Gimbaled Coaxial Rotor Control for Precise UAV Maneuvering
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Solution Overview
Problem
Existing unmanned rotary wing vehicles face challenges in efficiently controlling flight dynamics, particularly in achieving precise pitch, roll, and yaw maneuvers using conventional propulsion and flight control methods.
Innovation Solution
A rotary wing vehicle equipped with a coaxial motor assembly and fixed pitch propellers, combined with a two-axis gimbal system controlled by servo motors, utilizes differential thrust and thrust vectoring to achieve precise flight control through independent control of propeller RPM and gimbal orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional propulsion and flight control methods are used, then the vehicle structure is simpler, but the precision of pitch, roll, and yaw control is insufficient
Solution Approach 1:
The propulsion system is segmented into multiple independent motor-propeller units, each capable of independent RPM control. This allows differential thrust control for precise yaw maneuvering while maintaining overall system modularity. The two-axis gimbal is further segmented into inner and outer gimbals that can be independently controlled to achieve precise pitch and roll adjustments.
Solution Approach 2:
The system employs dynamic control through independent RPM adjustment of each motor and real-time orientation adjustment of the two-axis gimbal. This dynamic capability enables the vehicle to achieve precise pitch, roll, and yaw maneuvers by continuously adapting motor speeds and gimbal angles rather than relying on fixed mechanical linkages.
2Adaptability or versatility
If fixed pitch propellers are used, then the manufacturing is simpler, but the adaptability for different flight maneuvers is reduced
Solution Approach 1:
The system compensates for fixed pitch propeller limitations through dynamic RPM control of each motor and two-axis gimbal orientation adjustment. By varying motor speeds differentially and changing gimbal angles, the vehicle can adapt fixed pitch propellers to various flight maneuver requirements, achieving versatility without complex variable pitch mechanisms.
3Ease of operation
If two-axis gimbal system is added for precise control, then the maneuverability is enhanced, but the device complexity increases
Solution Approach 1:
The gimbal system is segmented into inner and outer gimbals that can be independently controlled. This segmentation allows complex three-dimensional orientation changes to be broken down into simpler rotational movements of individual gimbal components, each actuated by dedicated motors, thereby managing complexity through modular independence.
Solution Approach 2:
The two-axis gimbal system serves multiple functions: it enables precise pitch control through inner gimbal rotation, roll control through outer gimbal rotation, and works in conjunction with differential thrust for yaw control. This multi-functionality consolidates what would otherwise require separate control mechanisms into a single integrated system.
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 system enables precise control of pitch, roll, and yaw, enhancing the vehicle's maneuverability and stability, allowing for complex flight maneuvers and autonomous operation.
Implementation Method 1
a first propeller motor connected to a first, upper propeller and a second, lower propeller motor connected to a second propeller
Implementation Method 2
The gimbal may comprise inner and outer gimbals rotatable about first and second perpendicular axes respectively
Data Source
AI summary
A rotary wing vehicle has a vehicle body. A gimbal assembly mounted to or within the body. A propeller assembly is mounted to the gimbal. The propeller assembly has first and second fixed pitch propellers. The gimbal assembly has a first gimbal rotatable about a first axis and a second gimbal rotatable about a second axis.