Vertical take-off and landing (VTOL) winged air vehicle with complementary angled rotors
Systems, devices, and methods for an aircraft having a fuselage; a wing extending from both sides of the fuselage; a first pair of motors disposed at a first end of the wing; and a second pair of motors disposed at a second end of the wing; where each motor is angled to provide a component of thrust by a propeller attached thereto that for a desired aircraft movement applies a resulting torque additive to the resulting torque created by rotating the propellers.
1 . A vertical takeoff and landing (VTOL) aircraft comprising:
four motors, wherein two of the four motors are angled away from each other within a first plane generally perpendicular to a plane of a wing, and wherein the other two of the four motors are angled away from each other within a second plane generally perpendicular to the plane of the wing.
2 . The VTOL aircraft of claim 1 , wherein each motor is angled between 5 and 35 degrees from a longitudinal axis of the aircraft.
3 . The VTOL aircraft of claim 1 , wherein each motor is angled from a longitudinal axis of the aircraft based on at least one of: a desired lateral force component needed to provide a sufficient yaw in vertical flight for the VTOL aircraft and a desired lateral force component needed to provide a sufficient roll in horizontal flight for the VTOL aircraft.
4 . The VTOL aircraft of claim 1 , wherein each motor is angled from a longitudinal axis of the aircraft based on a desired lateral force component needed to provide a sufficient yaw in vertical flight for the VTOL aircraft.
5 . The VTOL aircraft of claim 1 , wherein each motor is angled from a longitudinal axis of the aircraft based on a desired lateral force component needed to provide a sufficient roll in horizontal flight for the VTOL aircraft.
6 . The VTOL aircraft of claim 1 , further comprising:
a vertical stabilizer, wherein the vertical stabilizer is configured to provide stabilization in horizontal flight, and wherein the vertical stabilizer is configured to maintain the VTOL aircraft in a vertical orientation prior to take-off or after landing.
7 . The VTOL aircraft of claim 1 , further comprising:
a processor having addressable memory, the processor configured to:
control thrust to each of the four motors.
8 . The VTOL aircraft of claim 7 , wherein the processor is further configured to:
provide substantially equal thrust to the at least four motors to achieve a vertical take-off.
9 . The VTOL aircraft of claim 7 , wherein the processor is further configured to:
increase thrust to at least one motor and decrease thrust to at least one motor to produce a net moment about a center of mass of the VTOL aircraft and cause the aircraft to pitch forward.
10 . The VTOL aircraft of claim 7 , wherein the processor is further configured to:
increase thrust to the at least one motor and increase thrust to at least one motor to achieve horizontal flight, wherein the wing of the VTOL aircraft provides primary lift in horizontal flight.
11 . The VTOL aircraft of claim 7 , wherein the processor is further configured to:
increase thrust to at least two motors and decrease thrust to at least two motors in horizontal flight to pitch the VTOL aircraft down.
12 . The VTOL aircraft of claim 7 , wherein the processor is further configured to:
decrease thrust to at least two motors and increase thrust to at least two motors in horizontal flight to pitch the VTOL aircraft up.
13 . The VTOL aircraft of claim 7 , wherein the processor is further configured to:
provide a lateral component of thrust for each motor based on an angle of each motor relative to the wing.
14 . The VTOL aircraft of claim 1 , wherein a propeller is attached to each motor, and wherein each propeller is disposed distal from the wing.
15 . The VTOL aircraft of claim 14 , wherein each propeller is in a clean air region away from turbulent air coming off the wing during horizontal flight.
16 . The VTOL aircraft of claim 1 further comprising:
one or more sensors disposed in a fuselage of the VTOL aircraft, the one or more sensors in communication with the processor.
17 . The VTOL aircraft of claim 16 , wherein the one or more sensors capture data during horizontal flight.
18 . The VTOL aircraft of claim 17 , wherein a sensor of the one or more sensors is a camera.
19 . The VTOL aircraft of claim 17 , wherein a sensor of the one or more sensors is fixed relative to the fuselage of the VTOL aircraft.
20 . The VTOL aircraft of claim 17 , wherein a sensor of the one or more sensors is pivotable relative to the fuselage of the VTOL aircraft.