US 8,464,978 B2 · Counter-rotational inertial control of rotorcraft

Abstract

A rotorcraft with two counter-rotating rotors and method for inertially controlling the rotorcraft. The rotorcraft includes a hinged frame configured such that at least one inter-rotor angle of the two counter-rotating rotors is controlled by at least one actuated hinge of the hinged frame and the rotational axes of the two counter-rotating rotors are substantially collinear when the actuated hinge is in a fully open position. The sum of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the lift of the rotorcraft. The difference of the magnitudes of torque applied to the two counter-rotating rotors is varied to control the yaw of the rotorcraft. The at least one inter-rotor angle is varied using the at least one actuated hinge to control the pitch and/or roll of the rotorcraft.

Claims28

Dependent claims

A rotorcraft, comprising:

a first motor coupled to a first rotor, the first rotor being a right-hand rotor;
a second motor coupled to a second rotor, the second rotor being a left-hand rotor;
a hinged frame, a first motor mount configured to rigidly hold the first motor, and a second motor mount configured to rigidly hold the second motor, the hinged frame including at least one actuated hinge to vary at least one inter-rotor angle of the first and second rotors, the at least one actuated hinge configured such that the rotational axes of the first and second rotors are substantially collinear when the at least one actuated hinge is in a fully open position;
and
control circuitry coupled to the first motor, the second motor, and the at least one actuated hinge,
wherein a center of mass of the first rotor is located at substantially the same position as a center of mass of the second rotor.

3 more elements

A rotorcraft, comprising:

a first motor coupled to a first rotor, the first rotor being a right-hand rotor;
a second motor coupled to a second rotor concentric with the first rotor, the second rotor being a left-hand rotor;
a hinged frame, a first motor mount configured to rigidly hold the first motor, and a second motor mount configured to rigidly hold the second motor, the hinged frame including a first actuated hinge to vary an inter-rotor angle of the first rotor, and a second actuated hinge to vary an inter-rotor angle of the second rotor, the first and second actuated hinges configured such that the first and second rotors are substantially coplanar and the rotational axes of the first and second rotors are substantially collinear when the first and second actuated hinges are a fully open position;
and
control circuitry coupled to the first motor, the second motor, and the first and second actuated hinges.

2 more elements

Dependencies are inferred from the claim text.

Counter-rotational inertial control of rotorcraft

Life of this patent

Counter-rotational inertial control of rotorcraft

Life of this patent

Abstract

Claims28