Electrically powered rotorcraft capable of autorotative landing
A method of operating an electrically powered rotorcraft of the type having a fuselage and a set of N rotors driven by a set of electric motors and coupled to the fuselage, N≥4, under a failure condition preventing ordinary operation of the rotorcraft. The method includes entering a failsafe mode of operation wherein autorotation of at least four of the rotors is enabled. The method also includes using electrical braking associated with a selected group of the rotors to control yaw of the rotorcraft.
1. A method of operating an electrically powered rotorcraft having a fuselage and a set of N rotors driven by a set of electric motors and coupled to the fuselage, N≥4, as well as a system controller configured to control operation of the set of N rotors the method operating under a failure condition preventing ordinary operation of the rotorcraft and comprising:
entering, by the system controller, into a failsafe mode of operation wherein autorotation of at least four of the rotors is enabled;
controlling, by the system controller, (a) collective pitch of blades of each rotor in the set of rotors to support autorotation and (b) collective pitch of blades of each rotor in the set relative to collective pitch of blades of each other rotor in the set to affect pitch and roll of the rotorcraft; and
causing, by the system controller, use of electrical braking associated with a selected group of the rotors to control yaw of the rotorcraft.
2. A method according to claim 1 , wherein the electrical braking includes connecting a resistive load to each of the electric motors associated with the selected group of the rotors.
3. A method according to claim 1 , wherein the electrical braking includes configuring each of the electric motors associated with the selected group of the rotors in relation to a set of batteries to provide regenerative braking.
4. A method according to claim 1 , wherein:
the electrically powered rotorcraft has a primary battery system and a secondary battery system, the battery systems having a configuration, during ordinary operation, in which at least the primary battery system powers the rotorcraft; and
entering the failsafe mode of operation includes configuring the secondary battery system to provide power for control of the rotorcraft to the exclusion of the primary battery system.
5. A method according to claim 4 , wherein the electrically powered rotorcraft has independent primary and secondary control circuits and the secondary battery system is coupled exclusively to the secondary control circuit at least when the rotorcraft is in the failsafe mode of operation.
6. A method according to claim 1 , further comprising controlling the collective pitch of the blades of the rotors to maintain a rate of descent and forward motion.
7. A method according to claim 1 , further comprising controlling cyclic pitch variation of the blades of the rotors to maintain a rate of descent and forward motion.
8. A method according to claim 1 , wherein each of the rotors includes a set of blades, and each blade has a coupled electric actuator configured to control pitch of such blade.
9. A method according to claim 1 , wherein each of the electric motors are coupled to a corresponding rotor through a planetary gear system design that prevents impeding rotation of the corresponding rotor during power loss to such motor.
10. A method according to claim 1 , further comprising providing disk loading of the set of rotors that causes an autorotative descent rate that is less than 10 meters per second.
11. An electrically powered rotorcraft having a fuselage and a set of N rotors driven by a set of electric motors and coupled to the fuselage, N>4,
wherein a controller is configured to operate the rotorcraft under a failure condition preventing ordinary operation of the rotorcraft, by:
causing the rotorcraft to enter a failsafe mode of operation wherein autorotation of at least four of the rotors is enabled;
controlling, by the system controller, (a) collective pitch of blades of each rotor in the set of rotors to support autorotation and (b) collective pitch of blades of each rotor in the set relative to collective pitch of blades of each other rotor in the set to affect pitch and roll of the rotorcraft; and
causing the rotorcraft to use electrical braking associated with a selected group of the rotors to control yaw of the rotorcraft.
12. A rotorcraft according to claim 11 , further comprising configuring the rotorcraft for operation under the failure condition, by:
controlling collective pitch of blades of the rotors to affect pitch and roll of the rotorcraft.
13. A rotorcraft according to claim 11 , wherein causing the electrical braking includes connecting a resistive load to each of the electric motors associated with the selected group of the rotors.
14. A rotorcraft according to claim 11 , wherein causing the electrical braking includes configuring each of the electric motors associated with the selected group of the rotors in relation to a set of batteries to provide regenerative braking.
15. A rotorcraft according to claim 11 , wherein:
the rotorcraft has a primary battery system and a secondary battery system, the battery systems having a configuration, during ordinary operation, in which at least the primary battery system powers the rotorcraft; and
causing the rotorcraft to enter the failsafe mode of operation includes configuring the secondary battery system to provide power for control of the rotorcraft to the exclusion of the primary battery system.
16. A rotorcraft according to claim 15 , wherein the rotorcraft has independent primary and secondary control circuits and the secondary battery system is coupled exclusively to the secondary control circuit at least when the rotorcraft is in the failsafe mode of operation.
17. A rotorcraft according to claim 12 , further comprising configuring the rotorcraft for operation under the failure condition, by:
controlling the collective pitch of the blades of the rotors to maintain a rate of descent and forward motion.
18. A rotorcraft according to claim 12 , further comprising configuring the rotorcraft for operation under the failure condition, by:
controlling cyclic pitch variation of the blades of the rotors to maintain a rate of descent and forward motion.
19. A rotorcraft according to claim 11 , wherein each of the rotors includes a set of blades, and each blade has a coupled electric actuator configured to control pitch of such blade.
20. A rotorcraft according to claim 11 , wherein each of the electric motors are coupled to a corresponding rotor through a planetary gear system design that prevents impeding rotation of the corresponding rotor during power loss to such motor.
21. A rotorcraft according to claim 11 , further comprising configuring the rotorcraft for operation under the failure condition, by:
providing disk loading of the set of rotors that causes an autorotative descent rate that is less than 10 meters per second.
22. A method of operating an electrically powered rotorcraft having a fuselage and a set of N rotors driven by a set of electric motors and coupled to the fuselage, N≥4, as well as a system controller configured to control operation of the set of N rotors, the rotorcraft being devoid of means of propulsion by other than the set of rotors, each of the rotors having an axis of rotation that is fixed relative to the fuselage, the method operating under a failure condition preventing ordinary operation of the rotorcraft and comprising:
entering, by the system controller, into a failsafe mode of operation wherein autorotation of at least four of the rotors is enabled;
controlling, by the system controller, (a) collective pitch of blades of each rotor in the set of rotors to support autorotation and (b) collective pitch of blades of each rotor in the set relative to collective pitch of blades of each other rotor in the set to affect pitch and roll of the rotorcraft; and
causing, by the system controller, use of electrical braking associated with a selected group of the rotors to control yaw of the rotorcraft.