公开(公告)号：US20190329898A1

公开(公告)日：2019-10-31

申请号：US16008460

申请日：2018-06-14

Applicant: X Development LLC

Inventor： Kevin Jenkins ,  Damien Jourdan

IPC: B64D31/06 ,  G05D1/08 ,  G05D1/04

Abstract: A technique for controlling vertical propulsion units of an aerial vehicle includes determining whether an initial thrust command output vector results in a thrust command clipping of one of the vertical propulsion units. The vertical propulsion units are physically organized into propulsion rings including an inner ring and an outer ring. Torque associated with the initial thrust command output vector is transferred from each the vertical propulsion units in the outer ring to the vertical propulsion units in the inner ring when the thrust command clipping of one of the vertical propulsion units in the outer ring occurs. A revised thrust command output vector is determined after transferring the torque. The vertical propulsion units are driven according to the revised thrust command output vector.

公开(公告)号：US10513341B2

公开(公告)日：2019-12-24

申请号：US16008460

申请日：2018-06-14

Applicant: X Development LLC

Inventor： Kevin Jenkins ,  Damien Jourdan

IPC: B64D31/06 ,  G05D1/04 ,  G05D1/08 ,  B64C29/00 ,  B64C39/02

Abstract: A technique for controlling vertical propulsion units of an aerial vehicle includes determining whether an initial thrust command output vector results in a thrust command clipping of one of the vertical propulsion units. The vertical propulsion units are physically organized into propulsion rings including an inner ring and an outer ring. Torque associated with the initial thrust command output vector is transferred from each the vertical propulsion units in the outer ring to the vertical propulsion units in the inner ring when the thrust command clipping of one of the vertical propulsion units in the outer ring occurs. A revised thrust command output vector is determined after transferring the torque. The vertical propulsion units are driven according to the revised thrust command output vector.

公开(公告)号：US20190329883A1

公开(公告)日：2019-10-31

申请号：US16008464

申请日：2018-06-14

Applicant: X Development LLC

Inventor： Kevin Jenkins ,  Jacob Huffman ,  Nicolas Renold ,  Cameron Fitchener

IPC: B64C39/02 ,  B64C29/00

Abstract: An aerial vehicle includes an airframe; vertical propulsion units, and a controller. The vertical propulsion units are mounted to the airframe and include propellers oriented to provide vertical propulsion to the aerial vehicle. The vertical propulsion units are physically organized in quadrants on the airframe with each of the quadrants including two or more of the vertical propulsion units. The controller is coupled to the vertical propulsion units to control operation of the vertical propulsion units. At least two of the vertical propulsion units in each of the quadrants are adapted to counter-rotate from each other during flight of the aerial vehicle.