VTOL Thrust Vectoring Control for Continuous Rotor Tilt
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Solution Overview
Problem
Commercial VTOL aircraft have limited operational capabilities due to rotors that can only assume two discrete operational positions, leading to increased weight and reduced maneuverability.
Innovation Solution
A thrust vectoring algorithm and controller that allows tilting rotors to assume any angle within their servo range, enabling independent aircraft command actuation regardless of attitude, and allowing for control along longitudinal or lateral axes while maintaining a level airframe, without the need for movable flight surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If rotors are limited to two discrete operational positions, then the system structure is simpler, but operational capability is reduced
Solution Approach 1:
The rotor positions are changed from static discrete positions to dynamic continuous positioning. The control system enables rotors to assume any angle within their servo range, transforming the system from a static two-position configuration to a dynamic multi-position configuration, thereby resolving the contradiction between structural simplicity and operational versatility
Solution Approach 2:
The rotor position parameter is changed from discrete values (two fixed positions) to continuous values (any angle within servo range). This parameter transformation allows the system to achieve continuous thrust vectoring, enhancing operational capability while maintaining control through optimized algorithms
2Ease of operation
If rotors are limited to two discrete operational positions, then the control system is simpler, but maneuverability is reduced
Solution Approach 1:
Traditional mechanical flight control surfaces are replaced with thrust vectoring control. The control system directly manipulates rotor thrust vectors to achieve aircraft maneuvering, eliminating the need for complex mechanical control linkages and enabling superior maneuverability through electronic control algorithms
Solution Approach 2:
The control system transitions from static two-position control to dynamic continuous control, allowing real-time adjustment of rotor angles and thrust vectors. This dynamic control enables smooth, continuous maneuvering across the full range of motion, significantly improving ease of operation
3Weight of moving object
If discrete rotor positions are used, then the aircraft structure can be simpler, but weight is increased
Solution Approach 1:
Traditional flight control surfaces (ailerons, elevators, rudders) and their associated mechanical linkages, hinges, and actuators are extracted and removed from the aircraft structure. The control function is transferred entirely to the thrust vectoring system, reducing structural weight while maintaining or improving control capability
Solution Approach 2:
Mechanical flight control systems are replaced with an electronic thrust vectoring control system. This substitution eliminates heavy mechanical components such as control surface actuators, linkages, and hydraulic systems, thereby reducing aircraft weight while achieving equivalent or superior control authority
Data Source
AI summary
A method for controlling a thrust vectored aircraft includes mapping aircraft control commands with a flight controller through a number of transformations including: transforming, with the flight controller, a command space into an inner-mixing space, which comprises of at least a pair of two orthogonal force components located at each thrusting motor; transforming, with the flight controller, the inner-mixing space into an outer-mixing space, which comprises a thrust angle and thrust magnitude pair located at each thrusting motor; and generating output commands with the flight controller.