Counter-Rotating Propeller Layout for UAV Yaw Torque Stability

The patent applies asymmetry by implementing counter-rotation of propellers in opposite quadrants. Specifically, propellers in the first and third quadrants rotate in one direction while propellers in the second and fourth quadrants rotate in the opposite direction. This asymmetric rotation configuration creates balanced torque that cancels out yaw torque instability, especially when a single propulsion unit fails, thereby improving flight stability without requiring excessive structural reinforcement.

The patent implements counterweight by using counter-rotating propellers to generate opposing torques that balance each other. When one propulsion unit fails, the counter-rotating propellers in opposite quadrants create compensating torques that offset the imbalance, effectively acting as a counterweight system to maintain rotational equilibrium and reduce yaw torque instability on the airframe.

The patent applies universality by designing a control system that simultaneously performs multiple functions: it manages normal thrust distribution across all propulsion units, monitors for failure conditions, automatically detects which propeller has failed, and dynamically adjusts thrust allocation to compensate for failures. This multi-functional approach consolidates what would otherwise require separate systems into a unified control architecture, reducing overall system complexity despite the counter-rotation configuration.

The control system implements self-service by automatically detecting propeller failures and reconfiguring thrust distribution without external intervention. The system continuously monitors propulsion unit performance, identifies failures through sensor data analysis, and autonomously adjusts the thrust commands to maintain stable flight, thereby serving itself and reducing the need for complex manual control systems or additional mechanical redundancy.