CA2562570A1 - Rotary wing vehicle - Google Patents

Rotary wing vehicle Download PDF

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Publication number
CA2562570A1
CA2562570A1 CA002562570A CA2562570A CA2562570A1 CA 2562570 A1 CA2562570 A1 CA 2562570A1 CA 002562570 A CA002562570 A CA 002562570A CA 2562570 A CA2562570 A CA 2562570A CA 2562570 A1 CA2562570 A1 CA 2562570A1
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CA
Canada
Prior art keywords
rotor
rotary wing
wing aircraft
lie
rotation
Prior art date
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Granted
Application number
CA002562570A
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French (fr)
Other versions
CA2562570C (en
Inventor
Paul E. Arlton
David J. Arlton
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Individual
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Individual
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Application filed by Individual filed Critical Individual
Publication of CA2562570A1 publication Critical patent/CA2562570A1/en
Application granted granted Critical
Publication of CA2562570C publication Critical patent/CA2562570C/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/17—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/40—Modular UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/50—Foldable or collapsible UAVs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B64U30/16—Variable or detachable wings, e.g. wings with adjustable sweep movable along the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/21—Rotary wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/32—Supply or distribution of electrical power generated by fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/20—Launching, take-off or landing arrangements for releasing or capturing UAVs in flight by another aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/60—Transport or storage specially adapted for UAVs by wearable objects, e.g. garments or helmets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/80—Transport or storage specially adapted for UAVs by vehicles
    • B64U80/84—Waterborne vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/11—Propulsion using internal combustion piston engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U80/00—Transport or storage specially adapted for UAVs
    • B64U80/70—Transport or storage specially adapted for UAVs in containers

Abstract

A rotary wing vehicle includes a body structure having an elongated tubular backbone or core, and a counter-rotating coaxial rotor system having rotors with each rotor having a separate motor to drive the rotors about a common rotor axis of rotation. The rotor system is used to move the rotary wing vehicle in directional flight.

Claims (51)

1. A rotary wing aircraft comprising an airframe, a first rotor system on the airframe, the first rotor system including first rotor blades supported by a first rotor shaft for rotation about an axis of rotation, a first pitch controller, and a first motor, and a second rotor system on the airframe, the second rotor system including second rotor blades supported by a second rotor shaft for rotation about the axis of rotation, a second pitch controller, and a second motor, and wherein the first rotor shaft and second rotor shaft are positioned to lie in axially spaced apart relation to one another along the axis of rotation.
2. The rotary wing aircraft of claim 1, wherein the first rotor blades are positioned to lie in spaced-apart relation to the second rotor blades and the first and second motors are positioned to lie in spaced-apart relation to one another to locate the first and second rotor blades therebetween.
3. The rotary wing aircraft of claim 2, further comprising a first module and a second module, wherein the first rotor system is positioned to lie in spaced-apart relation to the second rotor system and the first module and the second module are positioned to lie in spaced-apart relation to one another to locate the first and second rotor systems therebetween.
4. The rotary wing aircraft of claim 2, wherein the first pitch controller and the second pitch controller comprise swashplate means and servo means, and are positioned to lie adjacent to one another in spaced-apart relation between the first and second rotor blades.
5. The rotary wing aircraft of claim 2, wherein the first rotor blades are positioned to lie in spaced-apart relation to the second rotor blades and the first pitch controller and second pitch controller are positioned to lie in spaced apart relation to one another to locate the first and second rotor blades therebetween.
6. The rotary wing aircraft of claim 1, wherein the first motor is positioned to lie in spaced-apart relation to the second motor and the first and second rotor blades are positioned to lie in spaced-apart relation to one another to locate the first and second motors therebetween.
7. The rotary wing aircraft of claim 6, further comprising servo actuators and linkages, wherein the first pitch controller and second pitch controller share a common set of servos and linkages and are positioned to lie in spaced-apart relation to one another between the first rotor blades and the second rotor blades.
8. The rotary wing aircraft of claim 6, further comprising a first module and a second module, wherein the first rotor system is positioned to lie in spaced-apart relation to the second rotor system and the first module and the second module are positioned to lie in spaced-apart relation to one another to locate the first and second rotor systems therebetween.
9. The rotary wing aircraft of claim 6, further comprising a non-rotating structural backbone connecting the first rotor system and the second rotor system, and a power module coupled to the non-rotating structural backbone, wherein energy from the power module on one side of a rotor plane of rotation is conducted to the motor on the opposite side of the same rotor plane of rotation through the structural backbone.
10. The rotary wing aircraft of claim 6, wherein the first rotor blades are positioned to lie in spaced-apart relation to the second rotor blades and the first pitch controller and second pitch controller are positioned to lie in spaced-apart relation to one another to locate the first and second rotor blades therebetween.
11. The rotary wing aircraft of claim 1, wherein the first rotor system is positioned to lie in spaced-apart relation to the second rotor system and each motor is positioned to lie in spaced-apart relation to its associated rotor blades to locate their associated pitch controllers therebetween.
12. A rotary wing aircraft comprising first and second counter-rotating rotors rotatable about a common rotor axis, each rotor having variable pitch rotor blades, a flight control system having at least one electronic signal processing device for processing flight control commands, electronic command signal means for controlling a servo actuator connected to both rotors, and at least two swashplates linked to the servo actuator, the servo actuator being arranged to control cyclic blade pitch of both rotors in unison in response to a signal provided by the electronic command signal means to the servo actuator.
13. The rotary wing aircraft of claim 12, wherein the means for controlling a servo actuator connected to both rotors includes a command signal controller, and each swashplate includes a first and a second pitch controller connected to the first and second rotor systems and are positioned to lie axially between the first and second rotor systems.
14. The rotary wing aircraft of claim 13, further comprising a second servo actuator, and wherein the command signal controller is connected to the first and second servos to generate electronic signals to the first and second servo actuators to vary roll and pitch cyclic of both rotor systems.
15. The rotary wing aircraft of claim 13, further comprising a third servo actuator, and wherein the command signal controller is connected to the first, second, and third servos to generate electronic signals to the first, second, and third servo actuators to vary cyclic and collective blade pitch of both rotor systems.
16. The rotary wing aircraft of claim 13, further comprising a first and second motor coupled to the first and second rotors, respectively, and wherein the command signal controller is connected to the first and second motors to generate electronic torque control signals to at least one of the first motor and second motor to vary the speed of at least one of the first and second rotors to control at least one of total thrust and total torque of the combined rotor system.
17. The rotary wing aircraft of claim 12, further comprising a non-rotating structural backbone, wherein a cross section of the non-rotating structural backbone includes open areas arranged to extend along a length of the aircraft such that energy from a power module on one side of a rotor plane of rotation is conducted to a motor on an opposite side of the same rotor plane of rotation through the structural backbone.
18. The rotary wing aircraft of claim 17, further comprising a first and a second module, and wherein the first power module and the second rotor system are positioned to lie in spaced-apart relation to one another to locate the first rotor system therebetween, and the first module and the second power module are positioned to lie in spaced apart relation to one another to locate the first power module and the second rotor system therebetween.
19. The rotary wing aircraft of claim 12, wherein the first and second swashplates are operably connected by swashplate linkages to move in unison.
20. The rotary wing aircraft of claim 19, wherein the first and second swashplates are actuated by at most two servo actuators which tilt the first and second swashplates in unison.
21. The rotary wing aircraft of claim 19, wherein the first and second swashplates are actuated by at most three servo actuators and the three servo actuators control cyclic blade pitch by tilting the first and second swashplates in unison and collective blade pitch by translating the first and second swashplates in unison parallel to the rotor axis.
22. The rotary wing aircraft of claim 12, further comprising electronic control signals for varying the speed of rotation of the first and second rotors, and wherein altitude control of the rotary wing aircraft is accomplished by varying the speed of the first and second rotors substantially in unison.
23. The rotary wing aircraft of claim 22, further comprising electronic control signals for varying the speed of rotation of the first and second rotors, and wherein rotational control of the rotary wing aircraft about the parallel rotor axes is accomplished by varying the speed of the first and second rotors in opposition to each other.
24. The rotary wing aircraft of claim 22, wherein the axis of rotation is substantially vertical during flight.
25. The rotary wing aircraft of claim 22, wherein the axis of rotation is substantially horizontal during flight.
26. A rotary wing aircraft comprising a fixed-wing flight structure supportive of horizontal flight in a horizontal flight mode, and a rotary-wing flight structure supportive of vertical flight in a vertical flight mode, and wherein the aircraft is reconfigurable in flight from one flight mode to the other flight mode by jettisoning the structure associated with the alternate flight mode.
27. The rotary wing aircraft of claim 26, wherein the aircraft begins flight in a fixed-wing horizontal flight mode and converts to a rotary-wing vertical flight mode by jettisoning the fixed-wing flight structure in flight.
28. A kit for building a rotary wing aircraft comprising a structural backbone, at least one propulsion module including a motor-rotor system having rotor blades, a control module including an electronic control system, a power module with a store of usable energy, and a payload module for carrying payloads.
29. A method of controlling the angular orientation of a fixed-wing aircraft having counter-rotating rotor blades, the method comprising varying cyclic blade pitch of the rotor blades to control aircraft pitch and yaw, and varying the rotational speed of the rotor blades to produce differential torque between the rotors to control aircraft roll.
30. A method of accurately deploying a sensor to a remote location, the method comprising a first step of deploying an unmanned aerial vehicle in a high-speed horizontal flight configuration to reach a destination location, a second step of jettisoning the horizontal flight structure of the unmanned aerial vehicle and reconfiguring the unmanned aerial vehicle for substantially vertical hovering flight, and a third step of flying in a vertical orientation accurately to deploy the sensor.
31. A method for increasing power and energy density in UAV's in flight, the method comprising the steps of (1) equipping the UAV with power packs such as electrical batteries, (2) drawing power from one or more power packs in flight, (3) jettisoning a power pack in flight as the stored power in the pack is depleted, and (4) repeating steps 2-3 as necessary until the end of the flight.
32. The method of claim 31, the method further comprising the step of jettisoning portions of the UAV structure in flight.
33. A rotary wing aircraft comprising an airframe, a first rotor system on the airframe, the first rotor system including first rotor blades supported for rotation in a first rotor plane about an axis of rotation and a first motor, and a second rotor system on the airframe, the second rotor system including second rotor blades supported for rotation in a second rotor plane about the axis of rotation and a second motor, and wherein the first motor is positioned to lie on an inflow side of the second rotor system and the second motor is positioned to lie on an outflow side of the first rotor system.
34. The rotary wing aircraft of claim 33, wherein at least one rotor system includes variable pitch rotor blades controlled by a blade pitch controller.
35. The rotary wing aircraft of claim 34, wherein the at least one rotor system rotates in a rotor plane of rotation and the blade pitch controller and motor are positioned to lie in spaced apart relation to one another to locate the rotor plane of rotation therebetween.
36. The rotary wing aircraft of claim 33, wherein the first rotor system includes variable pitch rotor blades controlled by a first pitch controller, the second rotor system includes variable pitch rotor blades controlled by a second pitch controller, the first motor and first pitch controller are positioned to lie in spaced-apart relation to one another to locate the first rotor plane of rotation therebetween, and the second motor and second pitch controller are positioned to lie in spaced-apart relation to one another to locate the second rotor plane of rotation therebetween.
37. The rotary wing aircraft of claim 36, wherein the first pitch controller and second pitch controller comprise swashplate means and servo means connected to the first and second rotor systems and are positioned to lie axially between the first and second rotor systems.
38. The rotary wing aircraft of claim 37, wherein the first pitch controller and second pitch controller share a common set of servo actuators and linkages.
39. The rotary wing aircraft of claim 36, wherein the first motor and second motor are positioned to lie axially between the first and second rotors.
40. The rotary wing aircraft of claim 36, further comprising a non-rotating structural backbone connecting the first rotor system and second rotor system, and wherein electronic control signals are conducted from one side of a rotor plane of rotation to an opposite side of the same rotor plane of rotation through the non-rotating structural backbone.
41. The rotary wing aircraft of claim 36, further comprising a non-rotating structural backbone connecting the first rotor system and second rotor system, and wherein energy from a power module on one side of a rotor plane of rotation is conducted to a motor on an opposite side of the same rotor plane of rotation through the structural backbone.
42. A rotary wing aircraft comprising an airframe having a non-rotating structural backbone extending along a longitudinal aircraft axis, and first and second rotor systems connected to the airframe and supported for rotation about the longitudinal axis by the structural backbone, and wherein the structural backbone passes through at least one rotor system and connects the rotor inflow side to the rotor outflow side of the rotor system.
43. The rotary wing aircraft of claim 42, further comprising a central buss, and wherein the central buss is configured to conduct power and control signals from an inflow side to an outflow side of the rotor through the structural backbone.
44. The rotary wing aircraft of claim 43, further comprising electrical system components appended to the structural backbone, and wherein power and control signals to and between the electrical system components are conducted on the central buss through the structural backbone.
45. The rotary wing aircraft of claim 44, further comprising a modular aircraft component having an aperture receptive to the structural backbone, and wherein electrical connectors for connecting electrical components to the central buss are recessed within the structural backbone so the modular aircraft component is slideable along the length of the backbone without damaging an electrical connector during one of assembly and disassembly of the aircraft.
46. The rotary wing aircraft of claim 42, wherein the structural backbone is generally circular in cross section.
47. The rotary wing aircraft of claim 42, wherein the structural backbone is generally cruciform in cross section.
48. The rotary wing aircraft of claims 42, wherein the structural backbone is made of a fiber reinforced plastic material such as epoxy bonded carbon fiber.
49. On a UAV having an airframe, a propulsion system, a control system and a payload, means for withstanding the launch loads produced when deploying the UAV from a launch tube with a charge actuated device (CAD) comprising a structural backbone extending along a longitudinal axis of the UAV and supporting the airframe, propulsion system, control system, and payload.
50. A method of munition damage assessment, the method comprising the steps of:

equipping a munition with an electrically powered rotary wing UAV
having a sensor such as a video camera and a telemetry system, delivering the UAV to the vicinity of a target site concurrently with the munition, commanding the UAV to hover in the vicinity of the target site to observe damage caused by the munition, and transmitting information from the UAV to a remote location through a telemetry link.
51. The method of claim 50, the method further comprising the steps of attaching the UAV to the munition and delivering the UAV to the vicinity of the target site by the munition and releasing the UAV from the munition before it reaches the target site allowing the UAV to orbit in the vicinity of the target site and observe damage caused by the munition.
CA2562570A 2004-04-14 2005-04-14 Rotary wing vehicle Active CA2562570C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US56208104P 2004-04-14 2004-04-14
US60/562,081 2004-04-14
PCT/US2005/012560 WO2005099415A2 (en) 2004-04-14 2005-04-14 Rotary wing vehicle

Publications (2)

Publication Number Publication Date
CA2562570A1 true CA2562570A1 (en) 2005-10-27
CA2562570C CA2562570C (en) 2011-06-07

Family

ID=35150456

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2562570A Active CA2562570C (en) 2004-04-14 2005-04-14 Rotary wing vehicle

Country Status (11)

Country Link
US (3) US7789341B2 (en)
EP (2) EP1761430B1 (en)
JP (2) JP4499155B2 (en)
CN (2) CN101421157B (en)
BR (1) BRPI0509873B1 (en)
CA (1) CA2562570C (en)
ES (1) ES2504167T3 (en)
IL (4) IL178592A0 (en)
MX (1) MXPA06011961A (en)
PL (1) PL1761430T3 (en)
WO (1) WO2005099415A2 (en)

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CN102173310A (en) 2011-09-07
IL212280A0 (en) 2011-06-30
WO2005099415A3 (en) 2009-01-15
IL280675B (en) 2022-04-01
US20120025012A1 (en) 2012-02-02
JP5586983B2 (en) 2014-09-10
CA2562570C (en) 2011-06-07
US8042763B2 (en) 2011-10-25

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