurality of lift fan assemblies are disposed at the trailing edge of a pair of wings, and a plurality of tilt fan assemblies are disposed at the leading edge of a pair of wings. Figures 2A to 2B The exemplary VTOL aircraft 200 shown includes all front fan assemblies configured as tilt fan assemblies 204. Therefore, in the exemplary VTOL aircraft 200, all booms 206 are identical, and each includes a tilt fan assembly 204 at one end and a lift fan assembly 202 at the opposite end. Since all booms 206 are identical, their positions on the wing can be interchangeable. For example, a first boom closer to the fuselage can be interchanged with an adjacent second boom (e.g., a middle boom on the wing) or a third boom further away from the fuselage. In some embodiments, each tilt fan assembly 204 may be coupled to a boom 206 via a separate tilt mechanism 208. For example, as... Figure 2A As shown, at least three tilt fan assemblies can be attached to each of a pair of wings.

[0036] Figure 2A The top view, plan view, side view, and front view (clockwise from the top left corner) of the VTOL aircraft 200 are shown, with the forward tilt fan assembly 204 in the forward flight position.

[0037] Figure 2B The top view, plan view, side view and front view (clockwise from the top left corner) of the VTOL aircraft 200 are shown, with the forward tilt fan assembly 204 in a vertical lift position (e.g., the forward tilt fan assembly 204 facing upward toward the sky).

[0038] A control system 250 (e.g., a flight control system) coupled to the aircraft 200 may be configured to control the tilt mechanism 208 to position the tilt fan assembly 204 from the forward flight position. Figure 2A (As shown) Switch to the vertical lift position ( Figure 2B (as shown); and from the vertical lift position (as shown); Figure 2B (As shown) Switch to forward flight position ( Figure 2A (As shown in the diagram). According to various embodiments, the control system 250 can control the tilt fan assembly 204 between two locations based on sensor data and / or flight data received from sensors (e.g., sensors that measure air temperature, motor temperature, aircraft airspeed, etc.), computers, and other input / output devices coupled to the aircraft.

[0039] Tiltrofan assembly 204 may be coupled to the wing via one or more tilt mechanisms, and tilt fan assembly 204 may be individually controlled via tilt mechanism 208. The flight control system may be configured to simultaneously control tilt mechanism 208 to position all tilt fan assemblies 204 in the same location simultaneously. Alternatively, the flight control system may be configured to control tilt mechanisms 208 independently of each other. In this way, the flight control system can identify one or more tilt fan assemblies 204 and control the identified tilt fan assembly 204 independently of the other tilt fan assemblies. According to various embodiments, the flight control system may use symmetrical and / or asymmetrical tilt to enhance control during hovering and transitions (e.g., transitions between vertical lift and forward flight). Additional tilt degrees of freedom may enhance control during motor deactivation and nominal conditions.

[0040] although Figures 2A to 2B A tilt fan assembly 204 on the leading edge (e.g., leading edge) of the wing and a lift fan assembly 202 on the trailing edge (e.g., trailing edge) of the wing are shown, but this configuration is for illustrative purposes and should not be construed as limiting. In some embodiments, the lift fan assembly 202 may be located on the leading edge of the wing, and the tilt fan assembly 204 may be located on the trailing edge of the wing.

[0041] However, in other embodiments, the tilt fan assembly 204 and the lift fan assembly 202 may alternate on each of the leading and trailing portions of the wing. For example, the leading edge of the first wing may include a first tilt fan assembly 204, a lift fan assembly 202, and a second tilt fan assembly 204. The leading edge of the second wing may include a tilt fan assembly 204, a lift fan assembly 202, and another tilt fan assembly 204. Alternatively, the leading edge of the second wing may include a first lift fan assembly 202, a tilt fan assembly 204, and a second lift fan assembly 202. A similar configuration may also be applied to the trailing edges of the first and second wings.

[0042] although Figures 1A to 2B Multiple tilt fan mechanisms coupled to the wing are shown, but in alternative embodiments, the multiple tilt fan mechanisms may be coupled to the fuselage. For example, the multiple tilt fan mechanisms may be coupled to one or more lateral support structures (e.g., lateral booms) that are coupled to the fuselage.

[0043] Figures 3A to 3B Another embodiment of a VTOL aircraft with a tilt fan assembly is shown. Figures 3A to 3BThe VTOL aircraft 300 shown includes a lateral boom 310 located forward of the wing, closer to the nose of the aircraft. One or more tilt fan assemblies 314, 324 are coupled to the lateral boom 310. In some embodiments, the lateral boom 310 may be a tilt boom that tilts about an axis parallel to the lateral axis of the aircraft, thereby enabling forward flight position ( Figure 3A (as shown) and vertical lift position ( Figure 3B The tilt fan assemblies 314 and 324 can move simultaneously between the lateral boom and the tilt boom 310 (as shown in the diagram). In such embodiments, if the lateral boom itself is a tilt boom, it may not be necessary to connect the tilt fan assemblies 314 and 324 to the lateral boom 310 via a tilting mechanism. The tilting of the lateral boom 310 can be controlled to change the position of the tilt fan assemblies 314 and 324. In other embodiments, both the lateral boom and the tilt fan assemblies can tilt independently of each other (e.g., the tilt fan assembly 314 may be connected to the tilting lateral boom via one or more tilting mechanisms).

[0044] The lateral boom 310 may be configured as a single boom or as two separate lateral booms attached to opposite sides of the fuselage. (One or more) lateral booms 310 may be attached to the fuselage in front of a pair of wings.

[0045] and Figures 1A to 1C The embodiments shown are similar. Figures 3A to 3B The exemplary VTOL aircraft 300 shown includes two booms 304, each carrying a pair of lift fan assemblies 302 on each wing. The exemplary VTOL aircraft 300 also includes shorter booms 306 coupled to each wing, extending only on one side (e.g., the rear) of each wing, carrying a single lift fan assembly 308. Figures 3A to 3B As shown, the exemplary VTOL aircraft includes 10 lift fan assemblies and 2 tilt fan assemblies.

[0046] Figure 3A The top view, plan view, side view and front view (clockwise from the top left corner) of the VTOL aircraft 300 are shown, with the tilt fan assemblies 314, 324 in the forward flight position.

[0047] Figure 3B The top view, plan view, side view and front view (clockwise from the top left corner) of the VTOL aircraft 300 are shown, with the tilt fan assemblies 314, 324 in the vertical lift position.

[0048] The control system 350 (e.g., a flight control system) connected to the aircraft 300 can be configured to control the tilt fan assemblies 314, 324 from the forward flight position ( Figure 3A (as shown) to the vertical lift position ( Figure 3B(as shown); and from the vertical lift position (as shown); Figure 3B (as shown) to the forward flight position ( Figure 3A (As shown in the diagram). According to various embodiments, the control system can control the tilting of the tilt fan assemblies 314, 324 between two positions based on sensor data and / or flight data received from sensors (e.g., sensors that measure air temperature, motor temperature, aircraft airspeed, etc.), computers, and other input / output devices coupled to the aircraft.

[0049] In embodiments where the lateral boom 310 is a tilt boom, the control system 350 may be configured to control the tilting of the lateral boom 310 to change the positioning of the tilt fan assemblies 314, 324 from a forward flight position. Figure 3A (As shown) Switch to the vertical lift position ( Figure 3B (as shown); and from the vertical lift position (as shown); Figure 3B (As shown) Switch to forward flight position ( Figure 3A (As shown in the diagram). According to various embodiments, the control system can control the tilting of the lateral boom 310 between two positions based on sensor data and / or flight data received from sensors (e.g., sensors that measure air temperature, motor temperature, aircraft airspeed, etc.), computers, and other input / output devices connected to the aircraft.

[0050] In some embodiments, the lateral boom 310 may be located behind the wing, closer to the tail of the aircraft (or on the tail of the aircraft). In such embodiments, a shorter boom 306 extending only on one side of each wing carrying a single lift fan assembly 308 may extend toward the leading edge of one or more wing(s).

[0051] According to an alternative embodiment, tilt fan assemblies 314, 324 may be connected to the lateral boom 310 via a corresponding tilting mechanism. Therefore, the lateral boom 310 itself may or may not be a tilt boom. In such embodiments, tilt fan assemblies 314, 324 can be controlled to switch positions individually (between a vertical lift position and a forward flight position). In such embodiments, by eliminating a faulty (e.g., damaged or jammed) tilt fan assembly and controlling the remaining tilt fan assemblies from the forward flight position to the vertical lift position, an emergency landing may still be possible. For example, tilt fan assemblies 314, 324 can be controlled individually to switch positions simultaneously. However, according to another example, tilt fan assemblies 314, 324 can be controlled individually to switch positions at different times (e.g., successively, one after another).

[0052] According to various embodiments, any number of lift fan assemblies can be coupled to the VTOL aircraft. For example, the aircraft may include three lift fan assemblies coupled to each wing (e.g., Figure 2A(as shown), or the aircraft may include five lift fan assemblies (such as those shown) attached to each wing. Figure 1A and 3A (As shown in the diagram). Other embodiments may include a lift-free fan assembly (e.g., using a tilt fan assembly in a vertical position to generate lift, so the aircraft may include any number of tilt fan assemblies), two lift fan assemblies, four lift fan assemblies, or six (or more) lift fan assemblies. According to various embodiments, the number of combinations of lift fan assemblies and tilt fan assemblies coupled to the aircraft may be at least 12.

[0053] In various embodiments, a control system, such as a flight control system for an aircraft, can be configured to control the aircraft's actuators (rotors, aerodynamic control surfaces, tilt fan assemblies, lift fan assemblies) to transition the aircraft between a vertical lift (e.g., takeoff / hover / landing) mode and a forward flight mode. For example, the control system can be configured to receive flight commands, such as takeoff commands, hovering commands, landing commands, or forward flight commands. If the flight command is a takeoff or landing command, the control system can control one or more of a plurality of tilt fan assemblies in a forward flight position to a vertical lift position. If the flight command is a forward flight command, the control system can control one or more of a plurality of tilt fan assemblies in a vertical lift position to a forward flight position. The control system can then determine the positions of the plurality of tilt fan assemblies coupled to the aircraft and control one or more of the plurality of tilt fan assemblies between the vertical lift position and the forward flight position based on the flight command. The control system can continuously monitor the positions of the plurality of tilt fan assemblies according to the flight command.

[0054] Figure 4 This is a flowchart illustrating an embodiment of the process of controlling the flight of a VTOL aircraft configured for vertical takeoff and landing through the transition between vertical lift and forward flight.

[0055] In step S400, the aircraft may be in a fixed location on the ground. For example, the aircraft may be parked at a charging station to charge its batteries. Alternatively, the aircraft may be parked at a location awaiting the receipt of cargo or passengers. The flight control system of the VTOL aircraft may receive a flight plan (e.g., from the autopilot, pilot, or remote controller pilot) to reach a predetermined destination. The flight plan may include instructions to take off from the ground.

[0056] In step S402, the flight control system determines whether all tilt fan assemblies of the aircraft are in the vertical lift position. According to various embodiments, it may be desirable to have all fan assemblies in the vertical lift position to generate vertical lift. In some embodiments, the aircraft may be configured to maintain all tilt fan assemblies in the vertical lift position when the aircraft is not in use (e.g., parked on the ground or charging).

[0057] If it is determined in step S402 that not all fan assemblies are in the vertical lift position, the flight control system may control one or more of the tilt fan assemblies that are in the forward flight position to switch to the vertical lift position (step S404). For example, one or more of the tilt fan assemblies may have already switched to the forward flight position while the aircraft is on the ground for testing or maintenance purposes.

[0058] In step S406, the flight control system may initiate a takeoff sequence to lift the aircraft off the ground. During the takeoff sequence, both the lift fan mechanism and the tilt fan mechanism in the vertical lift position may be activated.

[0059] In step S408, after a certain amount of time has elapsed since step S406, the flight control system may receive a command to transition to forward flight. Before switching to forward flight mode, the control system may check one or more of the aircraft's altitude, speed, and orientation to ensure that the parameters are within a predetermined desired range. In some embodiments, the control system may transmit the parameters to a remote entity (e.g., a remote control tower, a remote guide).

[0060] In various embodiments, the transition to forward flight can be achieved by reaching a desired altitude (e.g., a design minimum or greater than a threshold) and rotating the tilt fan assembly substantially continuously to the forward flight position, while as the tilt fan assembly rotates to the forward flight position and begins to generate sufficient lift to maintain altitude, adjusting the rotor power as needed to maintain stability and altitude while increasing forward airspeed.

[0061] Upon receiving a command to transition to forward flight, in step S410, the control system may control one or more of the tilt fan assemblies to switch from a vertical lift position to a forward flight position. In some embodiments, the tilt fan assemblies may be controlled substantially simultaneously.

[0062] In step S412, the control system may receive instructions (e.g., from the autopilot, pilot, or remote entity) to hover or land. In response, in step S414, the flight control system may control one or more of the tilt fan assemblies to switch from a forward flight position to a vertical lift position. In step S416, the flight control system may initiate a hovering or landing sequence to hover or land the aircraft on the ground.

[0063] The various embodiments discussed in this article are Figures 1A to 3B An aircraft with a specific tail fin is shown in the figures. However, the embodiments are not limited to the specific tail fin or aircraft configuration shown in the figures. Those skilled in the art will recognize that the embodiments can be combined with aircraft with alternative tail fins or alternative designs, including but not limited to aircraft with conventional tail fins, aircraft with multiple tail fins, or aircraft without tail fins.

[0064] For simplicity, various active and passive circuit components are not shown in the figures. In the foregoing description, embodiments of this disclosure have been described with reference to numerous specific details, which may vary between implementations. Therefore, the description and drawings are to be considered illustrative rather than restrictive. The unique and exclusive indication of the scope of this disclosure, and what the applicant intends to define as the scope of this disclosure, is the literal and equivalent scope of a set of claims set forth in this application, in the specific form of such claims, including any subsequent amendments. Specific details of particular embodiments may be combined in any suitable manner without departing from the spirit and scope of the embodiments of this disclosure.

[0065] The electronic components of the described embodiments may be specifically constructed for a desired purpose, or may include one or more general-purpose computers selectively activated or reconfigured by a computer program stored in a computer. This computer program may be stored in a computer-readable storage medium, such as, but not limited to, any type of disk, including floppy disks, optical disks, DVDs, CD-ROMs, magneto-optical disks, read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic or optical cards, application-specific integrated circuits (ASICs), or any type of medium suitable for storing electronic instructions, and each may be coupled to a computer system bus.

[0066] Additionally, spatially relative terms such as “front” or “rear” may be used to describe the relationship of an element and / or feature to another element(s) and / or another element(s) and / or another element(s), as illustrated in the figures. It will be understood that spatially relative terms are intended to cover different orientations of the device in use and / or operation other than those depicted in the figures. For example, if the device in the figures is flipped, an element described as the “front” surface may be oriented “rear” relative to other elements or features. The device may be oriented in other ways (e.g., rotated 90 degrees or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

Claims

1. An aircraft configured for vertical takeoff and landing, the aircraft comprising: body; A pair of wings, the pair of wings being attached to opposite sides of the fuselage; Multiple lift fan assemblies are coupled to the pair of wings, wherein the multiple lift fan assemblies are configured to generate vertical lift; A pair of tilt fan assemblies configured to move between a vertical lift position and a forward flight position, wherein the plurality of tilt fan assemblies are configured to generate vertical lift when in the vertical lift position; Multiple support structures, wherein the multiple support structures are connected to each of the pair of wings, wherein: Each of the multiple lift fan assemblies in one group is non-tiltingly mounted to the first end of each support structure. Each of a pair of lift fan assemblies is non-tiltingly mounted to the second end of a support structure of the plurality of support structures on each side of the fuselage. Each of the pair of tilting fan assemblies is connected to the second end of one of the pair of support structures via a tilting mechanism. The set of lift fan assemblies is disposed at the trailing edge of the pair of wings, the pair of tilt fan assemblies is disposed at the leading edge of the pair of wings, and the pair of lift fan assemblies on each side of the fuselage are disposed at the leading edge of the pair of wings; as well as A control system configured to activate and deactivate the plurality of lift fan assemblies, and to control the pair of tilt fan assemblies between the vertical lift position and the forward flight position.

2. The aircraft according to claim 1, further comprising: One or more battery cells, the one or more battery cells comprising a plurality of individual battery cells configured to power the pair of tilt fan assemblies and the plurality of lift fan assemblies.

3. The aircraft according to claim 1, further comprising: A horizontal tail fin in the form of a V-shaped tail fin is attached to the rear end of the fuselage.

4. The aircraft according to claim 1, wherein, The single-wing structure above the pair of wings is connected to the fuselage.

5. The aircraft according to claim 1, wherein, The plurality of lift fan assemblies are mounted in fixed positions relative to the pair of wings to enable the aircraft to move in the vertical direction.

6. The aircraft according to claim 1, wherein, One or more of the plurality of lift fan assemblies can be configured to cease operation during the forward flight of the aircraft.

7. The aircraft of claim 1, wherein each of the plurality of lift fan assemblies comprises an electric motor-driven rotor.

8. The aircraft of claim 1, wherein five lift fan assemblies are coupled to each of the pair of wings, and wherein the number of combinations of lift fan assemblies and tilt fan assemblies is at least 12.

9. The aircraft according to claim 1, wherein the control system can be configured as follows: Receive flight instructions; Determine the position of the pair of tilting fan assemblies; Based on the flight command, the pair of tilt fan assemblies are controlled between the vertical lift position and the forward flight position; and The position of the pair of tilt fan assemblies is continuously monitored according to the flight command.

10. The aircraft according to claim 1, wherein the control system can be configured as follows: The position of the pair of tilt fan assemblies is controlled based on flight data received from sensors connected to the aircraft.

11. The aircraft according to claim 1, wherein the control system can be configured as follows: The position of the pair of tilt fan assemblies is automatically controlled based on flight plans from a remote entity.

12. A method for controlling an aircraft, the method comprising: Flight commands are generated by the control system connected to the aircraft according to claim 1; The control system controls one or more of a plurality of lift fan assemblies between an active state and an inactive state based on the flight command. The control system controls one or more of the pair of tilt fan assemblies between the vertical lift position and the forward flight position based on the flight command; and The control system continuously monitors the position of the pair of tilt fan assemblies according to the flight command.

13. The method of claim 12, further comprising: The control system independently controls the first and second tilt fan assemblies of the pair of tilt fan assemblies.

14. The method of claim 12, further comprising: The control system simultaneously controls the pair of tilting fan assemblies.

15. The method of claim 12, further comprising: The position of the pair of tilt fan assemblies is automatically controlled by the control system based on flight plans from a remote entity.

16. The method according to claim 12, wherein, The flight command is a takeoff command, and wherein controlling one or more of the pair of tilt fan assemblies includes: Determine whether each of the pair of tilt fan assemblies is in the vertical lift position; and One or more of the pair of tilt fan assemblies are controlled to the vertical lift position.

17. The method of claim 12, wherein the flight command is a hovering command or a landing command, and wherein controlling the pair of tilt fan assemblies comprises: The pair of tilting fan assemblies are controlled to the vertical lift position.

18. The method according to claim 12, wherein, The flight command is a command to switch to forward flight, and wherein controlling the pair of tilt fan assemblies includes: The pair of tilt fan assemblies are controlled to the forward flight position.

19. The method of claim 18, further comprising: Control one or more of the plurality of lift fan assemblies to stop operating during the forward flight of the aircraft.

20. The method of claim 12, further comprising: The control system receives flight data from one or more sensors connected to the aircraft. as well as The position of the pair of tilt fan assemblies is controlled based on flight data received from the one or more sensors connected to the aircraft.

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