Electrical helicopter has four inclined co-rotating lifting rotors with individual drives providing control over all axes, varies drive speeds selectively

摘要

All four rotors turn in the same direction. Their axes are inclined with respect to the vertical by a mean angle (beta m). Torques applied to the rotors in hovering flight without yaw, are compensated by torque resulting from components of thrust perpendicular to the vertical axis. Yaw control in one direction, is achieved by speed increase in opposite rotors having an angle of inclination greater than the mean (beta m), simultaneously reducing speeds of the other two rotors having an angle of inclination less than the mean. To turn the helicopter in the other direction, this procedure is reversed.