Embodiments are directed to a rotor-based remote flying vehicle platform such as a quadrotor, and to methods for controlling intra-flight dynamics of such rotor-based remote flying vehicles. In one case, a rotor-based remote flying vehicle platform is provided that includes a central frame. The central frame has a control center that is configured to control motors mounted to the vehicle platform. The central frame also has a communication port configured to interface with functionality modules. The communication port is communicably connected to the control center. The rotor-based remote flying vehicle platform further includes at least a first arm that is connected to the central frame and extends outward, as well as a first motor mounted to the first arm, where the first motor is in communication with the control center. The method for controlling intra-flight dynamics may be performed on such a rotor-based remote flying vehicle.

A method and apparatus provide for automatically controlling the flight of a tiltrotor aircraft while the aircraft is in flight that is at least partially rotor-borne. The method and apparatus provide for automatically tilting nacelles in response to a longitudinal-velocity control signal so as to produce a longitudinal thrust-vector component for controlling longitudinal velocity of the aircraft. Simultaneously, cyclic swashplate controls are automatically actuated so as to maintain the fuselage in a desired pitch attitude. The method and apparatus also provide for automatically actuating the cyclic swashplate controls for each rotor in response to a lateral-velocity control signal so as to produce a lateral thrust-vector component for controlling lateral velocity of the aircraft. Simultaneously, collective swashplate controls for each rotor are automatically actuated so as to maintain the fuselage in a desired roll attitude. The method and apparatus provide for yaw control through differential longitudinal thrust produced by tilting the nacelles.

A method and apparatus provide for automatically controlling the flight of a tiltrotor aircraft while the aircraft is in flight that is at least partially rotor-borne. The method and apparatus provide for automatically tilting nacelles in response to a longitudinal-velocity control signal so as to produce a longitudinal thrust-vector component for controlling longitudinal velocity of the aircraft. Simultaneously, cyclic swashplate controls are automatically actuated so as to maintain the fuselage in a desired pitch attitude. The method and apparatus also provide for automatically actuating the cyclic swashplate controls for each rotor in response to a lateral-velocity control signal so as to produce a lateral thrust-vector component for controlling lateral velocity of the aircraft. Simultaneously, collective swashplate controls for each rotor are automatically actuated so as to maintain the fuselage in a desired roll attitude. The method and apparatus provide for yaw control through differential longitudinal thrust produced by tilting the nacelles.

A flight control computer (FCC) may implement automatic rotor tilt control by gathering or receiving, as inputs, airspeed or a commanded airspeed for the aircraft, acceleration or a commanded acceleration for the aircraft, pitch attitude of the aircraft and pilot pitch bias commands for the aircraft, a rotor tilt angle, and/or the like. The FCC calculates, from the airspeed, the commanded airspeed, the acceleration, the commanded acceleration, the pitch attitude, the pilot pitch bias commands, and/or the like, a commanded rotor tilt angle for the aircraft. From the aircraft rotor tilt angle and the commanded rotor tilt angle, the FCC calculates a rotor tilt angle error for the aircraft, and from the rotor tilt angle error, calculates a rotor tilt rate command for the aircraft. The FCC outputs the resulting rotor tilt rate command to (an) aircraft flight control element actuator(s) to tilt the aircraft rotor.

There is disclosed a rotorcraft comprising: an array of lift devices supported at a structure; a first group of the lift devices configured to generate thrust in a first common direction; a second group of the lift devices being tilted or tiltable relative to the first group of devices so as to generate thrust in at least a second common direction; and a flight control system.

There is disclosed a rotorcraft comprising: an array of lift devices supported at a structure; a first group of the lift devices configured to generate thrust in a first common direction; a second group of the lift devices being tilted or tiltable relative to the first group of devices so as to generate thrust in at least a second common direction; and a flight control system.

There is disclosed in one example a tiltrotor system for a vertical takeoff and landing (VTOL) aircraft, including: a rotor pylon, wherein the rotor pylon is rotatable, via a rotation maneuver, between a substantially horizontal orientation and a substantially vertical orientation; a linear actuator disposed to actuate the rotation maneuver; and a mechanical guide disposed to maintain a center of gravity along a substantially linear axis throughout the rotation maneuver.

A multi-modal vehicle includes a frame, a rotor pivotally mounted to the frame, the rotor including a first position and a second position circumferentially spaced from the first position, and a motor coupled to the rotor and configured to rotate the rotor, wherein, when the rotor is disposed in the first position, the rotor is configured to generate lift when actuated by the motor, wherein, when the rotor is disposed in the second position, the rotor is configured to engage a surface to transport the vehicle when actuated by the motor.

A multi-modal vehicle includes a frame, a rotor pivotally mounted to the frame, the rotor including a first position and a second position circumferentially spaced from the first position, and a motor coupled to the rotor and configured to rotate the rotor, wherein, when the rotor is disposed in the first position, the rotor is configured to generate lift when actuated by the motor, wherein, when the rotor is disposed in the second position, the rotor is configured to engage a surface to transport the vehicle when actuated by the motor.

Variations of an aerial vehicle, all with capability of vertical take-off and landing (VTOL), with one variation comprising at least three engines, at least three rotors, a flight control system, battery, and propulsion system. The second VTOL aerial vehicle variation being a hybrid with engine-powered rotors and electric-powered rotors configured to work with a flight control system and battery. The first and second variations having the option of a genset system which recharges the battery. The third VTOL aerial vehicle variation being all-electric-powered rotors configured to work with a flight control system and a genset system which powers the rotors and/or recharges the battery.