Pivoting Thrust Subunits for Stable Multirotor Flight Control
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Solution Overview
Problem
Conventional aircraft with multiple rotors face reduced kinematic performance due to increased moments of inertia and thrust generation difficulties when trying to maintain attitude and stability, especially during disturbances like gusts.
Innovation Solution
A flight vehicle design featuring a main body, thrust generating units, and joints that allow each thrust generating subunit to pivot freely along a circle, with independent thrust generators to adjust torque and direction, eliminating the need for specialized actuators and simplifying construction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the size of the body of the aircraft is increased, then the thrust generating capability may be improved, but the kinematic performance is reduced because of increases in the moments of inertia of the body and the thrust generating device
Solution Approach 1:
The aircraft is divided into a main body and multiple independent thrust generating subunits (first, second, third, and fourth subunits). Each subunit can be independently controlled to generate thrust, allowing the system to achieve high thrust capability without requiring a single large thrust generating device that would increase moment of inertia and reduce kinematic performance.
2Force
If the size of the body of the aircraft is increased, then the thrust generating capability may be improved, but the flight stability is reduced when the attitude is disturbed by gusts
Solution Approach 1:
The thrust generating system is segmented into multiple independent subunits that can be individually controlled. When the aircraft attitude is disturbed by gusts, the control unit can adjust the thrust of specific subunits to counteract the disturbance and maintain flight stability, rather than relying on a single large thrust device that would be less responsive to attitude changes.
Solution Approach 2:
The joints associated with each thrust generating subunit permit free pivoting along a circumference of a circle, providing dynamic adaptability. This allows each subunit to automatically adjust its orientation in response to attitude disturbances, enhancing flight stability while maintaining thrust generating capability.
3Ease of operation
If conventional thrust generating devices are used to maintain flight attitude, then the thrust direction can be adjusted, but specialized actuators are required which increase device complexity
Solution Approach 1:
Each thrust generating subunit is equipped with a joint that permits free pivoting along a circumference of a circle centered on a pivot axis. This self-pivoting mechanism allows the thrust generating subunit to automatically adjust its orientation and thrust direction in response to control signals, eliminating the need for specialized actuators and reducing device complexity.
Data Source
AI summary
A flight vehicle includes a main body, a thrust generating unit, and one or more joints. The thrust generating unit includes one or more thrust generating subunits. Each joint is respectively associated with a corresponding thrust generating subunit. Each joint couples a corresponding thrust generating subunit to the main body and permits the associated thrust generating subunit to freely pivot relative to the main body. Each thrust generating subunit includes a plurality of thrust generators. Within each thrust generating subunit, one or more of the thrust generators is arranged to generate thrust that induces a first torque in one direction along a circumference of a circle centered on a first pivot axis, and other one or more of the thrust generators is arranged to generate thrust that induces a second torque in an opposite direction along the circumference of the circle centered on the first pivot axis.