Piezoelectric thrust vector control for dual-mode unmanned aerial vehicle

An unmanned aerial vehicle comprising:

• first and second wings;
• first and second propulsion units respectively attached to the first and second wings;
• a computer system configured to control operation of the first and second propulsion units;
• and
• a power source connected to provide electric power to the computer system,
• wherein each of the first and second propulsion units comprises:
• a ducted fan comprising:
• a fan rotor,
• a fan motor operatively coupled to the fan rotor for driving rotation of the fan rotor, and
• a duct having an inlet and an outlet, the fan rotor being disposed inside the duct;
• a flap pivotably coupled to the ducted fan proximate the duct outlet and pivotable to angular positions where air exiting the duct outlet is deflected by the flap;
• a piezoelectric actuator electrically connected to the power source, the piezoelectric actuator being configured to displace one end of the piezoelectric actuator by flexing in response to receipt of electric power from the power source;
• and
• a displacement-to-rotation conversion mechanism attached to the flap and to the one end of the piezoelectric actuator, the displacement-to-rotation conversion mechanism being configured to convert displacement of the one end of the piezoelectric actuator into rotation of the flap,
• wherein the computer system comprises an electronic thrust vector controller configured to control respective amounts of electric power supplied to the piezoelectric actuators of the first and second propulsion units.