Thrust Vectoring Modules for Decoupled Payload and Trajectory Control
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Solution Overview
Problem
Existing fluid-borne vehicles, such as multi-rotor drones, suffer from the coupling of payload orientation with vehicle trajectory, leading to reduced agility, performance, and increased inertia, which impedes quick response to disturbances and high-speed movement.
Innovation Solution
Implementing thrust vectoring modules with independently controllable thrust producing means and rotating arms and mounting bars, allowing decoupling of vehicle orientation from trajectory through differential thrust and moment control, reducing the vehicle's moment of inertia and enabling faster response times.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a motorised gimbal is introduced to decouple payload orientation from vehicle trajectory, then payload aiming capability is improved, but vehicle weight increases
Solution Approach 1:
The patent extracts the gimbal mechanism from the vehicle system and replaces it with direct thrust vectoring control. By controlling the orientation of thrust producing means (rotors, jets) directly, the system achieves payload aiming capability without the additional weight of a motorised gimbal, while maintaining full control authority through differential thrust adjustment
2Stability of the object's composition
If a heavy gimbal is used to compensate for complete range of vehicle orientations, then payload orientation stability is improved, but vehicle agility is degraded
Solution Approach 1:
The patent replaces the mechanical gimbal system with a control system that uses differential thrust from multiple thrust producing means. This substitution eliminates the need for heavy mechanical gimbals while achieving the same payload orientation stability through electronic control and thrust vectoring, thereby preserving vehicle agility and speed
3Ease of operation
If the vehicle orientation is coupled to trajectory control, then control simplicity is improved, but response time to disturbances is degraded
Solution Approach 1:
The patent implements dynamic thrust vectoring control where the orientation of thrust producing means can be independently adjusted without requiring vehicle body reorientation. This dynamic control allows the vehicle to maintain stable orientation while quickly adjusting thrust vectors to counteract disturbances, achieving both control simplicity and fast response time through independent degree of freedom control
4Measurement precision
If multiple thrust producing means are used for thrust vectoring, then trajectory control precision is improved, but device complexity increases
Solution Approach 1:
The patent employs multiple thrust producing means that serve dual functions: generating propulsive thrust for vehicle movement and orienting thrust vectors for precise trajectory and payload orientation control. This multi-functionality allows the system to achieve high trajectory control precision without proportionally increasing device complexity, as the same components perform multiple control functions
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 solution enhances the vehicle's agility and performance by allowing independent control of payload orientation and trajectory, enabling faster response to disturbances and higher speeds while maintaining payload stability.
Implementation Method 1
impart forces on the fluid medium through thrust producing means such as propellers and fans (also known as rotors), which accelerate the medium as they are rotated relative to the host vehicle
Implementation Method 2
vectors the forces and moments generated by the rotors by varying the speed of rotation of each rotor independently (causing a change in the thrust and moment applied to the vehicle by each rotor)
Implementation Method 3
the vehicle changes its orientation, thereby changing the direction in which the net thrust from the rotors acts, and so controls its trajectory
Data Source
AI summary
Example implementations provide fluid-borne vehicles comprising a body and a plurality of thrust vectoring modules, each thrust vectoring module comprising a set of thrust producing means, wherein a first thrust producing means, mounted on a first mounting bar having a first mounting bar axis, is rotatable about the mounting bar axis and the mounting bar axis is rotatable about an arm having an arm axis that is nonparallel to the mounting bar axis; and a second thrust producing means, mounted on a second mounting bar having a second mounting bar axis, is rotatable about the second mounting bar axis and the second mounting bar axis is rotatable about the arm axis that is nonparallel to the second mounting bar axis.