High-speed omnidirectional underwater propulsion mechanism

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United States of America Patent

PATENT NO 12065227
APP PUB NO 20220388617A1
SERIAL NO

17531007

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Abstract

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Various examples of a high-speed omnidirectional fully-actuated underwater propulsion mechanism are described. In one example, a propulsion system includes two decoupled counter-rotating rotors centered on a main axis, with each rotor comprising a plurality of pivotable blades projecting radially from the main axis, a servo-swashplate actuation mechanism comprising a plurality of servos and a linkage assembly connected from the servos to the pivotable blades, a blade-axis re-enforcing flap adapter comprising a plurality of stationary flaps, with the blade-axis re-enforcing flap adapter being positioned in a region between the two decoupled counter-rotating rotors centered on the main axis, and a controller. The controller can be configured to calculate control parameters, compensate a first control parameter among the control parameters to reduce cross-coupling of an unwanted force generated by drag forces on the two decoupled counter-rotating rotors, and generate a control signal for each of the servos based on the control parameters.

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Patent Owner(s)

Patent OwnerAddress
VIRGINIA TECH INTELLECTUAL PROPERTIES INCVIRGINIA TECH HOLTZMAN ALUMNI CENTER 3RD FLOOR 901 PRICES FORK ROAD BLACKSBURG VA 24061

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Ben-Tzvi, Pinhas Blacksburg, US 14 168
Brizzolara, Stefano Blacksburg, US 8 14
Njaka, Taylor Blacksburg, US 1 0

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