Holonomic Thruster Arrangement for Floating Mobile Object
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Solution Overview
Problem
Conventional holonomic floating mobile objects face challenges in controlling total thrust vectors with high accuracy due to nonlinear relationships between thruster thrust and total thrust vectors, caused by airflow interference from thrusters, which affects control performance and stability, especially under gravity.
Innovation Solution
A holonomic floating mobile object with six or more thrusters arranged in a fuselage coordinate system to span a six-dimensional space, ensuring that incoming and outgoing flows from each thruster are spaced apart from others and the fuselage structure, approximating a linear relationship between thruster thrust and total thrust vector, and directing primary thrust vectors mainly upward to compensate for low thrust efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If thrusters are arranged to generate thrust in multiple directions for holonomic control, then control performance is improved, but airflow interference between thrusters increases causing nonlinear relationships and reducing control accuracy
Solution Approach 1:
The patent divides the thruster system into spatially separated units with dedicated intake and exhaust zones. Each thruster is positioned and oriented such that its airflow path does not intersect with other thrusters, effectively segmenting the airflow fields to eliminate interference while maintaining holonomic control capability through six independently controlled thrusters.
Solution Approach 2:
The patent utilizes three-dimensional spatial arrangement of thrusters with different orientation angles (0°, 45°, 90°, 135°, 180°, 225°) to achieve holonomic control. By distributing thrusters across multiple spatial dimensions and orientations, the system generates thrust vectors in all six degrees of freedom without requiring thruster airflows to cross paths, thus eliminating nonlinear interference.
2Adaptability or versatility
If six or more thrusters are used for holonomic control spanning six-dimensional space, then control versatility is improved, but device complexity increases
Solution Approach 1:
Each of the six thrusters is designed with universal functionality to contribute to all six degrees of freedom (three translational and three rotational movements) through coordinated control. The thrusters are positioned and oriented such that any combination can generate the required thrust vector, making each component multi-functional and reducing the need for specialized mechanisms for each degree of freedom.
Solution Approach 2:
The patent combines multiple thruster functions into a unified control system where six independently controllable thrusters work together to achieve holonomic control. By merging the control of multiple thrusters under a single control architecture and utilizing their coordinated thrust vectors, the system achieves six-dimensional control capability without requiring separate mechanisms for each degree of freedom.
3Loss of energy
If thrusters are arranged to direct primary thrust upward to compensate for low thrust efficiency under gravity, then thrust efficiency is improved, but control flexibility may be reduced
Solution Approach 1:
The patent employs dynamic control of six independently adjustable thrusters, each capable of generating thrust in different directions. The system dynamically adjusts the thrust magnitude and direction of each individual thruster based on real-time control requirements, allowing the primary thrust to be directed upward for efficiency while simultaneously achieving lateral and rotational control through coordinated adjustment of all six thrusters.
Solution Approach 2:
The control system changes the operational parameters (thrust magnitude and direction angle) of each of the six thrusters independently to optimize performance. By varying these parameters dynamically, the system directs primary thrust upward to compensate for gravity and improve thrust efficiency, while maintaining full control flexibility through coordinated parameter adjustments across all thrusters.
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
This configuration allows for precise control of total thrust vectors and enhances control performance by minimizing airflow interference, maintaining stability even under gravity without relying on flotation, and reduces operational complexity by enabling intuitive operator control.
Implementation Method 1
six or more thrusters for generating thrust by changing the momentum of a fluid
Data Source
AI summary
A holonomic floating mobile object is operated under gravity and includes a main body and six or more thrusters for generating thrust by changing the momentum of a fluid. The six or more thrusters are controlled independently of one another such that the thrust is set at a desired value. The six or more thrusters are arranged in a fuselage coordinate system defined on the main body, such that the range in which a total thrust vector obtained by combining vectors of the thrust generated by all of the thrusters can be generated spans a six-dimensional space with three directions of translation and three directions of rotation. Incoming and outgoing flows to and from one of the thrusters are spaced apart from incoming and outgoing flows to and from the other thrusters and even apart from every other fuselage structure aside from that one thruster.