Tri-Rotor VTOL UAV Yaw Control Without Servo-Motors
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Solution Overview
Problem
Conventional tri-rotor UAVs require additional mechanical components like coaxial rotors or servo-motors to stabilize yaw, increasing complexity, weight, and cost, and are unable to achieve stable hovering with only three inputs.
Innovation Solution
A tri-rotor UAV system with three single propellers positioned on arms extending from a main body, where two propellers rotate in the same direction and one in the opposite direction, using PID controllers and command mixers to control rotational speeds for stability and maneuvering without additional mechanical components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If coaxial rotors or servo-motors are added to stabilize yaw, then yaw stability is improved, but device complexity increases
Solution Approach 1:
The patent removes the yaw stabilization function from dedicated mechanical components (coaxial rotors or servo-motors) and extracts it to be achieved through differential thrust control of the three main rotors. By controlling the rotational speeds of the three rotors differently, the system can stabilize yaw without additional mechanical parts.
Solution Approach 2:
The three rotors are designed to perform multiple functions: they provide lift, control roll, control pitch, and collectively control yaw stability. Instead of having dedicated components for each function, the same three rotors handle all stabilization and maneuvering tasks through differential thrust control.
2Reliability
If coaxial rotors or servo-motors are added to stabilize yaw, then yaw stability is improved, but weight increases
Solution Approach 1:
The patent removes the weight of dedicated yaw stabilization components (coaxial rotors or servo-motors) by extracting the yaw control function to be achieved through differential thrust control of the three main rotors.
Solution Approach 2:
The three rotors are designed to perform multiple functions including lift generation, roll control, pitch control, and yaw stabilization, eliminating the need for additional weight-bearing components.
3Reliability
If coaxial rotors or servo-motors are added to stabilize yaw, then yaw stability is improved, but manufacturing cost increases
Solution Approach 1:
The patent removes the need for expensive dedicated yaw stabilization components by extracting the yaw control function to be achieved through differential thrust control of the three main rotors.
Solution Approach 2:
The three rotors are designed to perform multiple functions including lift generation, roll control, pitch control, and yaw stabilization, eliminating the need for additional expensive mechanical components.
4Device complexity
If only three motors are used with fixed tilt angles, then device complexity is reduced, but hovering control becomes impossible
Solution Approach 1:
The patent makes the rotor tilt angles dynamic and adjustable, allowing the three rotors to change their orientation during flight. This dynamic adjustment enables the system to achieve hovering control and other maneuvers while maintaining simplicity with only three motors.
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 achieves stable flight and maneuverable lateral movement with minimal position-attitude cross control effects, reducing mechanical requirements and costs while eliminating the need for servo-motors, enabling hovering and lateral maneuvering.
Implementation Method 1
An unmanned aerial vehicle ('UAV') is an aircraft that manipulates aerodynamic forces to provide lift
Implementation Method 2
the rotors extending in the front portion rotate in a similar direction, while the rotor extending in the rear portion rotates in an opposite direction, such that adverse torque forces and gyroscopic moment forces are reduced or even cancelled
Implementation Method 3
adverse torque forces and gyroscopic moment forces are reduced or even cancelled
Data Source
AI summary
A vertical take-off and landing (“VTOL”) unmanned aerial vehicle (“UAV”) system and a method of controlling the same, wherein such method controls the stability and maneuverability of the VTOL UAV by manipulating the speeds of the propellers at each rotor. The VTOL UAV includes a body with three extending arms, wherein each of such arms is aligned and fixed at a certain angle from a central axis passing through the body. Each extending arm is equipped with a rotor with propellers. The rotors are sufficient to control the yaw of the UAV, and there is no need for coaxial rotors or an extra servo-motor in order to control the yaw of the UAV, thus reducing the cost and the weight of the UAV.