Angled Multicopter Rotors for Debris Clearance and Hover Control
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Solution Overview
Problem
Multicopter aircraft with horizontally oriented rotors pose a risk to occupants and equipment due to debris thrown by spinning rotors, and existing flight control systems lack efficient methods to manage actuator usage for optimal control and power consumption.
Innovation Solution
A multicopter aircraft design featuring angled rotors, where each rotor is mounted at a non-zero angle to avoid intersecting critical structures and to generate lateral force components, combined with a flight control system that includes an online optimizer to dynamically determine the optimal mix of actuators and parameters for efficient force and moment generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If rotors are horizontally oriented to provide lift, then lift generation is effective, but debris from spinning rotors poses a risk to occupants and equipment
Solution Approach 1:
The patent applies asymmetry by mounting rotors at non-zero angles (e.g., 30-60 degrees) relative to the horizontal plane, breaking the conventional horizontal symmetry. This angular orientation causes debris to be thrown at trajectories that clear the fuselage and critical structures, eliminating the debris impact risk while preserving lift generation capability
Solution Approach 2:
The patent transitions from the conventional horizontal (2D) rotor orientation to a three-dimensional angular orientation. By tilting rotors upward at specific angles, the debris ejection path is redirected into a different spatial dimension that avoids intersecting the fuselage, thus resolving the harmful effect without compromising the primary lift function
2Reliability
If more actuators are used to provide redundancy and control authority, then control reliability improves, but power consumption and system complexity increase
Solution Approach 1:
The patent implements dynamic actuator management through an online optimizer that continuously adjusts the operational state of actuators based on real-time flight conditions. The system dynamically transitions actuators between active, standby, and inactive states, ensuring sufficient control authority and redundancy while minimizing power consumption by keeping fewer actuators actively powered when full capacity is not needed
Solution Approach 2:
The patent changes the operational parameters of actuators by implementing variable power states rather than binary on/off control. The online optimizer adjusts actuator parameters (power level, engagement state) dynamically, allowing the system to maintain reliability through parameter optimization rather than simply increasing the number of always-active actuators, thus reducing overall power consumption
3Ease of operation
If rotors are angled to generate lateral force components, then control authority during hover and vertical operations is enhanced, but rotor mounting complexity increases
Solution Approach 1:
The patent employs asymmetric angular mounting of rotors relative to the fuselage centerline, with each rotor positioned at a specific non-zero angle optimized for generating lateral force components. This asymmetric configuration provides enhanced control authority for hover and vertical operations while the angle values are carefully selected to balance performance gains against mounting complexity
Solution Approach 2:
The patent applies local quality by assigning different angular orientations to different rotors based on their specific positions and functional requirements. Each rotor's angle is locally optimized to maximize its contribution to lateral force generation and control authority, rather than using a uniform mounting approach, thereby achieving superior control performance with manageable complexity
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The angled rotor design reduces the risk of debris impact on critical areas and enhances control authority, particularly during hover and vertical operations, while the flight control system optimizes actuator usage for efficient power management and redundancy.
Implementation Method 1
A plurality of lift fans or other rotors may be disposed in a configuration around a fuselage... each rotor mounted at a non-zero angle... to provide lift, stability, and control
Implementation Method 2
Rotors may spin at a high rate and could pose a risk to an occupant of a manned multicopter and/or to equipment housed in a fuselage... debris thrown by spinning rotors
Data Source
AI summary
A multicopter with angled rotors includes a fuselage and a plurality of rotors. At least some of the rotors are disposed on opposite sides of the fuselage and each is oriented at a corresponding angle to a substantially horizontal plane of the aircraft, the angle being of a magnitude such that a plane of rotation of the rotor does not intersect at least a critical portion of the fuselage.