Systems and methods for vertical take-off and landing using magnetic levitation

Abstract

To provide systems and methods for vertical takeoff and landing using magnetic levitation.SOLUTION: Systems and methods relate to a vertical takeoff and landing (VTOL) platform that can include a stator and a rotor magnetically levitated by the stator. The rotor and stator can be annular, such that the rotor rotates about a rotational axis. The stator can include magnets that provide guidance, levitation, and drive forces to drive the rotor, as well as to control operation of rotor blades of the rotor that can be independently rotated to specific pitch angles to control at least one of lift, pitch, roll, or yaw of the VTOL platform. Various controllers can be used to enable independent and redundant control of components of the VTOL platform.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This disclosure claims the benefit of and priority to U.S. Provisional Application No. 62 / 659,013, entitled "SYSTEMS AND METHODS FOR VERTICAL TAKEOFF AND LANDING WITH MAGNETIC PROPULSION," filed April 17, 2018, and U.S. Provisional Application No. 62 / 775,253, entitled "MAGNETIC LEVITATION FOR VERTICAL TAKEOFF AND LANDING," filed December 4, 2018, the disclosures of which are incorporated herein by reference in their entireties.

[0002] FIELD OF THE DISCLOSURE This disclosure relates generally to vertical take-off and landing. More specifically, this disclosure relates to magnetic levitation for vertical take-off and landing. [Background technology]

[0003] Various aerial platforms can implement vertical take-off and landing (VTOL), where the platform can hover, take off, and land vertically. VTOL platforms can include fixed-wing platforms and rotary-wing platforms. VTOL platforms can include unmanned aerial vehicles. VTOL platforms can have distributed electric propulsion and can have a tilting rotor and / or tilting wing configuration.

[0004] Typically, VTOL platforms rely on combustion-based power generation to generate lift and other motive power. In addition, VTOL platforms may have a relatively large form factor. Thus, existing VTOL platforms may have technical limitations that make it difficult to use such platforms in urban environments and personal use modes. Summary of the Invention [Means for solving the problem]

[0005] At least one aspect of the disclosure relates to a VTOL platform. The VTOL platform includes a rotor, a stator, a flight controller, and a motor controller. The rotor includes a plurality of rotor vanes oriented about a rotor axis and spaced radially from the stator. Each rotor vane is coupled to a rotor arm such that rotation of the rotor arm rotates the rotor vane about a rotor pitch axis. The rotor arm is coupled to a first rotor magnet spaced from a second rotor magnet. The stator includes a plurality of electromagnets. The flight controller is configured to receive a movement command, extract a desired movement from the movement command, and generate one or more flight commands configured to generate at least one of a thrust, a moment of force about a yaw axis, a moment of force about a platform pitch axis, or a moment of force about a roll axis on the rotor. The motor controller is configured to receive one or more flight control commands and drive an electrical signal through the electromagnets based on the one or more flight control commands. The plurality of electromagnets are configured to output electromagnetic fields corresponding to the electrical signals to drive rotor magnets of the rotor, rotating the rotor about the rotor axis and rotating the rotor blades about the blade neutral pitch axis, and generating at least one of thrust, a moment of force about a yaw axis, a moment of force about a platform pitch axis, or a moment of force about a platform roll axis in the rotor.

[0006] At least one aspect of the disclosure relates to a rotor for operation with a stator. The rotor includes an annular rotor base defining a rotation axis and including a plurality of rotor sections arranged around the stator. Each rotor section includes a sidewall spaced from the rotation axis, a first rotor wall extending from a first end of the sidewall toward the rotation axis, and a second rotor wall extending from a second end of the sidewall toward the rotation axis, the second rotor wall being spaced from the first rotor wall, and the rotor defining a rotor axis through the first rotor wall and the second rotor wall parallel to the rotation axis. Each rotor section includes at least one first rotor magnet coupled to the first rotor wall, the at least one first rotor magnet configured to maintain a first space between the first rotor wall and the first stator magnet along the rotor axis. Each rotor section includes at least one second rotor magnet coupled to the second rotor wall and configured to maintain a second space between the second rotor wall and the second stator magnet along the rotor axis. Each rotor section includes at least one third rotor magnet coupled to the side wall and spaced apart from the one or more propulsion magnets of the stator. The rotor is configured to be driven by the propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet.

[0007] At least one aspect relates to a stator for operation with a rotor. The stator includes an annular stator base with a plurality of stator sections, the stator base defining a central axis. Each stator section includes a sidewall, a support structure extending from the sidewall, at least one first stator magnet coupled to a first surface of the support structure, at least one second stator magnet coupled to a second surface of the support structure opposite the first surface, and at least one propulsion magnet. The at least one first stator magnet and the at least one second stator magnet define a stator axis parallel to the central axis, the at least one first stator magnet configured to maintain a first space between the first rotor magnet of the rotor and the at least one first stator magnet along the stator axis, and the at least one second stator magnet configured to maintain a second space between the second rotor magnet of the rotor and the at least one second stator magnet along the stator axis. The at least one propulsion magnet is coupled to the support structure and spaced apart from the one or more third rotor magnets of the rotor, and the at least one propulsion magnet is configured to output a magnetic field in response to a control signal to drive the rotor about the central axis.

[0008] At least one aspect relates to a rotor control system. The rotor control system includes a rotor and a stator. The rotor includes a first rotor magnetic component aligned with one or more first stator coils, a second rotor magnetic component aligned with one or more second stator coils and adjacent to the first rotor magnetic component, an arm connecting the first rotor magnetic component and the second rotor magnetic component, and a first rotor blade fixed to the arm. A first arm end of the arm is coupled to the first rotor magnetic component and a second arm end of the arm is coupled to the second rotor magnetic component to define an arm angle that varies based on a first magnetic force applied to the first rotor magnetic component relative to a second magnetic force applied to the second rotor magnetic component. The first rotor blade extends from the arm along a blade pitch axis, the first rotor blade defining a blade pitch angle relative to the blade pitch axis, the blade pitch angle corresponding to the arm angle. The stator includes a plurality of electromagnets configured to output at least a first magnetic field that drives the first rotor magnetic component and a second magnetic field that drives the second rotor magnetic component in response to at least one control signal, the at least one control signal causing the first magnetic field to apply a first magnetic force on the first rotor magnetic component and the second magnetic field to apply a second magnetic force on the second magnetic component to control the blade pitch angle.

[0009] At least one aspect relates to a rotor control system. The rotor control system includes a rotor and a stator. The rotor includes an annular rotor base that defines a rotation axis and includes a plurality of rotor sections arranged around the stator. Each rotor section includes a first rotor blade configured to rotate about a blade pitch axis perpendicular to the rotation axis, a power receiving circuit, a motor that rotates using power received via the power receiving circuit to rotate the first rotor blade about the blade pitch axis, a motor controller that provides a motor signal to the motor in response to a control signal to rotate the first rotor blade about the blade pitch axis, and a first wireless transceiver that receives the control signal and provides the control signal to the motor controller. The stator includes a second wireless transceiver that receives the control command and wirelessly transmits the control signal to the first wireless transceiver based on the control command, and a power transmitting circuit that outputs a magnetic field that interacts with the power receiving circuit and provides power to the power receiving circuit.

[0010] At least one aspect relates to a system including a rotor and a stator, the rotor including a sidewall, a first rotor wall extending from a first end of the sidewall, a second rotor wall extending from a second end of the sidewall and spaced apart from the first rotor wall, at least one first rotor magnet coupled to the first rotor wall, and at least one second rotor magnet coupled to the second rotor wall. The stator includes a support structure extending between the first rotor wall and the second rotor wall, at least one first stator magnet coupled to a first surface of the support structure and proximate to the at least one first rotor magnet, the at least one first rotor magnet inducing a current in the at least one first stator magnet corresponding to a first distance between the at least one first stator magnet and the at least one first rotor magnet, and at least one second stator magnet coupled to a second surface of the support structure opposite the first surface and proximate to the at least one first rotor magnet. and at least one second stator magnet in proximity to the rotor magnet, the at least one second stator magnet electrically coupled to the at least one first stator magnet and receiving current from the first stator magnet, the at least one second stator magnet outputting a magnetic field having a magnetic field strength based on the current from the first stator magnet, the magnetic field interacting with the at least one second rotor magnet and controlling a second distance between the at least one second stator magnet and the at least one second rotor magnet.

[0011] At least one aspect relates to a system. The system includes a rotor and a stator. The rotor includes a sidewall, a rotor wall extending from an end of the sidewall, and at least one rotor magnet coupled to the rotor wall. The stator includes a support structure adjacent to the rotor wall, a first stator magnet coupled to a surface of the support structure proximate to the at least one rotor magnet, the at least one rotor magnet inducing a current in the first stator magnet corresponding to a first magnetic force of a first magnetic field between the first stator magnet and the at least one rotor magnet, and a second stator magnet coupled to the surface of the support structure, the second stator magnet electrically coupled to the first stator magnet, the second stator magnet receiving a current from the first stator magnet and controlling a second magnetic force of a second magnetic field between the second stator magnet and the at least one rotor magnet.

[0012] At least one aspect relates to a system. The system includes a rotor and a stator. The rotor includes a rotor sidewall defining a rotation axis, at least one rotor vane coupled to the sidewall along and transverse to a first surface of the sidewall, and a rotor magnet coupled to the sidewall along a second surface of the rotor sidewall opposite the first surface. The stator includes a plurality of stator magnets arranged circumferentially along a surface of the stator sidewall facing the second surface of the rotor sidewall, and a controller wirelessly coupled to the plurality of stator magnets to control the plurality of stator magnets to selectively generate individual magnetic fields that interact with the rotor magnets of the rotor to rotate the rotor and the rotor vanes about the rotation axis and generate lift along the rotation axis.

[0013] At least one aspect relates to a system, the system including a rotor and a stator, the rotor including a rotor sidewall defining a rotation axis, at least one rotor vane coupled to the sidewall along and transverse to a first surface of the sidewall, and a rotor magnet coupled to the sidewall along a second surface of the rotor sidewall opposite the first surface, the stator including a plurality of stator magnets arranged circumferentially along a surface of the stator sidewall facing the second surface of the rotor sidewall, and a controller electrically coupled to the plurality of stator magnets, the controller controlling the plurality of stator magnets at a switching ratio to selectively generate individual magnetic fields, the magnetic fields interacting with the rotor magnets of the rotor to rotate the rotor and the rotor vanes at a rotational speed corresponding to the switching ratio and generate lift at a lift speed.

[0014] At least one aspect relates to a system including a rotor and a stator configured to rotate about a rotation axis, the rotor including a rotor sidewall, at least one rotor blade rotatably coupled to the sidewall along a first surface of the sidewall, the at least one rotor blade rotating about a blade axis extending across the sidewall, and first and second rotor magnets coupled to the sidewall along a second surface of the rotor sidewall opposite the first surface. The stator includes a plurality of first stator magnets arranged circumferentially along the stator sidewall facing the rotor sidewall, where at least one of the plurality of first stator magnets is in close proximity to the first rotor magnet; a plurality of second stator magnets spaced from the respective first stator magnets and arranged circumferentially along the stator sidewall, where at least one of the plurality of second stator magnets is in close proximity to the second rotor magnet; and a magnet controller electrically coupled to the plurality of first stator magnets and the plurality of second stator magnets, for controlling the plurality of first stator magnets at a first switching rate and for controlling the plurality of second stator magnets at a second switching rate to generate rotation of the rotor blades about the blade axis.

[0015] At least one aspect relates to a system including a rotor and a stator. The stator includes a plurality of stator magnets arranged circumferentially along a surface of the stator. The rotor is configured to rotate about a rotation axis and has an annular rotor base surrounding the stator. The rotor includes a plurality of rotor segments. Each rotor section includes a sidewall spaced from the axis of rotation having a first surface and a second surface opposite the first surface, at least one rotor magnet coupled to the sidewall along the first surface, wherein the rotor is configured to be driven by the multiple stator magnets via individual magnetic fields of the multiple stator magnets interacting with the at least one rotor magnet, and at least one rotor blade having a first blade tip coupled to the second surface of the sidewall and a second blade tip, wherein the first end and the second end define a rotor blade length, and the second end and the axis of rotation define a radius of gyration, a ratio of the rotor blade length to tip radius of gyration is less than or equal to 0.75.

[0016] At least one aspect relates to a system including a rotor and a stator configured to rotate about a rotation axis. The rotor includes a rotor sidewall, a first rotor vane rotatably coupled to the sidewall along a first surface of the sidewall, the first rotor vane rotating about a first vane axis extending across the sidewall, a second rotor vane rotatably coupled to the sidewall along the first surface of the sidewall, the second rotor vane rotating about a second vane axis extending across the sidewall, a set of rotor magnets including a first rotor magnet and a second rotor magnet coupled to the sidewall along a second surface of the rotor sidewall opposite the first surface in proximity to the first rotor vane, and a second set of rotor magnets including a third rotor magnet and a fourth rotor magnet coupled to the sidewall along the second surface of the rotor sidewall in proximity to the second rotor vane. The stator includes a plurality of first stator magnets arranged circumferentially along the stator sidewall facing the rotor sidewall, where at least one of the plurality of first stator magnets is adjacent to the first rotor magnet and at least one of the plurality of first stator magnets is adjacent to a third rotor magnet, and a plurality of second stator magnets spaced apart from the respective first stator magnets and arranged circumferentially along the stator sidewall, where at least one of the plurality of second stator magnets is adjacent to the second rotor magnet and at least one of the plurality of second stator magnets is adjacent to a fourth rotor magnet, and and at least one controller electrically coupled to the plurality of second stator magnets, the at least one controller being configured to receive a movement command, extract a desired movement from the movement command, generate a plurality of control signals based on the desired movement, provide the plurality of control signals to the plurality of first stator magnets and the plurality of second stator magnets, drive the rotor magnets of the rotor to rotate the rotor about a rotation axis, rotate the first rotor vanes about a first vane axis, and rotate the second rotor vanes about a second vane axis, output magnetic fields corresponding to the plurality of first stator magnets and the plurality of second stator magnets to generate the desired movement.

[0017] At least one aspect relates to a rotor for operation with a stator, the rotor including an annular rotor base including a plurality of first rotor sections arranged around the stator defining a rotation axis and configured to be driven in a first direction about the rotation axis, and a plurality of second rotor sections arranged around the stator adjacent the plurality of first rotor sections and configured to be driven in a second direction about the rotation axis opposite the first direction, each rotor section including a sidewall spaced apart from the rotation axis, a first rotor wall extending from a first end of the sidewall toward the rotation axis, and a second rotor wall extending from a second end of the sidewall toward the rotation axis, the second rotor wall being spaced apart from the first rotor wall, the rotor defining a rotor axis through the first and second rotor walls parallel to the rotation axis. the at least one first rotor magnet coupled to the rotor wall, the at least one first rotor magnet configured to maintain a first space between the first rotor wall and the first stator magnet along the rotor axis; at least one second rotor magnet coupled to the second rotor wall, the at least one second rotor magnet configured to maintain a second space between the second rotor wall and the second stator magnet along the rotor axis; and at least one third rotor magnet coupled to the side wall and spaced from the one or more propulsion magnets of the stator, the rotor configured to be driven by the propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet. In some embodiments, the at least one rotor vane is a first rotor vane, the rotor magnet is a first rotor magnet corresponding to the first rotor vane, the first rotor vane is configured to rotate about the rotation axis in a first direction, and the rotor includes a second rotor vane spaced from the first rotor vane, the second rotor vane coupled to and traversing the sidewall along a first surface of the sidewall, and a second rotor magnet corresponding to the second rotor vane, the second rotor magnet being driven and driving the second rotor vane in a second direction about the rotation axis opposite to the first direction.

[0018] Those skilled in the art will appreciate that the summary is illustrative only and is not intended to be limiting in any way. Other aspects, inventive features, and advantages of the devices and / or processes described herein, as defined solely by the claims, will become apparent in the detailed description set forth herein and taken in conjunction with the accompanying drawings. The present invention provides, for example, the following: (Item 1) A rotor for operation with a stator, said rotor comprising: an annular rotor base defining an axis of rotation, the annular rotor base comprising a plurality of rotor sections arranged around the stator; Equipped with Each rotor section is a sidewall spaced from the axis of rotation, a first rotor wall extending from a first end of the sidewall toward the axis of rotation, and a second rotor wall extending from a second end of the sidewall toward the axis of rotation, the second rotor wall being spaced from the first rotor wall, the rotor defining a rotor axis through the first and second rotor walls parallel to the axis of rotation; at least one first rotor magnet coupled to the first rotor wall, the at least one first rotor magnet configured to maintain a first space between the first rotor wall and a first stator magnet along the rotor axis; at least one second rotor magnet coupled to the second rotor wall, the at least one second rotor magnet configured to maintain a second space between the second rotor wall and a second stator magnet along the rotor axis; and at least one third rotor magnet coupled to the sidewall, the at least one third rotor magnet spaced apart from one or more propulsion magnets of the stator, the rotor configured to be driven by the propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet; Including, a rotor. (Item 2) 2. The rotor of claim 1, further comprising at least one rotor vane rotatably coupled to the sidewall opposite the at least one third rotor magnet, the at least one rotor vane rotating about a vane axis extending across the sidewall. (Item 3) 3. The rotor of claim 2, wherein the at least one third rotor magnet comprises a pair of third rotor magnets that interact with the one or more propulsion magnets via individual magnetic fields to generate rotation of the rotor blades about the blade axis. (Item 4) 2. The rotor of claim 1, wherein the rotor sections are continuous. (Item 5) Item 1. The rotor of item 1, further comprising at least one caster wheel coupled to the rotor, extending between the rotor and the stator, and separating the rotor from the stator. (Item 6) 2. The rotor of claim 1, wherein the at least one first rotor magnet is aligned with the at least one second rotor magnet along a magnet axis extending parallel to the rotor axis and the rotation axis. (Item 7) 7. The rotor of claim 6, wherein the magnet axis and rotor axis are aligned. (Item 8) 2. The rotor of claim 1, wherein the at least one first rotor magnet and the at least one second rotor magnet are permanent magnets. (Item 9) 2. The rotor of claim 1, wherein the plurality of rotor sections comprises a plurality of first rotor sections arranged around the stator, and the annular rotor base comprises a plurality of second rotor sections arranged around the stator adjacent to the plurality of first rotor sections. (Item 10) 10. The rotor of claim 9, wherein the plurality of first rotor sections are configured to rotate in a first direction about the axis of rotation and the plurality of second rotor sections are configured to rotate in a second direction about the axis of rotation opposite the first direction. (Item 11) Item 12. The rotor of item 1, wherein the rotor generates lift when driven by the one or more propulsion magnets, while at least one first rotor magnet maintains the first space and the at least one second rotor magnet maintains the second space. 1. A stator for operation with a rotor, said stator comprising: An annular stator base comprising a plurality of stator sections, the stator base defining a central axis. Equipped with Each stator section is A side wall; a support structure extending from the sidewall; at least one first stator magnet coupled to a first surface of the support structure; at least one second stator magnet coupled to a second surface of the support structure opposite the first surface, the at least one first stator magnet and the at least one second stator magnet defining a stator axis parallel to the central axis, the at least one first stator magnet configured to maintain a first space between the rotor first rotor magnet and the at least one first stator magnet along the stator axis, and the at least one second stator magnet configured to maintain a second space between the rotor second rotor magnet and the at least one second stator magnet along the stator axis; at least one propulsion magnet coupled to the support structure, the at least one propulsion magnet spaced apart from one or more third rotor magnets of the rotor, the at least one propulsion magnet configured to output a magnetic field in response to a control signal to drive the rotor about the central axis; Including, a stator. (Item 13) Item 13. The stator of item 12, wherein the at least one first stator magnet and the at least one second stator magnet include an electromagnetic coil. (Item 14) Item 13. The stator of item 12, wherein the at least one first stator magnet includes a pair of stator magnets along the first surface that are electrically coupled to each other. (Item 15) Item 13. The stator of item 12, wherein the stator base defines a power supply chamber, the stator includes a power supply source within the power supply chamber, and the at least one propulsion magnet receives power from the power supply source. (Item 16) Item 13. The stator of item 12, wherein the at least one propulsion magnet includes a plurality of propulsion magnets, each propulsion magnet independently receiving a respective current corresponding to a respective control signal causing each propulsion magnet to output a respective magnetic field. (Item 17) Item 13. The stator of item 12, wherein the at least one propulsion magnet includes at least one of an electromagnetic coil including laminated iron or air core, and at least one of aluminum or copper conductors. (Item 18) Item 13. The stator of item 12, wherein the magnetic field is a first magnetic field, and the at least one first stator magnet is configured to maintain the first space by generating a second magnetic field in response to movement of the first rotor magnet interacting with the first rotor magnet. (Item 19) Item 13. The stator of item 12, wherein the at least one propulsion magnet includes a plurality of propulsion magnets arranged circumferentially along the support structure. (Item 20) Item 13. The stator of item 12, wherein the plurality of stator sections are contiguous. (Item 21) Item 13. The stator of item 12, wherein the at least one first stator magnet is electrically coupled to the at least one second stator magnet. (Item 22) 1. A rotor control system, comprising: A rotor, the rotor comprising: a first rotor magnetic component aligned with the one or more first stator coils; a second rotor magnetic component aligned with one or more second stator coils and adjacent to the first rotor magnetic component; an arm connecting the first rotor magnetic component and the second rotor magnetic component, a first arm end of the arm being coupled to the first rotor magnetic component and a second arm end of the arm being coupled to the second rotor magnetic component, the arm defining an arm angle that varies based on a first magnetic force applied to the first rotor magnetic component relative to a second magnetic force applied to the second rotor magnetic component; a first rotor blade secured to the arm, the first rotor blade extending from the arm along a blade pitch axis, the first rotor blade defining a blade pitch angle relative to the blade pitch axis, the blade pitch angle corresponding to the arm angle; A rotor comprising: A stator, the stator comprising: a plurality of electromagnets configured to output at least a first magnetic field that drives the first rotor magnetic component and a second magnetic field that drives the second rotor magnetic component in response to at least one control signal, the at least one control signal causing the first magnetic field to apply the first magnetic force on the first rotor magnetic component and the second magnetic field to apply the second magnetic force on the second magnetic component to control the blade pitch angle; A stator comprising: A rotor control system comprising: (Item 23) 1. A rotor control system, comprising: 1. A rotor comprising an annular rotor base, the annular rotor base defining an axis of rotation and comprising a plurality of rotor sections arranged around the stator, each rotor section comprising: a first rotor blade configured to rotate about a blade pitch axis perpendicular to the rotation axis; A receiving circuit; a motor that rotates using the power received via the power receiving circuit to rotate the first rotor blade about the blade pitch axis; a motor controller responsive to a control signal to provide a motor signal to the motor to rotate the first rotor blade about the blade pitch axis; a first wireless transceiver for receiving the control signal and providing the control signal to the motor controller; a rotor including: A stator for rotating the rotor about the rotation axis, the stator comprising: a second wireless transceiver that receives a control command and wirelessly transmits the control signal to the first wireless transceiver based on the control command; a transmitting circuit that outputs a magnetic field that interacts with the receiving circuit to provide power to the receiving circuit; A stator comprising: A rotor control system comprising: (Item 24) 1. A system comprising: A rotor, the rotor comprising: a sidewall, a first rotor wall extending from a first end of the sidewall, and a second rotor wall extending from a second end of the sidewall, the second rotor wall being spaced apart from the first rotor wall; at least one first rotor magnet coupled to the first rotor wall; at least one second rotor magnet coupled to the second rotor wall; A rotor comprising: A stator, the stator comprising: a support structure extending between the first rotor wall and the second rotor wall; at least one first stator magnet coupled to a first surface of the support structure and proximate to the at least one first rotor magnet, the at least one first rotor magnet inducing a current in the at least one first stator magnet corresponding to a first distance between the at least one first stator magnet and the at least one first rotor magnet; at least one second stator magnet coupled to a second surface of the support structure opposite the first surface and proximate to the at least one second rotor magnet, the at least one second stator magnet being electrically coupled to the at least one first stator magnet and receiving the current from the first stator magnet, the at least one second stator magnet outputting a magnetic field having a field strength based on the current from the first stator magnet, the magnetic field interacting with the at least one second rotor magnet and controlling a second distance between the at least one second stator magnet and the at least one second rotor magnet; A stator comprising: A system comprising: (Item 25) 25. The system of claim 24, wherein the induced current increases as the first distance decreases, and as the induced current increases, a magnetic field strength of the magnetic field of the at least one second stator magnet increases, attracting the at least one second rotor magnet, thereby decreasing the second distance. (Item 26) 25. The system of claim 24, wherein the at least one first rotor magnet and the at least one second rotor magnet are arranged along a rotor axis extending parallel to a rotational axis of the rotor. (Item 27) 27. The system of claim 26, wherein the at least one first stator magnet and the at least one second stator magnet are arranged along a stator axis, and the rotor axis and stator axis are aligned. (Item 28) 25. The system of claim 24, wherein the rotor further comprises at least one third rotor magnet coupled to the sidewall, and the stator further comprises one or more propulsion magnets of the stator, and the rotor is configured to be driven by the propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet. (Item 29) 25. The system of claim 24, wherein the at least one first stator magnet comprises a first pair of electrically coupled stator magnets and the at least one second stator magnet comprises a second pair of electrically coupled stator magnets. (Item 30) 25. The system of claim 24, wherein the at least one first stator magnet includes at least one electromagnetic coil and the at least one second stator magnet includes at least one second electromagnetic coil. (Item 31) Item 25. The system of item 24, wherein the rotor comprises a plurality of rotor sections, each rotor section including a respective sidewall, a first rotor magnet, and a second rotor magnet. (Item 32) 25. The system of claim 24, wherein the magnetic field is a first magnetic field, and the at least one first stator magnet outputs a second magnetic field corresponding to the induced current that repels the first rotor magnet as the first distance decreases. (Item 33) 25. The system of claim 24, wherein the magnetic field is a first magnetic field, and the at least one first stator magnet outputs a second magnetic field corresponding to the induced current that attracts the first rotor magnet as the first distance increases. (Item 34) 1. A system comprising: A rotor, the rotor comprising: a side wall and a rotor wall extending from an end of the side wall; at least one rotor magnet coupled to the rotor wall; A rotor comprising: A stator, the stator comprising: a support structure adjacent the rotor wall; a first stator magnet coupled to a surface of the support structure proximate to the at least one rotor magnet, the at least one rotor magnet inducing a current in the first stator magnet corresponding to a first magnetic force of a first magnetic field between the first stator magnet and the at least one rotor magnet; a second stator magnet coupled to a surface of the support structure, the second stator magnet being electrically coupled to the first stator magnet, the second stator magnet receiving the current from the first stator magnet and controlling a second magnetic force of a second magnetic field between the second stator magnet and the at least one rotor magnet; A stator comprising: A system comprising: (Item 35) Item 35. The system of item 34, wherein the induced current increases as a first distance between the at least one rotor magnet and the first stator magnet decreases, and as the induced current increases, a second magnetic force of a second magnetic field of the second stator magnet increases, attracting the at least one rotor magnet, thereby decreasing a second distance between the second stator magnet and the at least one rotor magnet. (Item 36) Item 35. The system of item 34, wherein the at least one rotor magnet comprises at least one first rotor magnet and at least one second rotor magnet arranged along a rotor axis extending parallel to a rotational axis of the rotor. (Item 37) Item 37. The system of item 36, wherein the at least one first stator magnet and the at least one second stator magnet are arranged along a stator axis, and the rotor axis and stator axis are aligned. (Item 38) Item 35. The system of item 34, wherein the rotor further comprises at least one third rotor magnet coupled to the sidewall, and the stator further comprises one or more propulsion magnets of the stator, and the rotor is configured to be driven by the propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet. (Item 39) Item 39. The system of item 38, wherein the rotor is configured to be driven at a rotational speed via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet. (Item 40) Item 35. The system of item 34, wherein the at least one first stator magnet includes at least one electromagnetic coil and the at least one second stator magnet includes at least one second electromagnetic coil. (Item 41) Item 35. The system of item 34, wherein the rotor comprises a plurality of rotor sections, each rotor section including a respective side wall. (Item 42) Item 35. The system of item 34, wherein the magnetic field is a first magnetic field, and the at least one first stator magnet outputs a second magnetic field corresponding to the induced current that repels the first rotor magnet as the first distance decreases. (Item 43) Item 35. The system of item 34, wherein the magnetic field is a first magnetic field, and the at least one first stator magnet outputs a second magnetic field corresponding to the induced current that attracts the first rotor magnet as the first distance increases. (Item 44) 1. A system comprising: A rotor, the rotor comprising: a rotor sidewall defining an axis of rotation; at least one rotor vane coupled to and traversing the sidewall along a first surface of the sidewall; a rotor magnet coupled to the rotor sidewall along a second surface of the sidewall opposite the first surface; A rotor comprising: a stator including a plurality of stator magnets arranged circumferentially along a surface of the stator sidewall facing the second surface of the rotor sidewall; a controller wirelessly coupled to the plurality of stator magnets, the controller controlling the plurality of stator magnets to selectively generate individual magnetic fields that interact with the rotor magnets of the rotor to rotate the rotor and the rotor blades about the axis of rotation and generate lift along the axis of rotation; and A system comprising: (Item 45) 2. The system of claim 1, wherein the stator includes a plurality of second stator magnets that interact with a plurality of second rotor magnets of the rotor to maintain a space between the rotor and the stator, and the controller controls operation of the plurality of second stator magnets to generate a plurality of second magnetic fields that rotate the rotor about the axis of rotation. (Item 46) 2. The system of claim 1, wherein the controller controls the plurality of stator magnets at a switching ratio to selectively generate the individual magnetic fields to interact with rotor magnets of the rotor, rotating the rotor and rotor blades at a rotational speed corresponding to the switching ratio, and generating lift at a lift speed. (Item 47) 2. The system of claim 1, wherein the at least one rotor vane is rotatably coupled to the sidewall for rotation about a rotor axis, the rotor magnet being a first rotor magnet, and the rotor further comprising a second rotor magnet coupled to the sidewall along a second surface of the rotor sidewall. (Item 48) Item 48. The system of item 47, wherein the plurality of stator magnets comprises: a plurality of first stator magnets arranged circumferentially along a surface of the stator sidewall, where at least one of the plurality of first stator magnets is in close proximity to the first rotor magnet; and a plurality of second stator magnets arranged circumferentially along a surface of the stator sidewall spaced apart from the plurality of first stator magnets, where at least one of the plurality of second stator magnets is in close proximity to the second rotor magnet. (Item 49) Item 49. The system of item 48, wherein the controller is configured to control the plurality of first stator magnets at a first switching rate and to control the plurality of second stator magnets at a second switching rate different from the first switching rate to rotate the rotor blades around the rotor axis. (Item 50) Item 45. The system of item 44, wherein the at least one rotor vane comprises a first rotor vane rotatably coupled to the sidewall and rotating about a first vane axis perpendicular to the rotation axis, and a second rotor vane rotatably coupled to the sidewall and rotating about a second vane axis perpendicular to the rotation axis. (Item 51) 51. The system of claim 50, wherein the controller is configured to provide a plurality of control signals to the plurality of stator magnets to cause the plurality of stator magnets to output electromagnetic fields corresponding to the plurality of control signals that drive rotor magnets of the rotor to rotate the rotor about the rotation axis, and to rotate the first rotor vanes about the first vane axis and the second rotor vanes about the second vane axis to generate a desired movement. (Item 52) Item 52. The system of item 51, wherein the controller is configured to transmit a control signal to a motor coupled to the first rotor vane, causing the motor to rotate the first rotor vane about the first vane axis, thereby rotating the first rotor vane about the first vane axis. (Item 53) Item 52. The system of item 51, wherein the controller is configured to rotate the first rotor vanes about the first vane axis by transmitting control signals to the plurality of stator magnets that rotate the first rotor vanes about the first vane axis. (Item 54) Item 54. The system of item 53, wherein the controller is configured to transmit a first set of control signals at a first switching rate to a first set of the plurality of rotor magnets and transmit a second set of control signals at a second switching rate to a second set of the plurality of rotor magnets, and rotate the first rotor blades about the first blade axis based on the first switching rate for the second switching rate. (Item 55) 1. A system comprising: A rotor, the rotor comprising: a rotor sidewall defining an axis of rotation; at least one rotor vane coupled to and traversing the sidewall along a first surface of the sidewall; a rotor magnet coupled to the rotor sidewall along a second surface of the sidewall opposite the first surface; A rotor comprising: a stator including a plurality of stator magnets arranged circumferentially along a surface of the stator sidewall facing the second surface of the rotor sidewall; a controller electrically coupled to the plurality of stator magnets, the controller controlling the plurality of stator magnets at a switching ratio to selectively generate individual magnetic fields that interact with rotor magnets of the rotor to rotate the rotor and rotor blades at a rotational speed corresponding to the switching ratio to generate lift at a lift speed; and A system comprising: (Item 56) Item 56. The system of item 55, wherein the controller is configured to control the plurality of stator magnets to modify the magnitude of the magnetic field strength of the individual magnetic fields, the magnetic fields interacting with rotor magnets of the rotor to rotate the rotor and rotor blades at the rotational speed corresponding to the switching ratio and the magnitude of the magnetic field strength, and generate lift at the lift speed. (Item 57) Item 57. The system of item 56, wherein the controller is configured to control the plurality of stator magnets by transmitting a pulse width modulated (PWM) control signal having a duty cycle, and the magnet controller modifies the duty cycle to vary the magnitude of the magnetic field strength. (Item 58) the at least one rotor vane is a first rotor vane, the rotor magnet is a first rotor magnet corresponding to the first rotor vane, and the first rotor vane is configured to rotate about the rotation axis in a first direction; The rotor is a second rotor vane spaced from the first rotor vane, the second rotor vane coupled to the sidewall along a first surface of the sidewall and traversing the sidewall; a second rotor magnet corresponding to the second rotor blade, the second rotor magnet being driven to drive the second rotor blade in a second direction about the axis of rotation opposite to the first direction; Item 56. The system of item 55, further comprising: (Item 59) the at least one rotor vane is rotatably coupled to the sidewall for rotation about a rotor axis; the rotor magnet is a first rotor magnet, the rotor further comprises a second rotor magnet coupled to the rotor sidewall along a second surface of the sidewall; The plurality of stator magnets include a plurality of first stator magnets arranged circumferentially along a surface of the stator sidewall, at least one of the plurality of first stator magnets being adjacent to the first rotor magnet; a plurality of second stator magnets arranged circumferentially along a surface of the stator sidewall spaced apart from the plurality of first stator magnets, at least one of the plurality of second stator magnets being proximate to the second rotor magnet; Item 56. The system of item 55, comprising: (Item 60) Item 60. The system of item 59, wherein the controller is configured to control the plurality of first stator magnets at a first switching rate and to control the plurality of second stator magnets at a second switching rate different from the first switching rate to rotate the rotor blades around the rotor axis. (Item 61) Item 56. The system of item 55, wherein the at least one rotor vane comprises a first rotor vane rotatably coupled to the sidewall and rotating about a first vane axis perpendicular to the rotation axis, and a second rotor vane rotatably coupled to the sidewall and rotating about a second vane axis perpendicular to the rotation axis. (Item 62) Item 62. The system of item 61, wherein the controller is configured to provide a plurality of control signals to the plurality of stator magnets to cause the plurality of stator magnets to output electromagnetic fields corresponding to the plurality of control signals that drive rotor magnets of the rotor to rotate the rotor about the rotation axis, and to rotate the first rotor vanes about the first vane axis and rotate the second rotor vanes about the second vane axis to generate a desired movement. (Item 63) Item 63. The system of item 62, wherein the controller is configured to transmit a control signal to a motor coupled to the first rotor blade, causing the motor to rotate the first rotor blade about the first blade axis. (Item 64) Item 63. The system of item 62, wherein the controller is configured to rotate the first rotor vanes about the first vane axis by transmitting a first set of control signals at a first switching ratio to a first set of the plurality of rotor magnets and transmitting a second set of control signals at a second switching ratio to a second set of the plurality of rotor magnets, and rotating the first rotor vanes about the first vane axis based on the first switching ratio for the second switching ratio. (Item 65) 1. A system comprising: 1. A rotor configured to rotate about an axis of rotation, the rotor comprising: A rotor side wall; at least one rotor vane rotatably coupled to the sidewall along a first surface of the sidewall, the at least one rotor vane rotating about a vane axis extending across the sidewall; a first rotor magnet and a second rotor magnet coupled to the rotor sidewall along a second surface of the sidewall opposite the first surface; A rotor comprising: A stator, the stator comprising: a plurality of first stator magnets arranged circumferentially along a stator sidewall facing the rotor sidewall, at least one of the plurality of first stator magnets being adjacent to the first rotor magnet; a plurality of second stator magnets spaced apart from respective first stator magnets and arranged circumferentially along the stator sidewall, at least one of the plurality of second stator magnets being proximate to the second rotor magnet; a stator comprising: a magnet controller electrically coupled to the plurality of first stator magnets and the plurality of second stator magnets, the magnet controller controlling the plurality of first stator magnets at a first switching rate and controlling the plurality of second stator magnets at a second switching rate to generate rotation of the rotor blades about the blade axis; A system comprising: (Item 66) Item 67. The system of item 65, wherein the at least one rotor vane includes a plurality of rotor vanes, and the magnet controller causes at least one first stator magnet to output a magnetic field that causes each rotor vane of the plurality of rotor vanes to have a target pitch angle about the vane axis as the rotor vane passes the at least one first stator magnet. Item 66. The system of item 65, wherein the at least one rotor vane includes a plurality of rotor vanes, and the controller causes the plurality of first stator magnets to output respective magnetic fields that cause the plurality of rotor vanes to each have a respective target pitch angle about a respective blade axis as a function of rotational position about the axis of rotation, the target pitch angle corresponding to a target collective pitch of the rotor relative to the axis of rotation. (Item 68) Item 66. The system of item 65, wherein the plurality of first stator magnets and the plurality of second stator magnets are electromagnets configured to output at least a first magnetic field that drives the first rotor magnet and a second magnetic field that drives the second rotor magnet in response to at least one control signal, and the magnet controller is configured to cause the first magnetic field to apply a first magnetic force on a first rotor magnetic component and the second magnetic field to apply a second magnetic force to a second magnetic component to control a blade pitch angle. (Item 69) Item 66. The system of item 65, wherein the rotor blades are vaned so as to be biased to a neutral blade angle. (Item 70) Item 66. The system of item 65, wherein the magnet controller controls the magnitude of an individual magnetic field output by each first stator magnet of the plurality of first stator magnets to control the rotational speed of the rotor about the axis of rotation. (Item 71) Item 66. The system of item 65, further comprising a position encoder that detects a position of each rotor blade, and wherein the magnet controller uses the position of each rotor blade as feedback to control the plurality of first stator magnets and the plurality of second stator magnets. (Item 72) Item 66. The system of item 65, wherein the plurality of first stator magnets includes a plurality of electromagnetic coils. (Item 73) Item 66. The system of item 65, wherein the magnet controller controls the plurality of first stator magnets and the plurality of second stator magnets to rotate the rotor about the axis of rotation. (Item 74) the at least one rotor vane is a first rotor vane, the rotor magnet is a first rotor magnet corresponding to the first rotor vane, and the first rotor vane is configured to rotate about the rotation axis in a first direction; The rotor is a second rotor vane spaced from the first rotor vane, the second rotor vane coupled to the sidewall along a first surface of the sidewall and traversing the sidewall; a second rotor magnet corresponding to the second rotor blade, the second rotor magnet being driven to drive the second rotor blade in a second direction about the axis of rotation opposite to the first direction; Item 66. The system of item 65, further comprising: (Item 75) 1. A system comprising: a stator including a plurality of stator magnets, the plurality of stator magnets being arranged circumferentially along a surface of the stator; 1. A rotor configured to rotate about a rotation axis, the rotor having an annular rotor base surrounding the stator, the rotor comprising a plurality of rotor sections, each rotor section comprising: a sidewall spaced from the axis of rotation, the sidewall having a first surface and a second surface opposite the first surface; at least one rotor magnet coupled to the sidewall along the first surface, the rotor configured to be driven by the plurality of stator magnets via individual magnetic fields of the plurality of stator magnets interacting with the at least one rotor magnet; at least one rotor blade having a first blade tip coupled to the second surface of the sidewall and a second blade tip, the first end and second end defining a rotor blade length, the second end and a rotation axis defining a radius of gyration, a ratio of the rotor blade length to a tip radius of gyration being less than or equal to 0.75; Including a rotor and A system comprising: (Item 76) the at least one rotor vane includes a plurality of rotor vanes, a second end of the plurality of rotor vanes defining a first perimeter, the sidewall defining a second perimeter, and a blade rotation area defined in a first plane between the first perimeter and the second perimeter; the plurality of vanes defines a vane surface area in the first plane; Item 76. The system of item 75, wherein the plurality of vanes defines an effective vane area as a ratio of a surface area of ​​the vane to a rotational area of ​​the vane, the effective vane area being greater than or equal to 0.4. (Item 77) Item 77. The system of item 76, further comprising a payload positioned within the rotational area of ​​the blade outside the effective area of ​​the blade. (Item 78) the annular rotor base further comprises a first rotor wall extending from a first end of the side wall toward the axis of rotation, and a second rotor wall extending from a second end of the side wall toward the axis of rotation, the second rotor wall being spaced apart from the first rotor wall, the rotor defining a rotor axis through the first and second rotor walls and parallel to the axis of rotation; The stator further includes a first stator magnet and a second stator magnet; The rotor is at least one first rotor magnet coupled to the first rotor wall, the at least one first rotor magnet configured to maintain a first space between the first rotor wall and the first stator magnet along the rotor axis; at least one second rotor magnet coupled to the second rotor wall, the at least one second rotor magnet configured to maintain a second space between the second rotor wall and the second stator magnet along the rotor axis; Item 76. The system of item 75, further comprising: (Item 79) Item 76. The rotor of item 75, wherein the at least one third rotor magnet comprises a pair of third rotor magnets that interact with one or more propulsion magnets via individual magnetic fields to generate rotation of the rotor blades about the blade axis. (Item 80) Item 76. The system of item 75, wherein the rotor segments are contiguous. (Item 81) Item 76. The system of item 75, further comprising at least one caster wheel coupled to the rotor, extending between the rotor and the stator, and separating the rotor from the stator. (Item 82) Item 76. The system of item 75, wherein the plurality of rotor sections is a plurality of first rotor sections, and the rotor further comprises a plurality of second rotor sections. (Item 83) Item 83. The system of item 82, wherein the plurality of first rotor sections are configured to rotate in a first direction about the axis of rotation and the plurality of second rotor sections are configured to rotate in a second direction about the axis of rotation opposite the first direction. (Item 84) Item 76. The rotor of item 75, wherein the rotor generates lift when driven by the plurality of stator magnets. (Item 85) 1. A system comprising: 1. A rotor configured to rotate about an axis of rotation, the rotor comprising: A rotor side wall; a first rotor vane rotatably coupled to the sidewall along a first surface of the sidewall, the first rotor vane rotating about a first vane axis extending across the sidewall; a second rotor vane rotatably coupled to the sidewall along a first surface of the sidewall, the second rotor vane rotating about a second vane axis extending across the sidewall; and a set of rotor magnets including a first rotor magnet and a second rotor magnet coupled to the rotor sidewall along a second surface of the sidewall opposite the first surface proximate the first rotor blade; a second set of rotor magnets including a third rotor magnet and a fourth rotor magnet coupled to the rotor sidewall along the second surface of the sidewall proximate the second rotor blade; A rotor comprising: A stator, the stator comprising: a plurality of first stator magnets arranged circumferentially along a stator sidewall facing the rotor sidewall, at least one of the plurality of first stator magnets being adjacent to the first rotor magnet and at least one of the plurality of first stator magnets being adjacent to the third rotor magnet; a plurality of second stator magnets spaced apart from respective first stator magnets and arranged circumferentially along the stator sidewall, at least one of the plurality of second stator magnets being adjacent to the second rotor magnet and at least one of the plurality of second stator magnets being adjacent to the fourth rotor magnet; a stator comprising: at least one controller electrically coupled to the plurality of first stator magnets and the plurality of second stator magnets, the at least one controller comprising: Receiving a movement command; Extracting a desired movement from the movement command; generating a plurality of control signals based on the desired movement; providing the plurality of control signals to the plurality of first stator magnets and the plurality of second stator magnets, causing the plurality of first stator magnets and the plurality of second stator magnets to output magnetic fields corresponding to the plurality of control signals to generate the desired movement, the magnetic fields driving the rotor magnets of the rotor to rotate the rotor about the rotation axis, to rotate the first rotor blades about the first blade axis, and to rotate the second rotor blades about the second blade axis; at least one controller configured to A system comprising: (Item 86) Item 86. The system of item 85, wherein the desired movement corresponds to a yaw movement, and the plurality of control signals are configured to rotate the first rotor blades about the first blade axis in a first direction and rotate the second rotor blades about the second blade axis in a second direction to generate the desired yaw movement of the rotor. (Item 87) Item 86. The system of item 85, wherein the desired movement corresponds to a pitch movement, and the plurality of control signals are configured to rotate the first rotor blades about the first blade axis in a first direction and rotate the second rotor blades about the second blade axis in a second direction to generate a desired pitch movement of the rotor. (Item 88) Item 86. The system of item 85, wherein the desired movement corresponds to a roll movement, and the plurality of control signals are configured to rotate the first rotor blade about the first blade axis in a first direction and rotate the second rotor blade about the second blade axis in a second direction to generate the desired roll movement of the rotor. (Item 89) Item 86. The system of item 85, wherein the at least one rotor vane includes a plurality of rotor vanes, and the at least one controller causes at least one first stator magnet of the plurality of first stator magnets to output a corresponding magnetic field that causes each rotor vane to have a target pitch angle about an individual blade axis as each rotor vane passes the at least one first stator magnet, the target pitch angle being indicated by the desired movement. (Item 90) 86. The system of claim 85, wherein the at least one rotor vane includes a plurality of rotor vanes, and the at least one controller causes the plurality of first stator magnets to output corresponding magnetic fields that cause each of the plurality of rotor vanes to have a respective target pitch angle about a respective blade axis as a function of rotational position about the axis of rotation, the target pitch angle corresponding to a target collective pitch of the rotor relative to the axis of rotation, the target collective pitch being indicated by the desired movement. (Item 91) Item 86. The system of item 85, wherein the at least one controller includes a flight controller that derives the desired movement from the movement commands and a motor controller that generates the plurality of control signals. (Item 92) Item 86. The system of item 85, further comprising a user input device for receiving the movement command. (Item 93) Item 86. The system of item 85, wherein the at least one controller is configured to control the plurality of first stator magnets to modify a magnitude of a magnetic field strength of an individual magnetic field, the magnetic field interacting with the first set of rotor magnets to rotate the rotor and first rotor blades at a rotational speed corresponding to a switching ratio and the magnitude of the magnetic field strength to generate lift. (Item 94) Item 94. The system of item 93, wherein the at least one controller is configured to control the plurality of stator magnets by transmitting a pulse width modulated (PWM) control signal having a duty cycle, and the at least one controller modifies the duty cycle to vary the magnitude of the magnetic field strength. (Item 95) A rotor for operation with a stator, said rotor comprising: an annular rotor base defining an axis of rotation, the annular rotor base comprising: a plurality of first rotor sections arranged around the stator and configured to be driven in a first direction about the axis of rotation; and a plurality of second rotor sections arranged around the stator adjacent to the plurality of first rotor sections and configured to be driven in a second direction about the axis of rotation opposite the first direction. Equipped with Each rotor section is a sidewall spaced from the axis of rotation, a first rotor wall extending from a first end of the sidewall toward the axis of rotation, and a second rotor wall extending from a second end of the sidewall toward the axis of rotation, the second rotor wall being spaced from the first rotor wall, the rotor defining a rotor axis through the first and second rotor walls parallel to the axis of rotation; at least one first rotor magnet coupled to the first rotor wall, the at least one first rotor magnet configured to maintain a first space between the first rotor wall and a first stator magnet along the rotor axis; at least one second rotor magnet coupled to the second rotor wall, the at least one second rotor magnet configured to maintain a second space between the second rotor wall and the second rotor magnet along the rotor axis; at least one third rotor magnet coupled to the sidewall and spaced apart from one or more propulsion magnets of the stator, the rotor configured to be driven by the propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet; Including, a rotor. (Item 96) the at least one rotor vane is a first rotor vane, the rotor magnet is a first rotor magnet corresponding to the first rotor vane, and the first rotor vane is configured to rotate about the rotation axis in a first direction; The rotor is a second rotor vane spaced from the first rotor vane, the second rotor vane coupled to the sidewall along a first surface of the sidewall and traversing the sidewall; a second rotor magnet corresponding to the second rotor blade, the second rotor magnet being driven to drive the second rotor blade in a second direction about the axis of rotation opposite to the first direction; Item 96. The system of item 95, further comprising: [Brief description of the drawings]

[0019] The foregoing and other objects, aspects, features, and advantages of the present disclosure will become more apparent and better understood by reference to the following description taken in conjunction with the accompanying drawings.

[0020] [Figure 1] FIG. 1 is a schematic diagram of an embodiment of a VTOL platform.

[0021] [Diagram 2] FIG. 2 is a schematic diagram of a portion of the VTOL platform of FIG.

[0022] [Diagram 3] FIG. 3 is a block diagram of various systems of the VTOL platform of FIG.

[0023] [Figure 4] 4 is a partial perspective view of the motor area of ​​the VTOL platform of FIG. 1.

[0024] [Diagram 5] FIG. 5 is a cross-sectional view of the motor area of ​​the VTOL platform of FIG.

[0025] [Figure 6] FIG. 6 is a schematic diagram of an embodiment of a levitation and guidance system.

[0026] [Figure 7] FIG. 7 is a block diagram of an embodiment of a flight dynamics system for a VTOL platform.

[0027] [Figure 8] FIG. 8 is a schematic diagram of the collective pitch control performed by the flight dynamics system of FIG.

[0028] [Figure 9] FIG. 9 is a schematic diagram of the cyclical pitch control performed by the flight dynamics system of FIG.

[0029] [Figure 10] FIG. 10 is a block diagram of an embodiment of a motor controller for a VTOL platform.

[0030] [Figure 11] FIG. 11 is a block diagram of an embodiment of a stator for a VTOL platform.

[0031] [Figure 12] FIG. 12 is a block diagram of a rotor control system for a VTOL platform.

[0032] [Figure 13] FIG. 13 is a flow diagram of an embodiment of a method for controlling a VTOL platform.

[0033] [Figure 14A] FIG. 14A is a schematic diagram of an embodiment of a rotor having motor-driven rotor blades.

[0034] [Figure 14B]FIG. 14B is a block diagram of an embodiment of a rotor control system that uses motor-driven rotor blades. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0035] For purposes of perusing the description of the various embodiments below, the following listing of sections of this specification and their contents may be helpful. Section -A describes embodiments of systems and methods for a VTOL platform that operates using magnetic levitation. Section -B describes embodiments of systems and methods for levitation and guidance of a VTOL platform that operate using magnetic levitation. Section C describes embodiments of systems and methods for controlling a VTOL platform operating using magnetic levitation, including flight dynamics, motor control, and pitch control. A. Systems and Methods for a VTOL Platform Using Magnetic Levitation

[0036] Generally, with reference to Figures 1-5, a VTOL platform according to the present disclosure can use magnetic levitation and tangible control mechanisms to efficiently drive the rotor along with the stator, enabling vertical takeoff and landing, as well as flight control maneuvers such as lift, pitch, roll, and yaw control. The VTOL platform can have improved size, weight, power, and cost (SWAP-C) factors over existing systems, including increased power density over internal combustion-based systems. The VTOL platform can achieve high rotor rotation rates for annular platform configurations.

[0037] A VTOL platform can have reduced noise relative to existing systems with similar performance capabilities by reducing both mechanical and aerodynamic noise generation. Existing systems that rely on the mechanical operation of gearboxes, swashplates, and generators can generate significant noise. In turbines, mechanical noise can be transmitted along the turbine's structure and radiated from its surfaces, and aerodynamic noise can be generated by airflow across the blades. In helicopters, noise can be generated by the main rotor and tail rotor interaction with the air. This can be verified by analyzing the frequency spectrum of the helicopter during takeoff, and there can be maxima and local maxima at the individual blade passing frequencies of each rotor blade. There can also be a very wide distribution of acoustic power that sweeps across higher frequencies, and this wide area noise can be due to a combination of multiple noise mechanisms, including the operation of the turbine, gearbox, and transmission. The present solution can address these noise sources by using a direct electric transmission mechanism that relies on less interaction between mechanical components, and by configuring the rotor blades in a manner that reduces noise generation. The present solution can therefore reduce the energy inefficiencies associated with noise generation and the disturbances associated with noise that make existing systems less viable for urban environments and personal use modes.

[0038] In some embodiments, the VTOL platform includes a rotor, a stator, a flight controller, and a motor controller. The rotor includes a plurality of rotor vanes oriented about a rotor axis and spaced radially from the stator. Each rotor vane is coupled to a rotor arm such that rotation of the rotor arm rotates the rotor vane about a rotor pitch axis. The rotor arm is coupled to a first rotor magnet spaced from a second rotor magnet. The stator includes a plurality of electromagnets. The flight controller is configured to receive a movement command, extract a desired movement from the movement command, and generate one or more flight commands configured to generate at least one of a thrust, a moment of force about a yaw axis, a moment of force about a platform pitch axis, or a moment of force about a platform roll axis on the rotor. The motor controller is configured to receive the one or more flight control commands and drive an electrical signal through the electromagnets based on the one or more flight control commands. The plurality of electromagnets are configured to output electromagnetic fields corresponding to the electrical signals to drive rotor magnets of the rotor, rotating the rotor about the rotor axis and rotating the rotor blades about the blade neutral pitch axis, and generating at least one of thrust, a moment of force about a yaw axis, a moment of force about a platform pitch axis, or a moment of force about a platform roll axis in the rotor.

[0039] 1-2, the VTOL platform 100 includes a stator 110 that drives a rotor 120. The rotor 120 may extend from the stator 110 to a housing 130 (e.g., a nacelle). A support structure 140 may be mounted to the stator 110, such as to provide a seat 142 for an operator 144 of the VTOL platform 100. Although FIG. 1-2 illustrates the stator 110 inwardly of the rotor 120, the stator 110 may be outwardly from the rotor 120. The rotor 120 may be supported by a levitation system (e.g., levitation system 360 described with reference to FIG. 3) coupled to the stator 110 so as to rotate about the stator 110. The stator 110 and the rotor 120 may include various magnets (e.g., permanent magnets, electromagnetic coils, electromagnetic coils through which a current may be driven to generate a magnetic field in the electromagnetic coils).

[0040] The stator 110 can use power from the power supply 112 to drive the rotor 120 by outputting an electromagnetic field to drive magnets in the rotor 120, including to rotate the rotor 120 about an axis of rotation 122. For example, the stator 110 can drive the rotor 120 based on control signals received from a controller, as discussed further herein. The power supply 112 can include one or more batteries. The power supply 112 can be highly distributed and integrated into the support structure 140, which can improve the stiffness and reduce the weight of the VTOL platform 100 compared to existing systems.

[0041] The stator 110 can have increased efficiency over existing mechanical systems. Using electromagnetic coupling between the stator 110 and rotor 120 rather than a mechanical connection can improve operation over existing systems. To achieve a VTOL platform, having similar performance parameters as may be enabled by the present solution in existing systems would require the engine to drive small gears that rotate much faster than a large radius rotor, which may result in significant mechanical friction losses and would be significantly heavier than a simple rotor mounted on the driven axle. In such existing systems, there may be significant efficiency losses due to extreme gear ratios, large inherent manufacturing difficulties from large geared and / or toothed ring structures, loud mechanical interactions that outweigh any aeroacoustic benefits of annular rotor geometry, and / or large heavy structures used for power transmission that may significantly increase overall weight. The present solution can address such phenomena by using the stator 110 to drive the rotor 120, and in some embodiments, the present solution can generate distributed torque through the use of a power dense, efficient, and responsive electric synchronous motor rather than a gearbox or axle for torque transfer as the rotor ring, simultaneously acts as an electromechanical rotor, drive axle, and blade hub, thus reducing weight, efficiency losses, and mechanical complexity.

[0042] Further, it has been found that motor power density increases linearly with hub radius and decreases linearly with motor height for the stator 110 and rotor 120. The present solution implements such features and configures the stator 110 to have a relatively large radius and a relatively low thickness, increasing efficiency and power density and allowing the stator 110 to have less mass and / or greater power output relative to existing internal combustion based systems.

[0043] The rotor 120 is shown as an annular rotor that may orbit around the stator 110 and the support structure 140. The rotor 120 includes a plurality of first vanes 124 (coupled to individual magnets as discussed further herein). The plurality of first vanes 124 may extend between the stator 110 and a housing 130. In some embodiments, the stator 110 controls the pitch angle of each first vane 124. The first vanes 124 may be coupled to and transverse (e.g., perpendicular to) a sidewall 134. 1 and 4, each first blade 124 may extend from a first blade tip (e.g., blade root) 444 that is coupled to the sidewall 134 (e.g., rotor section 132 of the sidewall 134) to a second blade tip (e.g., blade tip) 448 that may be coupled to the housing 130 or free from the housing 130. The first blade 124 may define a blade axis 440 that extends from the first blade tip 444 to the second blade tip, which may be perpendicular to the axis of rotation 122.

[0044] In some embodiments, the rotor 120 includes a plurality of second blades 126 that may be similar to the first blades 124 and may rotate about the axis of rotation 122 independently relative to the plurality of first blades 124. The second blades 126 may be spaced apart from the first blades 124, such as coupled to a sidewall 134 below the first blades 124 (e.g., a rotor section 132 of the sidewall 134) or coupled to the second sidewall 134 below the first blades 124.

[0045] By rotating the first blade 124 and / or the second blade 126, the VTOL platform 100 can generate lift due to the action of the first blade 124 and / or the second blade 126 on the air passing through the VTOL platform 100. Similarly, the first blade 124 and / or the second blade 126 can be driven in a manner that causes rotation about a yaw, roll, and / or pitch axis.

[0046] The rotor blades 124, 126 are individually vaned (e.g., blade surfaces aligned at a specific angle relative to the direction of airflow) and can maintain circulation and collective pitch commands for guidance of the VTOL platform 100. Compared to existing systems where a swashplate may be used to control the motion of the rotor blades, the present solution can individually control the pitch of each rotor blade 124, 126 in a frictionless manner. Systems and methods for controlling lift using counter-rotating rotors - Patents.com

[0047] In some embodiments, the plurality of first blades 124 rotate in a first direction about the axis of rotation 122, while the plurality of second blades 126 rotate in a second direction about the axis of rotation 122 opposite the first direction. Thus, the plurality of first blades 124 and the plurality of second blades 126 may be counter-rotating. For example, each second blade 126 may be coupled with a separate rotor magnet 380 that is driven by the stator 110 in the second direction. As discussed further herein, the control circuit 310 may control the operation of the plurality of first blades 124 by providing a first control signal to rotate the plurality of first blades 124 about the axis of rotation 122 in a first direction at a first angular velocity, and control the operation of the plurality of second blades 126 by providing a second control signal to rotate the plurality of second blades 126 about the axis of rotation 122 in a second direction at a second angular velocity. The control circuit 310 can generate first and second control signals to generate a desired movement of the VTOL platform 100. For example, to enable the VTOL platform 100 to operate in a hovering mode, the control circuit 310 can generate the first and second control signals such that the first and second angular velocities are configured such that a force balance on the VTOL platform 100 is zero in at least the vertical direction (e.g., an upward force generated by the plurality of first vanes 124 opposes gravity and a downward force generated by the plurality of second vanes 126). Systems and methods for reducing noise based on effective rotor area relative to center of rotation - Patents.com

[0048] In some embodiments, the rotor blades 124, 126 are configured to enable a relatively low acoustic profile, such as to generate reduced noise while generating sufficient lift to support the movement of the VTOL platform 100. In this solution, the number of rotor blades 124, 126 can be selected to be relatively high, and the blades have a phase-modulated spacing to reduce noise while lift is maintained. Each blade 124, 126 may have a relatively large tip diameter. The rotor blades 124, 126 may be positioned and aligned relative to each other to operate inconsistently. Thus, noise due to interaction of the rotor 120 and the surrounding fluid can be reduced. In some embodiments, the rotor blades 124, 126 have a maximum tip Mach number of 0.5 and a hovering tip Mach number of 0.41. In some embodiments, the rotor vanes 124, 126 are at least one of ducted and shrouded, which may increase lift generation, improve safety, and reduce noise radiated from the rotor vanes 124, 126. In some embodiments, the housing 130 is shaped to reflect noise upwards and may also attenuate noise traveling outward from the rotor 120.

[0049] In some embodiments, the rotor vanes 124, 126 have a relatively short length relative to the radius of gyration of the second blade tip 448. For example, the rotor vanes 124, 126 can define a rotor vane length from the first blade tip 444 to the second blade tip 448 along the blade axis 440 (e.g., from the blade root to the blade tip). The second blade tip 448 can define a radius of gyration from the second blade tip 448 to the axis of rotation 122. The rotor vanes 124, 126 can define a ratio of rotor vane length to radius of gyration. In some embodiments, the ratio is less than or equal to 0.75. In some embodiments, the ratio is less than or equal to 0.6 and greater than or equal to 0.3. For example, as illustrated in FIG. 2, the rotor vanes 124, 126 start outwardly of the axis of rotation 122. In some embodiments, the efficiency of the rotor blades in generating lift as a function of distance from the center of rotation (e.g., from the rotation axis 122) is generally higher toward the blade tip than at the blade root. Thus, the present solution can reduce noise with relatively little loss of performance by selecting blades that operate primarily within their high efficiency region.

[0050] In some embodiments, the rotor vanes 124, 126 have a relatively high effective vane area or vane solidity. The second vane tip 448 can define a first perimeter (e.g., the perimeter swept out by the second vane tip 448 as it rotates about the axis of rotation 122). The sidewall 134 (or the first vane tip 444) can define a second perimeter that is inwardly of the first perimeter. The rotor vanes 124 and / or 126 can also define a vane rotation area in a first plane between the first and second perimeters (e.g., the first plane in which the first and second perimeters lie). The vane rotation area can represent the area swept out by the first rotor vane 124 in the first plane as it rotates about the axis of rotation 122. The rotor vanes 124 and / or rotor vanes 126 may define a vane surface area in a first plane, which may represent the surface area of ​​the rotor vanes 124 and / or rotor vanes 126 located in the first plane (while the rotor vanes 124 or rotor vanes 126 are stationary or not moving). The plurality of first rotor vanes 124 (or the plurality of second rotor vanes 126) may define a vane effective area as a ratio of the vane surface area to the vane rotation area. In some embodiments, the vane effective area is greater than or equal to 0.4 (e.g., compared to 0.2 in many existing systems). In some embodiments, the vane effective area is greater than or equal to 0.6. By having increased effective blade area, the rotor blades 124, 126 can generate lift more efficiently at lower speeds and pitch, and the VTOL platform 100 can achieve a larger effective blade area by using a frictionless method to drive the rotation of the rotor 120 that would not otherwise be possible using mechanical couplings such as a swash plate and gearbox to rotate the rotor 120 (or would result in increased mechanical noise that would offset the noise reduction from the increased effective blade area).

[0051] The VTOL platform 100 can include multiple beams 150 extending from the support structure 140 to the housing 130. The beams 150 can be unidirectional carbon fiber spokes. The beams 150 can be swept and tilted to increase the number of wakes from the rotor blades 124, 126 acting on each beam 150 and spreading the phase angle of the wakes to achieve incoherence. The beams 150 can provide radial, vertical, and torsional stiffness to keep the housing 130 rigidly attached to the support structure 140.

[0052] Referring now to Figures 3-5, the VTOL system 300 includes a control circuit 310, a stator 110, and a rotor 120. The VTOL system 300 can be implemented to control the operation of the VTOL platform 100 described with reference to Figures 1-2. The control circuit 310 includes a processor 312 and a memory 314. The processor 312 may be implemented as a special purpose processor, an application specific integrated circuit (ASIC), one or more field programmable gate arrays (FPGAs), a group of processing components, or other suitable electronic processing components. The processor 312 may be a distributed computing system or a multi-core processor. The memory 314 is one or more devices (e.g., RAM, ROM, flash memory, hard disk storage) for storing data and computer code for completing and facilitating the various user or client processes, layers, and modules described in this disclosure. The memory 314 may be or include volatile or non-volatile memory and may include database components, object code components, script components, or any other type of information structure to support various activities and information structures of the inventive concepts disclosed herein. The memory 314 is communicatively connected to the processor 312 and includes computer code or instruction modules for performing one or more processes described herein. The memory 314 may include various circuits, software engines, and / or modules that cause the processor to perform the systems and methods described herein. The memory may be distributed across heterogeneous devices.

[0053] Memory 314 includes a flight controller 316 and a motor controller 318. Flight controller 316 can use the flight dynamics model, rotor states, and control laws to convert the desired movement of the VTOL system 300 into flight control signals 320 and transmit the flight control signals 320 to motor controller 318. Motor controller 318 can receive the flight control signals 320 and generate motor control signals 322 based on the flight control signals 320 to control the operation of the stator 110 in order to cause the VTOL platform 100 to achieve the desired movement.

[0054] The VTOL system 300 may include communications circuitry 330. The communications circuitry 330 is configured to receive and transmit data. The communications circuitry 330 may include receiver electronics and transmitter electronics. The communications circuitry 330 may include a radio configured for radio frequency communications. The communications circuitry 330 may include a data link radio. The communications circuitry 330 may receive and transmit navigation information from / to a remote platform.

[0055] The VTOL system 300 may include at least one sensor 334. The at least one sensor 334 may provide sensor data to the control circuitry 310. The at least one sensor 334 may detect position, velocity, acceleration, altitude, orientation, and other state parameters of the VTOL system 300 (e.g., of the VTOL platform 100 implementing the VTOL system 300). The at least one sensor 334 may detect environmental parameters, such as temperature, air pressure, and wind speed. The at least one sensor 334 may include at least one of an inertial measurement unit (which may include one or more gyroscopes, such as three gyroscopes and three accelerometers), an air data sensor (e.g., a sensor configured to detect and output an indication of static pressure), or a magnetic compass. The at least one sensor 334 may include a global navigation satellite system (GNSS) receiver and / or a global positioning system (GPS) receiver.

[0056] The VTOL system 300 can include a user interface 340, including a display device 342 and a user input device 344. The display device 342 can receive display data from the control circuitry 310 and present the received display data. The display device 342 can include a variety of display components, including, but not limited to, CRT, LCD, organic LED, dot matrix display, and others. The display device 342 can include a navigation display, a primary flight display, an electronic flight bag display, a tablet or tablet computer, such as an iPad® computer manufactured by Apple, Inc., a synthetic vision system display, a HUD with or without a projector, a head-up guidance system, a wearable display, a wristwatch, Google Glass®, or other HWD system. The display device 342 can present display data, such as air traffic control data, weather data, navigation data (e.g., a flight plan), and terrain information.

[0057] The user input devices 344 may include, for example, dials, switches, buttons, touch screens, keyboards, mice, joysticks, cursor control devices (CCDs). The user input devices 344 may include a touch interface provided by one or more components of the display device 342. The user input devices 344 may include audio input devices configured to receive audio information (e.g., spoken information from an operator) that the control circuitry 310 may process. The user input devices 344 may include image capture devices such that the control circuitry 310 may perform image processing functions such as gesture control, head tracking, and / or eye tracking, and generate control commands based on the image processing.

[0058] User interface 340 can receive user input and transmit an indication of user input 346 to flight controller 316. Flight controller 316 can receive the indication of user input 346, extract input commands from the indication of user input 346, and determine a desired movement of VTOL platform 100 based on the input commands to generate flight control signals 320. Improved stator assembly for use with the rotor

[0059] The stator 110 includes a stator housing 350 (e.g., annular stator base) that supports a plurality of stator magnets 352 (e.g., propulsion magnets). The stator housing 350 can include a plurality of stator sections 351 that can be continuous, such as integral or monolithic, or that can be separate members or at least partially disconnected, such as by being connected by an extension that is narrower than adjacent stator sections 351. Each of the plurality of stator magnets 352 can be driven by the motor control signal 322. The plurality of stator magnets 352 can be electromagnets. For example, the plurality of stator magnets 352 can include an electromagnetic coil that outputs an electromagnetic field based on an electrical signal driven through the electromagnetic coil. The electromagnetic coil may be made from a variety of conductive materials, including aluminum or copper. In some embodiments, aluminum may be used based on its light weight, high thermal conductivity, and more than twice the electrical conductivity of copper as a function of mass (e.g., aluminum may be selected, which has 61 percent of the conductivity of copper, but 30 percent of the mass of copper for a given volume, allowing for mass savings that offset the volume increase to achieve the same ampere rating). The stator 110 may include a laminated core 504 adjacent the stator magnets 352, which may increase the magnitude of the magnetic field output by the stator magnets 352.

[0060] In response to receiving a particular motor control signal 322, each stator magnet 352 can output a corresponding electromagnetic field 354. Each stator magnet 352 can vary the magnitude of the output electromagnetic field 354 as a function of time depending on the received motor control signal 322. For example, if the motor control signal 322 has different values ​​of parameters such as amplitude and frequency, the amplitude and frequency of the electromagnetic field 354 can be varied as well.

[0061] As described further herein, the stator 110 can include magnets 362a, 362b, 364a, and 364b of the LGS 360 that can interact with the rotor magnets 372, 374 to maintain a separate space between the stator 110 and the rotor 120, thus receiving lift from the rotor 120 and lifting the stator 110. For example, as the stator magnets 352 output the electromagnetic field 354, the lift generated by the rotation of the rotor 120 can move the rotor 120 upward (e.g., closer to the magnet 372 and away from the magnet 374), resulting in the rotor 120 applying a force via the magnets 372, 374 on the stator 110 and lifting the stator 110 as the movement of the magnets 362a, 362b, 364a, and 364b accommodates the force applied by the rotor 120 and transfers the force to the stator housing 350. Improved rotor assembly for use with a stator

[0062] The rotor 120 includes a rotor base 128. The rotor base 128 may be annular, extending around the axis of rotation 122 and defining a space between the rotor base 128 and the stator housing 350. The rotor base 128 may include a plurality of rotor sections 132. Each rotor section 132 may include a sidewall 134 that is spaced from the axis of rotation 122. The rotor sections 132 may be continuous, such as by each rotor section 132 being connected to adjacent rotor sections 132 or being integral or monolithic. The rotor sections 132 may be at least partially disconnected, such as by being separate members or being connected by a narrower extension than adjacent rotor sections 132 in a direction perpendicular to the axis of rotation 122.

[0063] The rotor 120 includes a plurality of rotor magnets 380 arranged around the rotor 120. One or more of the rotor magnets 380 can be coupled with a corresponding side wall 134. Each rotor magnet 380 can be driven by a corresponding electromagnetic field output by the plurality of stator magnets 352. The plurality of rotor magnets 380 can be permanent magnets, which can have a higher magnetic flux density than superconducting magnets for the form factor of the present solution. In some embodiments, the plurality of rotor magnets 380 (in some embodiments, magnets 372 of the LGS 360 described below) include neodymium permanent magnets, which can have a magnetic field strength of up to 1 Tesla and can be geometrically configured in a Halbach array to increase the magnetic field strength up to 1.4 T. Together with the positioning of the stator magnets 352, the time-varying nature of the electromagnetic field 354 generated by the plurality of stator magnets 352 can drive the plurality of rotor magnets 380 to rotate around the rotor axis (e.g., the rotation axis 122 shown in FIG. 2).

[0064] Each rotor vane 124, 126 can be mechanically coupled to at least one rotor magnet 380. In some embodiments, as the rotor magnets 380 rotate, they can be differentially driven about the rotation axis 122 by the thrust 416 caused by the stator 110, and the rotor vanes 124, 126 will rotate about the pitch axis. As the rotor vanes 124, 126 rotate, lift 402 can be generated, as shown in FIG. 4. Caster wheels 508 (e.g., rubber, nylon caster wheels) can be positioned between the stator 110 and the rotor 120 to support the rotor 120 and allow it to continue to rotate relative to the stator 110 when the rotor 120 is rotating below a speed threshold where the rotor 120 generates enough lift to overcome gravity and levitate the rotor 120 when combined with levitation from the levitation system 360. The caster wheels 508 may extend between the stator 110 and the rotor 120 to separate the stator 110 and the rotor 120 .

[0065] The rotor vanes 124, 126 can be made of composite construction. The composite fiber skin of the vanes 124, 126 can transmit the centrifugal and bending loads of the vanes 124, 126 to the axle 418 (e.g., feathering grip axle). In some embodiments, the axle 418 is resisted against the centrifugal and aerodynamic loads by a pair of thrust bearings 420, which can include brass bushings to compensate for the major bending and shear moments of the rotor vanes 124, 126. The rotor 120 can include a support ring 422, which can be a modular assembly of box hoops that mounts the vane assemblies (e.g., each vane 124, 126 and corresponding axle 418 and bearings 420) and drives the magnets 380. The support ring 422 can include hollow disk end plates 424 for holding the magnets 372, 374. B. VTOL PLATFORM LEVELING AND GUIDANCE SYSTEM AND METHOD

[0066] 3-5, and now with reference to FIG. 6, the VTOL system 300 includes a levitation and guidance system (LGS) 360 that maintains the position (and orientation) of the rotor 120 relative to the stator 110, including allowing the stator 110 to receive lift from the rotor 120 across the air gap between the rotor 120 and the stator 110 in order to move the VTOL platform 100. System and method for maintaining rotor levitation relative to stator - Patents.com

[0067] The present solution can maintain levitation of a rotor (e.g., rotor 120) relative to a stator (e.g., stator 110). In implementations where the stator drives the rotor, the rotor may need to be spaced apart from the stator (e.g., to, e.g., limit friction). The implementations and embodiments described herein space the rotor from the stator even when the stator and rotor are levitated off the ground.

[0068] In some embodiments, the system includes a rotor and a stator. The rotor includes a side wall and two rotor walls extending from two ends of the side wall such that the two rotor walls are spaced apart from each other. The rotor includes first and second rotor magnets coupled to the respective rotor walls. The stator includes a support structure extending between the rotor walls. The stator includes a stator magnet (e.g., a first stator magnet) coupled to a first surface of the support structure adjacent to one of the rotor magnets (e.g., the first rotor magnet). The first rotor magnet induces a current in the first stator magnet corresponding to the distance between the first stator magnet and the first rotor magnet. The stator includes another stator magnet (e.g., a second stator magnet) coupled to a second surface of the support structure adjacent to the second rotor magnet. The stator magnets are electrically coupled to each other such that the second stator magnet receives a current from the first stator magnet. The second stator magnet outputs a magnetic field having a field strength based on the current from the first stator magnet. The magnetic field from the second stator magnet interacts with the second rotor magnet to control a distance between the at least one second stator magnet and the at least one second rotor magnet.

[0069] For example, still referring to FIGS. 3-5 and 6 , the LGS 360 can maintain the position of the rotor 120 along (e.g., perpendicular to) the axis of rotation 122 relative to the stator 110. For example, the LGS 360 can include a plurality of first magnets 362 and a plurality of second magnets 364 (also referred to herein as stator magnets) that are passive electromagnetic coils and are electrically coupled such that the total magnetic flux through the first magnets 362 and corresponding second magnets 364 is zero (e.g., the LGS 360 establishes a null magnetic flux condition). The magnets 362, 364 can be coupled to respective surfaces of the support structure 510 of the stator 110 that extend adjacent to the sidewall 516 of the rotor 120 between the rotor walls 512, 514. The magnets 362, 364 can be arranged along the stator axis.

[0070] As the rotor 120 rotates (e.g., due to magnets 352 coupled to the support structure of the stator 110 driving magnets 380 coupled to the sidewalls 516 of the rotor 120), the vanes 124, 126 generate a lift force 402. The LGS 360 receives the lift force via the first magnets 362 as the rotor 120 moves vertically along the rotor axis 122 and transfers the lift force to the stator housing 350, causing the VTOL platform 100 to lift. The LGS 360 stabilizes the position of the rotor 120 in a direction perpendicular to the rotor axis 122. For example, as a portion of the rotor 120 moves closer to or away from the stator 110, the LGS 360 will pull or push the rotor 120 back to an equilibrium position.

[0071] As the rotor 120 rotates and lifts due to lift forces 402 generated by the rotor vanes 124, 126, the magnets 372, 374 (also referred to herein as rotor magnets) coupled with respective rotor walls 512, 514 of the rotor 120 will output magnetic fields 410, 412 that apply respective forces on the magnets 362, 364. The magnets 372, 374 may be permanent magnets. The magnets 372, 374 may be arranged along a rotor axis that extends parallel to the axis of rotation of the rotor 120. In some embodiments, the magnets 372 and 362 may be aligned and the magnets 374 and 364 may be aligned. In some implementations, the rotor axis may be aligned with the stator axis such that the magnets 362, 364, 372, 374, respectively, are aligned.

[0072] The magnitude of the force associated with the magnetic field 410 will increase as the third magnet 372 moves closer to the plurality of first magnets 362, while the magnitude of the magnetic field 412 will decrease as the fourth magnet 374 moves away from the second magnet 364 (or vice versa). Movement of the rotor 120 along the rotor axis 122 can occur due to various phenomena during operation of the VTOL system 300, including, but not limited to, when rotation of the rotor 120 provides a lift force 402. In particular, as rotation of the rotor 120 provides a lift force 402, the rotor 120 will be driven vertically and will apply a net vertical force on the stator 110. In some embodiments, the first magnet 362 is electrically coupled to the second magnet 364 so that a current induced in the first magnet 362 due to the magnetic field 410 of increasing magnitude will be driven in the second magnet 364 (e.g., due to a null flux condition) to increase the magnitude of the magnetic field 412, which in turn will attract the fourth magnet 374 closer to the second magnet 364, thus maintaining the position of the rotor 120 relative to the stator 110 along the rotor axis 122. The repulsive forces associated with the stabilization implemented by the LGS 360 may be linear, which may facilitate the stabilization effect. System and method for improved guidance of rotor relative to stator - Patents.com

[0073] The present solution can allow for improved guidance of the rotor (e.g., rotor 120, stator 110) relative to the stator, such as to maintain the rotor in the proper position along an axis perpendicular to the axis of rotation 122 in response to the rotor moving closer to or away from the stator. In implementations in which the stator drives the rotor, the rotor may have a tendency to shift laterally during rotation (e.g., due to centrifugal and centripetal forces). As a result of such lateral shifts, the rotor and stator may become misaligned, which can cause the system to malfunction or even become inoperable. The implementations and embodiments described herein maintain the position of the rotor relative to the stator and prevent misalignment.

[0074] In some embodiments, the system includes a rotor and a stator. The rotor includes a sidewall and a rotor wall extending from an end of the sidewall. The rotor includes a rotor magnet coupled to the rotor wall. The stator includes a support structure adjacent to the rotor wall. The stator includes a first stator magnet and a second stator magnet. The stator magnet is coupled to a surface of the support structure proximate to the rotor magnet. The stator magnets may be electrically coupled to each other. The rotor magnet may induce a current in the first stator magnet corresponding to a magnetic force between the first stator magnet and the rotor magnet. The second stator magnet may receive a current from the first stator magnet and control a magnetic force between the second stator magnet and the rotor magnet.

[0075] As shown in Figures 4 and 6, the first magnets 362 (e.g., stator magnets) include a pair of first magnets 362, i.e., one first magnet 362a facing radially inward and one first magnet 362b facing radially outward. The second magnets 364 (e.g., stator magnets) similarly include a second magnet 364a facing inward and a second magnet 364b facing outward. In some embodiments, the first magnet 362a is electrically coupled to the first magnet 362b and the second magnet 364a is electrically coupled to the second magnet 364b, allowing for a null magnetic flux condition similar to that between the corresponding magnets 362, 364. In the equilibrium position, the magnets 362a, 364a are inwardly facing the corresponding magnets 372, 374 (e.g., rotor magnets) and the magnets 362b, 364b are outwardly facing the corresponding magnets 372, 374. If the rotor 120 is deflected toward the stator 110, the magnitude of the magnetic field 376 will change to counter the deflection. For example, as the rotor 120, and thus the magnets 372, 374, are deflected closer toward the rotor axis 122, the magnets 372, 374 will be deflected toward the magnets 362a, 364a and away from the magnets 362b, 364b. Thus, the distance between the magnets 372, 374 and the magnets 362a, 364a will increase. Thus, the magnitude of the first magnetic field 604a between the magnets 372 and 362a (e.g., the magnetic force of the first magnetic field 604a) will increase, while the magnitude of the second magnetic field 604b between the magnets 372 and 362b (e.g., the magnetic force of the second magnetic field 604b) will decrease (for the magnets 374 and the magnets 364a, 364b as well). As the magnitude of the magnetic field 604a increases, a current is induced in magnet 362a. Because magnets 362a, 362b are electrically coupled, a change in the induced current between magnets 362a, 362b will oppose the movement of magnet 372, thus moving rotor 120 back toward the equilibrium position. The induced current between magnets 362a, 362b, 364a, 364b may control the magnetic forces between magnets 372, 374 and magnets 362a, 362b, 364a, 364b, moving rotor 120 back toward the equilibrium position. C. Systems and methods for controlling a VTOL platform

[0076] 7-9, a flight controller 700 is shown in accordance with certain embodiments of the present disclosure. Flight controller 700 can incorporate features of flight controller 316 described with reference to FIG. 3, including generating commands to control the movement of a VTOL platform (e.g., VTOL platform 100 described with reference to FIGS. 1-3). For example, flight controller 700 can generate commands to induce thrust, yaw, pitch, and roll movements of the VTOL platform (e.g., thrust, moment of force about a yaw axis, moment of force about a platform pitch axis, moment of force about a platform roll axis). Systems and methods for drive control of a magnetically levitated rotor - Patents.com

[0077] The solution can be used to control the operation of the rotor 120, such as to cause the rotor 120 to generate lift, and to control the movement of the VTOL platform 100. In some embodiments, the flight controller 700 includes a flight dynamics model 702. The flight dynamics model 702 can calculate variables associated with the motion of the VTOL platform 100. For example, the flight dynamics model 702 can model the relationship between thrust, drag, and gravity acting on the VTOL platform 100. The flight dynamics model 702 can calculate lift corresponding to forces acting on the VTOL platform 100. The flight dynamics model 702 can include a function to calculate the thrust generated by each rotor blade (e.g., rotor blades 124, 126) based on the pitch angle of each rotor blade, and similarly, the flight dynamics model 702 can calculate the total thrust (e.g., the magnitude and direction of the total thrust) generated by all of the rotor blades based on the pitch angle of all of the rotor blades.

[0078] Flight controller 700 includes a flight dynamics controller 704. Flight dynamics controller 704 may include flight dynamics control laws that are used to generate control commands 708 to selectively control stator magnets 352 (e.g., via motor controller 1000 and stator system 1100 as described below) to generate individual magnetic fields that interact with rotor magnets 380 to rotate rotor 120 about rotation axis 122 and generate lift, and to control the motion of rotor vanes 124, 126, control the angle of rotor vanes 124, 126 about individual vane axes 440, etc., to cause VTOL platform 100 to perform the desired movement. In particular, flight dynamics controller 704 may generate vertical commands 708a, pitch commands 708b, yaw commands 708c, and roll commands 708d. The flight dynamics controller 704 can generate commands 708a, 708b, 708c, 708d by mapping the pitch angle of each rotor blade to a corresponding thrust generated by each rotor blade and mapping the thrust of each rotor blade to a resulting thrust (e.g., total thrust), yaw, pitch, and roll. The flight dynamics controller 704 can generate a command 708b for a moment of force about a yaw axis, a command 708c for a moment of force about a pitch axis, and a command 708d for a moment of force about a roll axis.

[0079] Flight dynamics controller 704 may generate vertical commands 708a to indicate a desired vertical movement of VTOL platform 100. For example, flight dynamics controller 704 may generate vertical commands 708a to indicate a desired lift to be achieved by VTOL platform 100.

[0080] The flight dynamics controller 704 can generate vertical commands 708a, perform collective rotor pitch control, and generate vertical acceleration such that the upper and lower rotor disks (e.g., an upper disk corresponding to rotor vane 124 and a lower disk corresponding to rotor vane 126 as shown in FIGS. 1-5 ) can equally increase or decrease thrust and counter yaw torque on the center of the VTOL platform 100. The flight dynamics controller 704 can generate vertical commands 708a and control thrust by collectively varying the pitch angle of each of the rotor vanes 124, 126 independently of the angular position of each rotor vane 124, 126 relative to the axis of rotation 122.

[0081] For example, as shown in Figure 8, the flight dynamics controller 704 can cause rotor vanes 800 (e.g., an implementation of rotor vane 124 or rotor vane 126 is shown) to have a pitch angle that provides a total thrust 804 parallel to the rotor axis 806 and an individual thrust 802 parallel to the rotor axis 806. Figure 8 illustrates each rotor vane 800 having the same pitch angle about a respective pitch axis, such as pitch axis 808, which is illustrated for one of the rotor vanes 800. System and method for independent pitch control of rotor blades of a rotor assembly to achieve directional control - Patents.com

[0082] This solution can be used to independently control the pitch of each rotor blade 800, enabling directional control of the VTOL platform (e.g., to control thrust, pitch, yaw, roll). For example, the flight dynamics controller 704 can perform cyclic rotor pitch control to control the pitch and roll of the VTOL platform 100. For example, as shown in FIG. 9, the flight dynamics controller 704 can cause a first rotor blade 900 to have a pitch corresponding to a greater thrust 902a than the remaining rotor blades 900, and in particular a lesser thrust 902b of the rotor blade 900 opposite the first rotor blade 900, resulting in a total thrust 904 having a horizontal component relative to the rotor axis 906, the horizontal component corresponding to the greater amount of thrust being generated on a first side of the rotor axis 906 on which the first rotor blade 900 is located. As will be described with reference to FIGS. 11-12 , the flight dynamics controller 704 can selectively cause each rotor vane 900 to achieve a desired pitch angle as a function of the position of the rotor vane 900 as the rotor vanes 900 rotate about the rotor axis 906. For example, to achieve the total thrust 904 illustrated in FIG. 9 for a desired duration, the flight dynamics controller 704 can generate commands to cause each rotor vane 900 to change its pitch angle through the various pitch angles shown in FIG. 9 as the rotor vanes 900 rotate about the rotor axis 906. As will be discussed further herein, the pitch angle of each rotor vane 900 can be controlled through various mechanisms, such as a motor coupled to the rotor vane 900 to rotate the rotor vane 900, or a rotor magnet coupled to the rotor vane 900 that can be driven by a stator magnet to rotate the rotor vane 900.

[0083] In some embodiments, flight dynamics controller 704 uses operator input 706 (which may be received from user interface 340 described with reference to FIG. 3) to generate control commands 708. For example, flight dynamics controller 704 may extract movement instructions indicated by the operator input and generate control commands 708. In some embodiments, flight dynamics controller 704 uses an autopilot to generate control commands 708. For example, the autopilot may provide target destinations, such as waypoints on a flight plan, to flight dynamics controller 704. The autopilot may provide multiple target destinations over time and define a path (e.g., a path through multiple waypoints) for VTOL platform 100 to follow.

[0084] The flight dynamics controller 704 can use the flight dynamics model 702 to generate control commands 708. For example, the flight dynamics controller 704 can use the flight dynamics model 702 to calculate the expected lift generated by the rotor 120, taking into account the pitch angle of the rotor blades. The flight dynamics controller 704 can execute flight dynamics control laws to translate commands indicative of a desired movement (e.g., commands extracted via operator input indicating a desired movement to a higher altitude at a particular vertical speed and airspeed) and use the flight dynamics model 702 to determine how to control the operation of the rotor blades 900 to generate the expected lift, yaw, pitch, and / or roll to achieve the desired movement.

[0085] The flight dynamics controller 704 outputs control commands 708 to a first network 710. The first network 710 can be a communication bus such as a Controller Area Network (CAN) bus, a Local Interconnect Network (LIN) bus, or a Padded Jittering Operation Network (PJON) network. The first network 710 can operate using a microcontroller stack network stack protocol.

[0086] 10, a motor controller 1000 is shown in accordance with one embodiment of the present disclosure. Motor controller 1000 can incorporate features of motor controller 318 described with reference to FIG. 3, including generating electronic instructions for controlling the movement of a stator of a VTOL platform (e.g., stator 110 and VTOL platform 100 described with reference to FIGS. 1-3).

[0087] The motor controller 1000 includes at least one motor control circuit 1002. For example, as shown in FIG. 10, the motor controller 1000 includes a first motor control circuit 1002a, a second motor control circuit 1002b, and a third motor control circuit 1002c. The at least one motor control circuit 1002 can receive control commands (e.g., control commands 708 as described with reference to FIG. 7) from a first network 710 and generate motor control signals 1004 to be output to the stator 110 via a second network 1006. The second network 1006 can be similar to the first network 710.

[0088] For example, as shown in FIG. 10, a first motor control circuit 1002a can output a first motor control signal 1004a, a second motor control circuit 1002b can output a second motor control signal 1004b, and a third motor control circuit 1002c can output a third motor control signal 1004c. In some embodiments, the number of motor control circuits 1002 corresponds to the number of phases of operation of the magnets of the stator 110, for example, the motor controller 1000 shown in FIG. 10 can be configured for three-phase operation. The motor controller 1000 can perform synchronous control of the stator 110 and can maintain a constant rotational speed of the rotor 120 by maintaining a source frequency of the motor control signals 1004, including for any load condition that is less than the rated maximum load.

[0089] As will be explained with further reference to Figure 11, at least one motor control circuit 1002 can generate motor control signals 1004 and cause specific waveforms to be applied to the electromagnets of the stator 110 to cause resultant movement of the magnets of the rotor 120. The motor controller 1000 includes a position encoder 1004 that receives a position signal 1010 from a third network 1008. The third network 1008 can be similar to the first network 710 and the second network 1006.

[0090] The position signal 1010 indicates the position of the magnets in the rotor 120, which the position encoder 1004 may convert into position data that at least one motor control circuit 1002 may use to determine which electromagnets in the stator 110 to control (and thus how to generate the waveforms to be applied to the electromagnets in the stator 110). System and method for dynamically triggering independent stator coils to control rotor rotational speed - Patents.com

[0091] Referring now to FIG. 11, a stator system 1100 is shown according to an embodiment of the present disclosure. The stator system 1100 can incorporate features of the stator 110 described with reference to FIGS. 1-5. The stator system 1100 includes at least one magnet controller 1102, such as magnet controllers 1102a, 1102b, and 1102c, each of which can implement one phase of a three-phase control scheme. The at least one magnet controller 1102 receives motor control signals 1004 from a second network 1006. For example, as depicted in FIG. 11, the first magnet controller 1102a receives the first motor control signal 1004a, the second magnet controller 1102b receives the second motor control signal 1004b, and the third magnet controller receives the third motor control signal 1004c. The stator system 1100 can be used to independently trigger electromagnets (e.g., stator coils) or groups of electromagnets of the stator 110 to output magnetic fields that can be used to rotate the rotor 110 at a desired rotation rate about the axis of rotation 122.

[0092] The stator system 1100 includes a plurality of electromagnets (e.g., electromagnetic coils). Figure 11 illustrates nine pairs of electromagnets 1110, 1112; 1114, 1116; 1118, 1120; 1122, 1124; 1126, 1128; 1130, 1132; 1134, 1136; 1138, 1140. Each pair of electromagnets can be provided within a corresponding stator rail 404 or 408, as shown in Figure 4. For example, electromagnets 1110, 1114, 1118, 1122, 1126, 1130, 1134, 1138, and 1142 can be provided in the stator rail 404, and electromagnets 1112, 1116, 1120, 1124, 1128, 1132, 1136, 1140, and 1144 can be provided in the stator rail 408. Although FIG. 11 illustrates a stator system 1100 including nine pairs of electromagnets controlled by three magnet controllers 1102a, 1102b, and 1102c, it should be understood that the stator system 1100 can include additional such modules of magnet controllers and electromagnets, for example, the stator system 1100 can include a circumferential ring of magnet controllers and electromagnets to enable the stator system 1100 to drive the rotor 120 from the entire circumference of the axis of rotation 122.

[0093] The first magnet controller 1102a can control the operation of the electromagnets 1110, 1112; 1122, 1124; and 1134, 1136. For example, the first magnet controller 1102a can transmit individual magnet control signals to each of the electromagnets 1110, 1112; 1122, 1124; and 1134, 1136. In some embodiments, the stator system 1100 includes a first actuator 1142 coupled to the electromagnet 1110 and a second actuator 1144 coupled to the electromagnet 1112. The first actuator 1142 and the second actuator 1144 can be implemented using switch circuits such as metal oxide semiconductor field effect transistors (MOSFETs). The stator system 1100 can include an actuator coupled to each electromagnet (as depicted in FIG. 11 ).

[0094] The at least one magnet controller 1102 can transmit a magnet control signal to control the operation of the electromagnet, such as by performing pulse width modulation (PWM) based on the received motor control signal 1004 and controlling at least one of a current or a voltage of the output magnet control signal based on the received motor control signal 1004. For example, by using PWM to increase the duty cycle of the control signal, the at least one magnet controller 1102 can cause the electromagnet to output a magnetic field having a relatively large magnetic field strength. The first magnet controller 1102a can transmit a first magnet control signal to cause the first actuator 1142 to drive a first electric signal through the electromagnet 1110 and output a corresponding first magnetic field to the electromagnet 1110, and transmit a second magnet control signal to cause the second actuator 1142 to drive a second electric signal through the electromagnet 1112 and output a corresponding second magnetic field. As the magnet controller 1102 controls the electromagnets (e.g., based on the magnetic force output from the electromagnets, based on the switching rate between the electromagnets outputting the magnetic field, etc.), the magnet controller 1102 can control the rotational speed of the rotor 120 relative to the stator 110. The switching rate can correspond to the rate of current being driven through the individual electromagnets or the rate of pulses output by at least one magnet controller 1102. The magnet controller 1102 may modify the switching rate by varying the rate at which the electromagnets are successively excited to generate the individual magnetic fields. The magnet controller 1102 may modify the magnetic force (e.g., based on the magnitude of the magnetic field strength of the individual magnetic fields) by increasing the current, increasing the duty cycle, etc. For example, the magnetic controller 1102 can increase the magnetic force to increase the rotational speed, increase the switching rate to increase the rotational speed, etc. By increasing the rotational speed, the rotor blades 124, 126 can generate more lift.In some embodiments, the magnet controller 1102a can control the electromagnets 1110, 1112; 1122, 1124; and 1134, 1136 at a first switching rate, and a second magnet controller 1102b can control the electromagnets 1114, 1116; 1126, 1128; and 1138, 1140 at a second switching rate that is different from the first switching rate.

[0095] The second magnet controller 1102b can control the operation of the electromagnets 1114, 1116; 1126, 1128; and 1138, 1140. For example, the second magnet controller 1102b can transmit individual magnet control signals to each of the electromagnets 1114, 1116; 1126, 1128; and 1138, 1140. The third magnet controller 1102c can control the operation of the electromagnets 1118, 1120; 1130, 1132; and 1142, 1144. For example, the third magnet controller 1102c can transmit individual magnet control signals to each of the electromagnets 1118, 1120; 1130, 1132; and 1142, 1144. As the magnet controller 1102 controls the electromagnets (e.g., based on the magnetic force output from the electromagnets, based on the switching rate between the electromagnets outputting a magnetic field, etc.), the magnet controller 1102 can control the rotational speed of the rotor 120 relative to the stator 110. The magnet controller 1102 may modify the switching rate by varying the rate at which the electromagnets are successively energized to generate separate magnetic fields. For example, the magnetic controller 1102 can increase the magnetic force to increase the rotational speed, increase the switching rate to increase the speed, etc. By increasing the speed, the rotor vanes 124, 126 can generate more lift. System and method for dynamically triggering independent stator coils to control rotor blade pitch - Patents.com

[0096] This solution can be used to independently trigger and control the operation of the electromagnets or groups of electromagnets of the stator system 1100, and thus control the pitch angle of the rotor blades 1164 by controlling the individual magnetic fields output by the electromagnets interacting with the rotor 120 and its magnets. For example, the magnet controller 1102 can output control signals having duty cycles, magnitudes, switching rates, or other parameters that selectively control the electromagnets of the stator system 1100 to output a desired magnetic field. In the configuration depicted in FIG. 11, the third magnet controller 1102c output a magnet control signal to cause the electromagnet 1120 to output an electromagnetic field 1152. The third magnet controller 1102c configures the electromagnetic field 1152 to repel the first rotor magnet 1160 (e.g., the lower rotor magnet of the two rotor magnets 380 interacting with the rotor blades 124 as shown in FIGS. 4-5), such as by adjusting the magnitude and polarity of the electromagnetic field 1152 to repel the corresponding lagging pole of the first rotor magnet 1160. The second magnet controller 1102b output a magnet control signal to cause the electromagnet 1128 to output an electromagnetic field 1154 configured to attract the first rotor magnet 1160, such as by adjusting the magnitude and polarity of the electromagnetic field 1154 to attract the corresponding leading pole of the first rotor magnet 1160. Thus, the stator system 1100 can drive the first rotor magnet 1160 at a desired speed along the direction 1170 by controlling the timing, magnitude, and / or polarity of the output magnetic field. Similarly, in the configuration depicted in FIG. 11, the first magnet controller 1102a outputs a magnet control signal to cause the electromagnet 1122 to output an electromagnetic field 1156 to repel the lagging pole of the second rotor magnet 1162, and the third magnet controller 1102c outputs a magnet control signal to cause the electromagnet 1130 to output an electromagnetic field 1158 to attract the leading pole of the second rotor magnet 1162, thus driving the second rotor magnet 1162 at a desired speed (which may differ from the speed at which the first rotor magnet 1160 is driven) along the direction 1170.

[0097] The rotor vanes 1164 are coupled to the first and second rotor magnets 1160, 1162 and can therefore be driven along a direction 1170 by movement of the first and second rotor magnets 1160, 1162. The stator system 1100 can therefore generate a desired lift force based on the speed at which the rotor vanes 1164 are driven, as well as the pitch angle at which the rotor vanes 1164 are oriented. As will be explained with further reference to FIG. 12 , the stator system 1100 can selectively retard and advance the first and second rotor magnets 1162, 1164 relative to one another (based on motor control signals 1004 received from the motor controller 1000) to adjust the pitch angle of the rotor vanes 1164 and enable lift, yaw, pitch, and roll control. Additionally, the stator system 1100 can maintain synchronicity with the rotor magnets 1160 , 1162 due to the combined attractive and repulsive forces applied to each pair of rotor magnets 1160 , 1162 .

[0098] As the rotor magnets 1160, 1162 are driven along the direction 1170, the at least one magnet controller 1102 can continue to use the received motor control signals 1004 to selectively activate electromagnets (including the depicted electromagnets 1110, 1112; 1114, 1116; 1118, 1120; 1122, 1124; 1126, 1128; 1130, 1132; 1134, 1136; 1138, 1140) and thus drive the rotor magnets 1160, 1162 throughout a full rotation around the stator system 1100.

[0099] The stator system 1100 includes a position encoder 1104. The position encoder 1104 can transmit position signals indicative of the position of each rotor blade (e.g., rotor blade 1164) via a third network 1008 to the position encoder 1004 of the motor controller 1000 such that the motor controller 1000 can use the position of each rotor blade to generate appropriate motor control signals 1004 to transmit to the stator system 1100. The position encoders 1004 can be distributed throughout the stator 110 in a manner similar to the configuration of the stator system 1100 shown in FIG. 11, which can be distributed throughout the stator 110 to enable full circumferential movement.

[0100] The position encoder 1104 may include a back EMF encoder that measures the back electromotive force (EMF) of each conducting electromagnet of the stator system 1100 and determines the position of the rotor magnets 1160, 1162, and therefore the rotor blades 1164, based on the measured back EMF. For example, in each motor control state, the position encoder 1104 may detect the back EMF of a distributed set of unpowered electromagnets of the stator system 1100, and the zero crossing of the voltage signal at each of the electromagnets may indicate the passage of the corresponding rotor magnet 1160, 1162 across the center of the electromagnet coil. The position encoder 1104 and / or the position encoder 1004 of the motor controller 1000 may use high resolution of rotor magnet position combined with a Kalman filter to generate high speed measurements and predictions of blade position / pitch for multiple blades to generate motor control signals 1004 with extremely precise timing. Systems and methods for variable blade pitch control

[0101] The present solution allows for a variety of solutions regarding independent variable blade pitch control of the pitch of the rotor blades (e.g., rotor blades 124, 126, 1164) and can allow for directional control of the VTOL platform 100 based on the individual and collective pitch (e.g., pitch angle) of the rotor blades. In implementations where the VTOL platform 100 is used as a vehicle, it may be desirable to move the VTOL platform 100 in different directions. The systems and methods described herein modify the pitch angle of the rotor blades to achieve an overall desired movement of the rotor, and therefore the VTOL platform 100.

[0102] In some embodiments, the system includes a rotor and a stator. The rotor includes a first rotor magnetic component aligned with one or more first stator coils. The rotor includes a second rotor magnetic component aligned with one or more second stator coils and adjacent to the first rotor magnetic component. The rotor includes an arm connecting the first rotor magnetic component and the second rotor magnetic component. A first arm end of the arm is coupled to the first rotor magnetic component and a second arm end of the arm is coupled to the second rotor magnetic component, together defining an arm angle that varies based on a first magnetic force applied to the first rotor magnetic component relative to a second magnetic force applied to the second rotor magnetic component. The rotor includes a first rotor blade fixed to the arm, the first rotor blade extending from the arm along a blade pitch axis. The first rotor blade defines a blade pitch angle relative to a blade pitch axis, the blade pitch angle corresponding to the arm angle. The stator includes a plurality of electromagnets configured to output at least a first magnetic field that drives the first rotor magnetic component and a second magnetic field that drives the second rotor magnetic component in response to a control signal. The control signal causes the first magnetic field to apply a first magnetic force on the first rotor magnetic component and the second magnetic field to apply a second magnetic force on the second magnetic component to control the blade pitch angle.

[0103] In some embodiments, the system includes a rotor and a stator that rotates the rotor about a rotation axis. The rotor includes an annular rotor base that defines a rotation axis and includes a plurality of rotor segments arranged around the stator. Each rotor segment includes a first rotor blade configured to be rotated about a blade pitch axis perpendicular to the rotation axis. The rotor segment includes a power receiving circuit. The rotor segment includes a motor that rotates using power received via the power receiving circuit to rotate the first rotor blade about the blade pitch axis. The rotor segment includes a motor controller that provides a motor signal to the motor in response to a control signal to rotate the first rotor blade about the blade pitch axis. The rotor segment includes a first wireless transceiver that receives the control signal and provides the control signal to the motor controller. The stator includes a second wireless transceiver that receives the control command and wirelessly transmits the control signal to the first wireless transceiver based on the control command. The stator includes a transmitting circuit that outputs a magnetic field that interacts with and provides electrical power to the receiving circuit.

[0104] Referring now to FIG. 12, a rotor control system 1200 is shown in accordance with an embodiment of the present disclosure. The rotor control system 1200 can enable frictionless blade pitch control and avoid difficulties that may arise from applying traditional pitch control approaches to the form factor achieved by the present solution. For example, existing systems typically use a swash plate and transfer directional control input to rotor pitch control. However, when applied to a larger radius rotating at a comparable rotation rate, the radial speed of the ring hub can be significantly greater, which can result in much larger friction losses, require more material to support fatigue strength cyclic loads resulting in a larger and more reinforced bearing solution, may require complex cooling methods, may result in a large amount of wear and additional maintenance, and may increase mechanical noise from the cyclic loads of the high speed bearings, which may mitigate the improved noise performance that may otherwise be achieved by an annular and electric motor configuration. The rotor control system 1200 can avoid these difficulties by using a controlled electromagnetic field across the air gap to drive the rotation of the rotor blades.

[0105] As shown in Fig. 12, the rotor control system 1200 includes a first (e.g., upper) magnet member 1202 supporting a first rotor magnet 1160 and a second (e.g., lower) magnet member 1204 supporting a second rotor magnet 1162. The first magnet member 1202 is coupled to the second magnet member 1204 by an arm 1206. A rotor vane (e.g., rotor vane 1164 described with reference to Fig. 11) is fixed to the arm 1206 such that a pitch angle 1210 of the rotor vane will vary as the arm 1206 rotates about a pitch axis (extending into the view shown in Fig. 12) perpendicular to the direction of movement 1208 of the magnet members 1202, 1204 (the direction of movement 1208 about the rotor axis (e.g., rotation axis 122 shown in Fig. 2).

[0106] The electromagnets in the upper stator rail 404 output a first electromagnetic field that applies a first force on the first motor magnet 1160, driving the first magnet member 1202 forward in the direction 1211. The first force will depend on the current driven through the electromagnets in the upper stator rail 404 (as described with reference to FIG. 11 ), as well as the spatial relationship between the upper stator rail 404 and the first motor magnet 1160. Similarly, the electromagnets in the lower stator rail 408 output a second electromagnetic field that applies a second force on the second rotor magnet 1162, driving the second magnet member 1204 forward in the direction 1212. Based on the initial positions of the magnet members 1202, 1204 and the magnitudes of the first and second forces, the magnet members 1202, 1204 will move to a position that results in a lag / lead distance 1218 between the magnet members 1202, 1204 (e.g., as measured from planes 1214, 1216 at the ends of the magnet members 1202, 1204). The lag / lead distance 1218 corresponds to the pitch angle 1210 as the arm 1206 is secured to the magnet members 1202, 1204 and will rotate as the lag / lead distance 1218 changes.

[0107] In various embodiments, the synchronizing force of the electromagnetic field that the stator (eg, stator 110, stator system 1100) applies to the rotor magnets 1160, 1162 can be approximately the same in magnitude as the maximum driving force of the stator. Thus, the rotor control system 1200 can be configured such that the stator and corresponding magnet members 1202, 1204 (e.g., rotor magnets 1160, 1162) are sized to generate a moving electromagnetic field across the air gap between the stator rails 404, 408 and the magnet members 1202, 1204 that is large enough that the minimum linear driving force of the stator on the individual magnet members 1202, 1204 during a phase is greater than the maximum combination of the following forces: peak blade attractive force on the rotor blade (e.g., rotor blade 1164), peak aerodynamic pitch moment reaction force about the rotor blade's ¼ chord, and maximum blade rotational inertia reaction force about the rotor blade's feathering axis at the maximum circular pitch setting at overspeed operation. In various such embodiments, the number of rotor blades can be selected based on such factors, as too few blades can lead to large magnet arrays mounted on each rotor blade hub, and too many rotor blades can lead to increased weight.

[0108] 13, a method 1300 for controlling operation of a VTOL platform is illustrated in accordance with certain embodiments of the present disclosure. Method 1300 can be implemented using various systems and components disclosed herein, including VTOL platform 100, VTOL system 300, flight controller 700, motor controller 1000, stator system 1100, and rotor control system 1200.

[0109] At 1305, a flight controller of the VTOL platform receives a movement command indicating a desired movement of the VTOL platform. The movement command can be received from a user interface configured to receive user input. The movement command can be received from an autopilot, for example, and the desired movement can be indicated to be a maneuver toward a waypoint of the flight plan.

[0110] At 1310, the flight controller generates one or more flight control commands based on the desired movement. The flight controller can use a flight dynamics model to generate the one or more flight control commands. For example, the flight dynamics controller can use the flight dynamics model to calculate the lift expected to be generated by the rotors of the VTOL platform, taking into account the pitch angle of the rotor blades of the VTOL platform. The flight dynamics controller can execute flight dynamics control laws to translate commands indicative of the desired movement (e.g., commands extracted via operator inputs indicative of a desired movement to a higher altitude at a particular vertical speed and air speed) and use the flight dynamics model to determine how to control the operation of the rotor blades to generate the lift, yaw, pitch, and / or roll expected to achieve the desired movement. In some embodiments, the flight controller generates one or more flight control commands to perform collective pitch control to generate lift for the VTOL platform. In some embodiments, the flight controller generates one or more flight control commands to perform cyclical pitch control to generate movement around the pitch and / or roll angles for the VTOL platform.

[0111] At 1315, the motor controller generates one or more motor control signals based on the flight control commands. The motor controller can generate the motor control signals and apply specific waveforms to the electromagnets of the stators of the VTOL platform to cause the electromagnets to output electromagnetic fields that are expected to cause the VTOL platform to perform the desired movement indicated by the movement command. In some embodiments, the motor controller generates the motor control signals and receives position signals indicative of the positions of the rotor blades of the rotor that the motor controller can use to individually control the operation of each rotor blade. The motor controller can generate the motor control signals and provide the motor control signals via one or more transceivers to control the operation of motors coupled to the rotor blades to rotate the rotor blades to a desired pitch angle.

[0112] At 1320, the stator drives the electromagnets of the stator based on the motor control signals. For example, the stator may use multiple magnet controllers to drive an electrical signal at a desired current and / or voltage to each electromagnet based on the motor control signals. The magnet controllers may perform PWM to drive the electrical signal through each electromagnet. In some embodiments, the magnet controllers operate switch circuits, such as MOSFET circuits, to selectively drive the electrical signal through each electromagnet based on the motor control signals. In some embodiments, the levitation / guiding magnets of the stator output a magnetic field that interacts with corresponding magnets of the rotor, causing the rotor to rotate.

[0113] At 1325, the electromagnets output an electromagnetic field corresponding to the electrical signal driven through each electromagnet. The rotor magnets are in turn moved by the electromagnetic field. In some embodiments, the rotor includes multiple rotor blades, each coupled to a pair of magnets via a rotor arm, such that selective movement of the magnets can vary the pitch angle of the rotor blades to provide a desired lift, yaw, pitch, and / or roll. In some embodiments, a motor on the rotor receives power via the electromagnetic field and uses the power to rotate individual rotor blades.

[0114] 14A and 14B, a rotor control system 1400 is shown according to certain embodiments of the present disclosure. Various elements and components shown in the embodiment depicted in FIG. 14A and 14B are similar to those elements and components described above with reference to FIG. 1-13. Accordingly, the same reference numbers are used to indicate similar features. The rotor control system 1400 is shown to include a vane controller 1402. The vane controller 1402 may be any element, device, component, script, etc. designed or implemented to control the movement of the rotor vanes 124, 126 and generate or achieve a desired movement. The vane controller 1402 may be similar in some aspects to the flight controller 700 described above. In some implementations, the vane controller 1402 may be embodied on or be a component of the flight controller 700. The vane controller 1402 may be configured to determine a desired pitch angle (e.g., vane pitch angle) for the rotor vanes 124, 126. The vane controller 1402 may determine the current position of the rotor vanes 124, 126 (e.g., based on a maintained ledger of commands, based on data from an encoder directly or indirectly coupled to the rotor vanes 124, 126, etc.). The vane controller 1402 may be configured to modify the pitch angle for the rotor vanes 124, 126 to achieve the desired pitch angle to effect the desired movement. As described in more detail below, the vane controller 1402 may be configured to generate motor control signals to a motor 1404 coupled to the rotor vanes 124, 126 to move the rotor vanes 124, 126 to the desired pitch angle.

[0115] The vane controller 1402 may be configured to generate a motor control signal to communicate to the motor 1404 and move the motor 1404. In some implementations, the vane controller 1402 may generate a pulse width modulated (PWM) signal for the motor 1404. The PWM signal may have a duty cycle that moves the motor a certain number of steps or angles of rotation. The vane controller 1402 may communicate the motor control signal to the motor through the stator 110. In some implementations, each rotor vane 124, 126 may correspond to a dedicated vane controller 1402. In other implementations, multiple rotor vanes 124, 126 may be controlled by a common vane controller 1402.

[0116] The blade controller 1402 is shown coupled to a transceiver 1406 of the stator 110, which is communicatively coupled to a transceiver 1408 of the rotor 120. The transceivers 1406, 1408 may be any device, component, element, circuit, etc. designed or implemented to wirelessly transmit data over a distance. The transceivers 1406, 1408 may be configured to communicate according to a variety of protocols. For example, the transceivers 1406, 1408 may be configured to communicate according to ZigBee (Registered Trademark) In yet other embodiments, the transceivers 1406, 1408 may be configured to communicate via a near field communication (NFC) protocol, a radio frequency identification (RFID) protocol, infrared (IR), or other free space optical communication transmission protocols, etc.

[0117] The stator 110 is shown to include a transmitting circuit 1410. The transmitting circuit 1410 may be any device, component, element, or circuit designed or implemented to transmit power over a distance. The rotor 120 may correspondingly include a receiving circuit 1412. The receiving circuit 1412 may be any device, component, element, or circuit designed or implemented to receive power over a distance. The transmitting circuit 1410 and the receiving circuit 1412 may be coupled to each other such that the transmitting circuit 1410 wirelessly transmits power to the receiving circuit 1412. In some implementations, the transmitting circuit 1410 and the receiving circuit 1412 may be coupled to each other via magneto-dynamic coupling. In other implementations, the transmitting circuit 1410 and the receiving circuit 1412 may be coupled to each other via inductive coupling (e.g., Qi or some other form of inductive coupling), resonant inductive coupling, laser coupling, etc. The power receiving circuit 1412 may be configured to transfer the power received from the power transmitting circuit 1410 to the transceiver 1408 and the motor 1404 of the rotor 120. Thus, the transceiver 1408 and the motor 1404 may be wirelessly powered. In some implementations, the power receiving circuit 1412 may include a rectifier circuit (e.g., via a set of diodes) to rectify the AC supply and drive a DC load as needed. In some implementations, the power receiving circuit 1412 may include a step-up or step-down circuit to step up (or step down) the voltage / current / power and drive a particular load or device (such as the motor 1404 or the transceiver 1408 of the rotor 120).

[0118] The transceiver 1408 of the rotor 120 may be configured to wirelessly receive motor control signals from the transceiver 1406 of the stator 110. The transceiver 1408 may be configured to provide the motor control signals to the motor 1404. The motor 1404 may be configured to drive the rotor vanes 124, 126. The motor 1404 may be or include various types of motors 1404 designed or implemented to control the position of the rotor vanes 124, 126. For example, the motor 1404 may be an air-core BM-BLDC motor. In other embodiments, the motor 1404 may be a stepper motor, a geared servo actuator (e.g., remote control (RC)) motor, an iron-core PM-BLDC, or other type of motor. The motor 1404 may be configured to receive motor control signals from the vane controller 1402 via the transceivers 1406, 1408. The rotor 120 may include an encoder coupled to the motor 1404 and / or the rotor vanes 124, 126 configured to detect a position of the motor 1404 and / or the rotor vanes 124, 126. The encoder may be configured to provide data corresponding to the position of the motor 1404 / rotor vanes 124, 126 to the vane controller 1402, which the vane controller 1402 uses as feedback to adjust the position of the rotor vanes 124, 126.

[0119] References to "or" may be interpreted as inclusive, such that any term described using "or" may indicate any of one, more than one, and all of the described terms. Reference to at least one of a linked list of terms may be interpreted as an inclusive "or," such as to indicate any of one, more than one, and all of the described terms. For example, reference to "at least one of 'A' and 'B'" can include "A" only, "B" only, and both "A" and "B." Such references used in conjunction with "comprising" or other non-limiting terms can include additional items.

[0120] The construction and arrangement of the systems and methods as shown in the various exemplary embodiments are illustrative only. Although only exemplary embodiments have been described in detail in this disclosure, many modifications are possible (e.g., variations in the size, dimensions, structure, shape, and proportions of the various elements, parameter values, mounting arrangements, use of materials, colors, orientations, etc.). For example, the positions of elements can be reversed or otherwise varied, and the nature or number of discrete elements or positions can be altered or varied. Thus, such modifications are intended to be included within the scope of this disclosure. The order or sequence of any process or method steps can be varied or rearranged according to alternative embodiments. Other substitutions, modifications, changes, and omissions can be made to the design, operating conditions, and arrangements of the exemplary embodiments without departing from the scope of this disclosure.

[0121] The present disclosure contemplates methods, systems, and program products on any machine-readable medium for performing various operations. The embodiments of the present disclosure may be implemented using existing computer processors, or by dedicated computer processors for suitable systems incorporated for this or another purpose, or by hard-wired systems. An embodiment within the scope of the present disclosure includes a program product comprising a machine-readable medium carrying or having machine-executable instructions or data structures stored thereon. Such machine-readable medium may be any available medium that can be accessed by a general-purpose or special-purpose computer or other machine with a processor. By way of example, such machine-readable medium may comprise RAM, ROM, EPROM, EEPROM, CD-ROM, or other optical disk storage, magnetic disk storage, or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of machine-executable instructions or data structures and that can be accessed by a general-purpose or special-purpose computer or other machine with a processor. Combinations of the above are also included within the scope of machine-readable media. Machine-executable instructions include, for example, instructions and data that cause a general-purpose computer, a special-purpose computer, a special-purpose processing machine to perform a certain function or group of functions.

[0122] Although the diagram shows a specific order of method steps, The order may differ from that depicted. Also, two or more steps may be performed in parallel or partially in parallel. Such variations will depend on the software and hardware systems chosen and are at the designer's option. All such variations fall within the scope of this disclosure. Similarly, software implementations may be performed using standard programming techniques using rule-based logic and other logic to perform the various connection, processing, comparison, and decision steps.

Claims

1. 1. A system comprising: The system includes a rotor and a stator; The rotor is a side wall and first and second rotor walls, the first rotor wall extending from a first end of the side wall and the second rotor wall extending from a second end of the side wall, the second rotor wall being spaced apart from the first rotor wall; at least one first rotor magnet coupled to the first rotor wall; at least one second rotor magnet coupled to the second rotor wall; Equipped with The stator includes: a support structure extending between the first rotor wall and the second rotor wall; at least one first stator magnet coupled to a first surface of the support structure, the at least one first stator magnet being in close proximity to the at least one first rotor magnet, the at least one first rotor magnet inducing a current in the at least one first stator magnet corresponding to a first distance between the at least one first stator magnet and the at least one first rotor magnet; at least one second stator magnet coupled to a second surface of the support structure opposite the first surface, the at least one second stator magnet being in close proximity to the at least one second rotor magnet, the at least one second stator magnet being electrically coupled to the at least one first stator magnet to receive the current from the at least one first stator magnet, the at least one second stator magnet outputting a magnetic field having a field strength based on the current from the at least one first stator magnet, the magnetic field interacting with the at least one second rotor magnet to control a second distance between the at least one second stator magnet and the at least one second rotor magnet; Equipped with the rotor further comprises rotor blades and a motor coupled to the rotor blades, the motor configured to wirelessly receive power and motor control signals from the stator, the motor control signals for controlling (i) a pitch angle of the rotor blades and (ii) a motion of the at least one first rotor magnet by applying a waveform to the at least one first stator magnet, thereby outputting a magnetic field strength to control the resultant motion of the at least one first rotor magnet.

2. 2. The system of claim 1, wherein the induced current increases as the first distance decreases, and the increasing induced current increases a magnetic field strength of the magnetic field of the at least one second stator magnet, thereby attracting the at least one second rotor magnet, thereby decreasing the second distance.

3. The system of claim 1 , wherein the at least one first rotor magnet and the at least one second rotor magnet are arranged along a rotor axis extending parallel to a rotational axis of the rotor.

4. 4. The system of claim 3, wherein the at least one first stator magnet and the at least one second stator magnet are arranged along a stator axis, and the rotor axis and stator axis are aligned.

5. 2. The system of claim 1, wherein the rotor further comprises at least one third rotor magnet coupled to the sidewall, and the stator further comprises one or more stator propulsion magnets, the rotor configured to be driven by the one or more propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet.

6. 2. The system of claim 1 , wherein the at least one first stator magnet comprises a first pair of electrically coupled stator magnets and the at least one second stator magnet comprises a second pair of electrically coupled stator magnets.

7. The system of claim 1 , wherein the at least one first stator magnet includes at least one electromagnetic coil and the at least one second stator magnet includes at least one second electromagnetic coil.

8. The system of claim 1 , wherein the rotor comprises a plurality of rotor sections, each rotor section including a respective sidewall, a first rotor magnet, and a second rotor magnet.

9. 2. The system of claim 1, wherein the magnetic field is a first magnetic field and the at least one first stator magnet outputs a second magnetic field corresponding to the induced current, the second magnetic field repelling the first rotor magnet as the first distance decreases.

10. 2. The system of claim 1, wherein the magnetic field is a first magnetic field and the at least one first stator magnet outputs a second magnetic field corresponding to the induced current, the second magnetic field attracting the first rotor magnet as the first distance increases.

11. 1. A system comprising: The system includes a rotor and a stator; The rotor is a side wall and a rotor wall extending from an end of the side wall; at least one rotor magnet coupled to the rotor wall; Equipped with The stator includes: a support structure adjacent to the rotor wall; a first stator magnet coupled to a surface of the support structure proximate to the at least one rotor magnet, the at least one rotor magnet inducing a current in the first stator magnet corresponding to a first magnetic force of a first magnetic field between the first stator magnet and the at least one rotor magnet; a second stator magnet coupled to a surface of the support structure, the second stator magnet being electrically coupled to the first stator magnet, the second stator magnet receiving the current from the first stator magnet to control a second magnetic force of a second magnetic field between the second stator magnet and the at least one rotor magnet; Equipped with the rotor further comprises rotor blades and a motor coupled to the rotor blades, the motor configured to wirelessly receive power and motor control signals from the stator, the motor control signals for controlling (i) a pitch angle of the rotor blades and (ii) a motion of the at least one first rotor magnet by applying a waveform to the at least one first stator magnet, thereby outputting a magnetic field strength to control the resultant motion of the at least one first rotor magnet.

12. 12. The system of claim 11, wherein a decrease in a first distance between the at least one rotor magnet and the first stator magnet increases the induced current, and an increase in the induced current increases a second magnetic force of a second magnetic field of the second stator magnet, thereby attracting the at least one rotor magnet, thereby decreasing a second distance between the second stator magnet and the at least one rotor magnet.

13. 12. The system of claim 11, wherein the at least one rotor magnet comprises at least one first rotor magnet and at least one second rotor magnet arranged along a rotor axis extending parallel to a rotational axis of the rotor.

14. 14. The system of claim 13, wherein the at least one first stator magnet and the at least one second stator magnet are arranged along a stator axis, and the rotor axis and stator axis are aligned.

15. 12. The system of claim 11, wherein the rotor further comprises at least one third rotor magnet coupled to the sidewall, and the stator further comprises one or more stator propulsion magnets, the rotor configured to be driven by the one or more propulsion magnets via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet.

16. 16. The system of claim 15, wherein the rotor is configured to be driven at rotational speed via a magnetic field of the one or more propulsion magnets interacting with the at least one third rotor magnet.

17. The system of claim 11 , wherein the at least one first stator magnet includes at least one electromagnetic coil and the at least one second stator magnet includes at least one second electromagnetic coil.

18. The system of claim 11 , wherein the rotor comprises a plurality of rotor sections, each rotor section including a respective sidewall.

19. 12. The system of claim 11, wherein the first magnetic field repels the at least one rotor magnet when a first distance between the first stator magnet and the at least one rotor magnet decreases.

20. 12. The system of claim 11, wherein the first magnetic field attracts the at least one rotor magnet as a first distance between the first stator magnet and the at least one rotor magnet increases.

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