A method of controlling an electric aircraft that has a plurality of actuators that includes a plurality of electric propulsion units includes: receiving force and moment commands for the electric aircraft; determining control commands for the plurality of actuators based on the desired force and moment commands by solving an optimization problem that comprises a noise minimization term for minimizing noise generated by the electric propulsion units; and controlling the plurality of actuators according to the determined control commands to meet the force and moment commands for the electric aircraft.

A method of controlling an electric aircraft that has a plurality of actuators that includes a plurality of electric propulsion units includes: receiving force and moment commands for the electric aircraft; determining control commands for the plurality of actuators based on the desired force and moment commands by solving an optimization problem that comprises a noise minimization term for minimizing noise generated by the electric propulsion units; and controlling the plurality of actuators according to the determined control commands to meet the force and moment commands for the electric aircraft.

An engine system for an aircraft includes a first gas turbine engine, a first core turning system, a second gas turbine engine, and a second core turning system. The engine system also includes a controller operable to shutdown the first gas turbine engine responsive to determining that the aircraft has landed and operate in the second gas turbine engine in a taxi mode while using the first core turning system to cool the first gas turbine engine. The controller is further operable to shutdown the second gas turbine engine and disable the first core turning system based on a power-down condition, restart the first gas turbine engine and use the second core turning system to cool the second gas turbine engine based on a restart condition, and complete cooling of the second gas turbine prior to restarting the second gas turbine engine.

An engine system for an aircraft includes a first gas turbine engine, a first core turning system, a second gas turbine engine, and a second core turning system. The engine system also includes a controller operable to shutdown the first gas turbine engine responsive to determining that the aircraft has landed and operate in the second gas turbine engine in a taxi mode while using the first core turning system to cool the first gas turbine engine. The controller is further operable to shutdown the second gas turbine engine and disable the first core turning system based on a power-down condition, restart the first gas turbine engine and use the second core turning system to cool the second gas turbine engine based on a restart condition, and complete cooling of the second gas turbine prior to restarting the second gas turbine engine.

Vehicle propulsion control systems, vehicles including the same, and associated methods. A method of regulating the operation of a plurality of engines of a vehicle includes, for each of the plurality of engines, receiving engine status information, assigning an engine health score, and assigning an engine status identifier. The method further includes comparing the operational fitness of two or more engines and modulating an operational configuration of one or more engines. In examples, a vehicle propulsion control system for controlling the operation of a plurality of engines of a vehicle includes a propulsion executive controller (PEC) and a plurality of electronic engine controllers (EECs) that control the operation of respective engines. The PEC is configured to generate and transmit an engine action signal for controlling the operation of the one or more respective engines. In some examples, an aircraft includes a plurality of engines and the vehicle propulsion control system.

Vehicle propulsion control systems, vehicles including the same, and associated methods. A method of regulating the operation of a plurality of engines of a vehicle includes, for each of the plurality of engines, receiving engine status information, assigning an engine health score, and assigning an engine status identifier. The method further includes comparing the operational fitness of two or more engines and modulating an operational configuration of one or more engines. In examples, a vehicle propulsion control system for controlling the operation of a plurality of engines of a vehicle includes a propulsion executive controller (PEC) and a plurality of electronic engine controllers (EECs) that control the operation of respective engines. The PEC is configured to generate and transmit an engine action signal for controlling the operation of the one or more respective engines. In some examples, an aircraft includes a plurality of engines and the vehicle propulsion control system.

Powertrains and related methods for an aerial vehicle may include a torque control system associated with the powertrain and configured to receive torque signals indicative of engine torque supplied by a mechanical power source or generator torque generated by an electric power generation device resisting the engine torque. The torque control system may be configured to generate, based in part on torque signals, a torque control signal configured to change the engine torque or change the generator torque. When torque signals indicate a relative reduction in the engine torque supplied by the mechanical power source, torque control signals may be configured to cause a relative reduction in the generator torque resisting the engine torque. When torque signals indicate a relative increase in the engine torque supplied by the mechanical power source, torque control signals may be configured to cause a relative increase in the generator torque resisting the engine torque.

Powertrains and related methods for an aerial vehicle may include a torque control system associated with the powertrain and configured to receive torque signals indicative of engine torque supplied by a mechanical power source or generator torque generated by an electric power generation device resisting the engine torque. The torque control system may be configured to generate, based in part on torque signals, a torque control signal configured to change the engine torque or change the generator torque. When torque signals indicate a relative reduction in the engine torque supplied by the mechanical power source, torque control signals may be configured to cause a relative reduction in the generator torque resisting the engine torque. When torque signals indicate a relative increase in the engine torque supplied by the mechanical power source, torque control signals may be configured to cause a relative increase in the generator torque resisting the engine torque.

Drones with propulsions systems supported in a housing are provided where the orientation of the housing is independent from the orientation of the propulsion system. Drones are provided where a propulsion system is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the propulsion system to assume substantially any position with a sphere. Drones are provided where a bladeless inner tube is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the inner tube to assume substantially any position within a sphere. Drone systems are provided with connectable unit drones. An unmanned land vehicle is provided having a wheel assembly that is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the wheel assembly to assume substantially any position with a sphere.

Drones with propulsions systems supported in a housing are provided where the orientation of the housing is independent from the orientation of the propulsion system. Drones are provided where a propulsion system is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the propulsion system to assume substantially any position with a sphere. Drones are provided where a bladeless inner tube is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the inner tube to assume substantially any position within a sphere. Drone systems are provided with connectable unit drones. An unmanned land vehicle is provided having a wheel assembly that is rotatable about a first axis and a second axis that is perpendicular to the first axis, permitting the wheel assembly to assume substantially any position with a sphere.