Passive rotor control mechanism for micro air vehicles
First Claim
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1. An aerial vehicle comprising:
- a hub;
a motor;
a motor shaft connected with the motor and the hub;
a rotor, wherein the motor shaft transmits torque to the rotor, wherein the torque of the motor is pulsed to generate control moments for the aerial vehicle; and
a first propeller blade attached to the hub via a first hinge and a second propeller blade attached to the hub via a second hinge, wherein the first hinge and the second hinge are appropriately placed to help generate control moments.
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Abstract
Technology for achieving the behavior and benefits of traditional cyclic control in one rotor may be implemented with a simple under-actuated passive mechanism. An air vehicle employing the disclosed technology maintains lifting thrust by regulating the average rotor speed and generates control moments through coordinated pulsing of the motor torque. Rapid pulsing of the motor torque induces oscillations in propeller angle of attack, and so causes “cyclic control” without requiring the traditional auxiliary actuators and linkages. The MAV propulsion system is capable of using a minimum number of actuators in dual roles of thrust and moment objectives.
17 Citations
14 Claims
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1. An aerial vehicle comprising:
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a hub; a motor; a motor shaft connected with the motor and the hub; a rotor, wherein the motor shaft transmits torque to the rotor, wherein the torque of the motor is pulsed to generate control moments for the aerial vehicle; and a first propeller blade attached to the hub via a first hinge and a second propeller blade attached to the hub via a second hinge, wherein the first hinge and the second hinge are appropriately placed to help generate control moments. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification