Abstract:
A cycloidal rotor system having airfoil blades travelling along a generally non-circular, elongated and, in most embodiments, dynamically variable orbit. Such non-circular orbit provides a greater period in each revolution and an optimized relative wind along the trajectory for each blade to efficiently maximise lift when orbits are elongated horizontally, or thrust/propulsion when orbits are vertically elongated. Most embodiments, in addition to having the computer system controlled actuators to dynamically vary the blade trajectory and the angle of attack, can also have the computer system controlled actuators for dynamically varying the spatial orientation of the blades; enabling their slanting motion upward/downward and/or backsweep/forwardsweep positioning to produce and precisely control a variety of aerodynamic effects suited for providing optimum performance for various operating regimes, counter wind gusts and enable the craft to move sideways. Thus a rotor is provided, which when used in a VTOL rotorcraft, will require lower engine power to match or exceed the operating performance of VTOL rotorcrafts equipped with prior art cycloidal rotors, this rotor also offers increased efficiency and decreased required power when used for generating the propulsive force for various vehicles or used as a fan.

Description:
BACKGROUND OF THE INVENTION 
       [0001]    1. Field of the Invention 
         [0002]    This invention relates to a cycloidal rotor and particularly to a cycloidal rotor that enables the blades to follow a non-circular orbit. 
         [0003]    2. Description of the Prior Art 
         [0004]    Various types of VTOL aircraft have been proposed, with helicopters being the most common type. However, helicopters have speed limitations, high power/fuel requirements compared to lift or thrust generated, limited range, are noisy, and require a tail rotor which takes up engine power while producing neither lift nor thrust, but rather a sideways force which the pilot must counteract. More recently, the potential of aircraft employing cycloidal rotor is increasingly being recognized. Most aircraft have differing requirements in terms of lift and thrust depending on the stage of flight. For VTOL and STOL aircraft in particular it is desirable to have a high lift to thrust ratio for takeoff. Cycloidal rotors have the ability to change the lift to thrust ratio by changing the angle of attack of the blades as they rotate. U.S. Pat. Nos. 5,265,827 and 6,932,296 describe examples of prior art incorporating a cycloidal rotor. 
         [0005]    Known cycloidal rotors have the blades rotating in a circular orbit. Accordingly, the period in each revolution during which the blade can produce the desired aerodynamic effect and the kinds of aerodynamic effects that can be produced, are limited by the circular geometry of the orbit and only two available degrees of movement; rotational around the central axis and rotational blade pitch. 
         [0006]    Cycloidal rotors can be used for various other applications including providing propulsion for various types of vehicles, aircraft, watercraft, or for moving air, as for a fan. It can be seen that it would be desirable to be able to provide a higher ratio of either lift or thrust under different flight conditions, and/or to provide increased efficiency for lift and thrust generation in flight, propulsion, and other applications. Furthermore, increased manoeuverability, ability to move sideways as well as a greater ability to adjust assuring a lessened susceptibility to gusts of wind and other changes in the operating environment are desirable. 
       SUMMARY OF THE INVENTION 
       [0007]    An object of the present invention is to provide a cycloidal rotor with improved efficiency resulting in ability to generate substantially greater lift/thrust, or propulsive force per unit of power used. 
         [0008]    Another object of the invention is to provide a rotor that allows the ability to shape the blade orbit/trajectory to maximize or minimize the ratio of lift to thrust when required. 
         [0009]    Another object of the invention is to provide a rotor system that allows differential and variable orbital positioning and spatial orientation of the blades for flexibility in the produced aerodynamic effects suited for various operating regimes and conditions. 
         [0010]    Another object of the invention is to increase the efficiency of a cycloidal rotor for various applications. 
         [0011]    With the present invention, the lift or thrust capabilities of a cycloidal rotor can be significantly improved. Providing a cycloidal rotor wherein the orbit of the blades can be elected and optimized and changed when the operational regime or conditions change provides significant advantages over a cycloidal rotor with the conventional circular orbit. Specifically, a non-circular orbit, such as elliptical or elongated, provides a greater period and distance in each revolution for each blade to provide the desired lift or thrust. When the rotor of the present invention works in a regime where vorticity based effects are utilised, the ability to select and dynamically adjust the blade&#39;s trajectory and spatial orientation allows control of the formation, spanwise movement, retention and shedding of the leading and trailing edge vortexes. Conversely, on linear or nearly linear, portions of the blade trajectory the aerodynamics of the rotor of the present invention can, depending on the angle of attack, be conventional steady state flow thus allowing much greater efficiency at high speeds of rotation where prior art circular orbiting cycloidal rotors become inefficient. Minute variability of the individual blades&#39; trajectory can allow the avoidance of the preceding blade&#39;s wake making possible greater rotor solidity. 
         [0000]    When countering gusts of wind or atmospheric turbulence, changes in the blades&#39; trajectory and spatial orientation in combination with the resulting instant changes in the blades&#39; linear speed and the changes in the angle of attack are more effective than the changes in the angle of attack alone offered by prior art rotors.
 
For a particularly elongated orbit, said trajectory variability allows the recapture of the vortexes shed by the blades moving in the opposite direction, thus recovering their energy, as practiced by many natural flyers, thereby further increasing the efficiency of the rotor. Orbit optimization for any given regime of flight provides greater efficiency of the rotor.
 
         [0012]    The present invention provides a cycloidal rotor system having at least one airfoil blade mounted for orbiting about a central region; blade supporting means operative to position the blade to follow a generally non-circular trajectory about the central region; blade pitch adjusting means for adjusting the blade angle-of-attack and drive means for propelling the blades about said trajectory. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0013]      FIG. 1  is a schematic representation of a cycloidal rotor of the prior art. 
           [0014]      FIGS. 2 and 3  show a schematic representation of the cycloidal rotor of the present invention illustrating the differences from the prior art. 
           [0015]      FIG. 4  is a partly sectional view illustrating one embodiment of a mechanism for allowing variable non-circular orbiting of the blades. 
           [0016]      FIG. 5  illustrates another embodiment of a mechanism for allowing variable non-circular orbiting of the blades. 
           [0017]      FIG. 6  is a schematic side view of another embodiment of the invention utilizing magnetic levitation for supporting and electromagnets for supporting and propelling the blades. 
           [0018]      FIG. 7  shows a section taken at  7 - 7  of the embodiment of  FIG. 6 . 
           [0019]      FIG. 8  is a schematic view of another embodiment of a mechanism for positioning the blades for fixed non-circular orbit and changing the angle of attack of the blades. 
           [0020]      FIG. 9  is an enlarged view of a portion of the apparatus in  FIG. 8  showing details of the mechanism for changing the angle of attack. 
           [0021]      FIG. 10  is a schematic view of another embodiment with the blades driven along tracks and including mechanisms for modifying blade trajectories and altering the spatial orientation of the blades. 
           [0022]      FIG. 11  is a block diagram of one embodiment of a control system for a cycloidal rotor of the present invention when used in an aircraft. 
       
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENTS 
       [0023]      FIG. 1  illustrates schematically a cycloidal rotor of the prior art, showing the blades  1  following a circular orbit  2 . Such rotors can include mechanisms, not shown, that vary the pitch of the individual blade as it orbits. 
         [0024]      FIGS. 2 and 3  illustrates schematically a cycloidal rotor of the present invention showing the difference from the prior art as shown in  FIG. 1 . Specifically, the blades  3  follow a non-circular, elongated orbit about a central region. In  FIG. 2  the blades  3  follow a horizontally elongated orbit  4  suited for high lift, while in  FIG. 3  the blades  5  follow a vertically elongated orbit  6  suited for high thrust. To provide the desired orbit, the rotors include mechanisms, not detailed, that vary the radial distance between the blade and the axis of rotation. Examples of mechanisms for providing non-circular orbit are described below. 
         [0025]      FIG. 4  illustrates one embodiment of a mechanism for interconnecting the blades (one shown) with hub and providing variable radius.  FIG. 4  shows one blade  41  mounted on a central hub  40 . The blade  41  is pivotally mounted on blade supporting assembly  42 . A rotational actuator/vector motor  43  independently controls the pitch of the blade  41 . The blade supporting assembly  42  is movably mounted to travel along screw shaft  47  using ball nut  45 . The screw shaft  47  has two separate thread portions  48  and  49  which have opposite pitches. Ball nut  45  is attached to, and adapted to move the blade supporting assembly  42  along thread portion  48 , while ball nut  46  is attached to, and adapted to move a counterweight  50  along screw portion  49 , in the opposite direction. The blade supporting assembly  42  and counterweight  50  are prevented from turning by fork members  52  and  53 , respectively, by slidably engaging the fixed guide member  54 . Rotational actuator/vector motor  51  is connected by suitable coupling  55  to rotate the screw  47 . Activation of the motors  43  and  51  is controlled by suitable control means, such as detailed herein with reference to  FIG. 11 . 
         [0026]    In operation, to change the radial position of the blade, motor  51  rotates the screw shaft  47 . Rotation of screw  47  moves the ball nuts  45  and  46 , along with the attached blade supporting assembly  42  and counterweight  50 , in opposite directions. This provides for the change of radial position of the blade  41  and at the same time moves the counterweight  50  in the opposite direction to maintain balance of the rotating mass. 
         [0027]    It is understood that another similar embodiment can be implemented with backsweep/forwardsweep yaw positioning of the blade capability, as well as the ability to minutely vary the blade linear speed independently of the blade supporting assembly speed in the similar manner as it is implemented in embodiment in  FIG. 10  or embodiment in  FIGS. 6 and 7 . In such embodiment the blade can be moved back by linear motors mounted on blade supporting assemblies on both ends of the blade to decrease the speed and likewise can be moved forward to briefly increase the speed of the blade and to reposition it, thus smoothing out blade&#39;s linear speed variations due to the geometry of the orbit. The counterbalance will be provided with the ability to be moved laterally in the opposite direction by a linear motor or through mechanical linkage to the blade mount, such as racks and pinions. 
         [0028]      FIG. 5  illustrates another embodiment of a mechanism for interconnecting the blades and providing variable positioning of the blades.  FIG. 5  shows one blade  61  interconnected to a central hub  60 . The blade  61  is pivotally mounted on blade supporting assembly  62  utilizing bevel gears  69  attached to a rotatable shaft  64 . The shaft  64  is rotatably supported by a suitable thrust bearing  73 . The angle of attack of blade  61  is adjusted by means of the rotational actuator  65  through gears  66  and  67 , shaft  64 , and bevel gears  69 . Gear  67  is slidably attached by means of a key  68  to rotate with shaft  64 . Linear actuator  63  provides radial positioning of the blade through shaft  64 . A counterweight  74  is slidably supported by shaft  64 . A rack and pinion ( 70 ) mechanism  72  attached to arm  71  is used to move the counterweight  74  in a direction opposite to that of the blade supporting assembly  62 . 
         [0029]    In operation, linear actuator  63  is used to change the radial position of the blade relative to the central hub  60  via shaft  64 . At the same time, this axial motion moves the arm  71  which moves the counterweight  74  in the opposite direction via the rack and pinion ( 70 ) mechanism  72 , in order to maintain balance of the rotating mass. The angle of attack of blade  61  is adjusted by means of the rotational actuator  65  through gears  66  and  67 , shaft  64 , and bevel gears  69 . Activation of the actuators  63  and  65  is controlled by suitable control means, such as detailed herein with reference to  FIG. 11   
         [0030]    Another version of this embodiment can have linear actuator  63  mounted in a stationary location next to the shaft rotating the central hub, and connected to a suitable slidable and rotatable coupling mounted on said shaft with said coupling connected with the blade supporting assembly by mechanical links such as belts, chains or racks with pinions. In operation the actuator by moving reciprocally along the said shaft said coupling with the attached mechanical links moves the blade assembly radially in order to change the blade&#39;s trajectory. This design version decreases the weight of the rotors and the weight of counterbalances required. 
         [0031]    In the above embodiments the blades orbit around a fixed axis of rotation in a central region encompassed by the orbit of the blade. In other embodiments, such as described below, the blades can orbit about a central region defined by the configuration of a blade supporting track. 
         [0032]      FIGS. 6 and 7  illustrate an embodiment wherein the blades are mounted for travel on a fixed track in an adjustable and thus changeable elongated orbit. 
         [0033]    The blades  81  are supported and positioned by means of the linear actuators  83  which are mounted on carriage  82  which travels along an elongated track  80 . With reference to  FIG. 7 , the track includes laminated sheet conductors  84  and  86 . The carriage  82  includes an array of permanent magnets  85  (Halbach Array) above and below of the laminated sheet pack to provide vertical support and positioning of the carriage  82 . Lateral positioning of the carriage is provided by laminated sheet conductor pack  86  in conjunction with array of permanent magnets  87  disposed along the track. Propulsion of the carriage  82  is provided by sequentially activated electromagnets  88  that interact with the array of permanent magnets  87  to provide forward motion of the carriage  82 . 
         [0034]    The angle of attack of the blade  81  is adjusted by a rotary actuator  90  via the shaft  91 . Linear motor  92  provides for backsweep/forwardsweep blade positioning (moving perpendicularly to drawing plane). Pivot mechanism  93  with suitable bearing supports one end of blade shaft  91 , and allows pivoting of shaft  91  about both horizontal and vertical axis. A suitable bearing  94  allows rotation and sliding of the other end of shaft  91 . 
         [0035]      FIG. 7  shows, by dotted lines, how the angle of the blade  81  can be changed by differential positioning of the actuators  83 . The dotted lines outline also demonstrates the ability to vary the distance of the blade  81  from the elongated track  80  through the joint action of the actuators  83 . 
         [0036]      FIG. 7  shows the blade supported as a cantilever. It will be understood that other versions of this embodiment may have the supporting carriages riding on two parallel tracks with each such track with supporting carriages located on opposite ends of the blades, such as shown in  FIG. 10 . Also, another embodiment can have the blade carriages travelling on the inside of the track loop, or parallel as in  FIG. 10 . 
         [0037]    In operation variable orientation and positioning of blades provides flexibility for the generation of a variety of aerodynamic effects. Differential blade ends positioning, resulting in the blade slanting outward or inward relative to the track, allows the aircraft to move sideways. Such blade slanting capability can be used for flapping the blade, which can be done with a desired frequency while traversing specific trajectory parts, possibly in combination with the blade path changes, thereby producing a flapping and/or undulating motion and resulting in the aerodynamic effects similar to those produced in the flapping flight. Dynamic blade positioning can include various degrees of backsweep, forwardsweep or neutral blade yaw positioning depending on the operational regime and speed. Backswept blades are especially suitable for leading edge vortex retention with resulting high lift. 
         [0038]    Another version of this embodiment, or a wheeled version thereof, can have similar cantilever type blade mounts on two parallel tracks (parallel tracks as in  FIG. 10 ), supporting each blade on both ends with said blade consisting of two parts joined somewhere in the middle of the span by either a pivot with two degrees of movement or a ball-joint. Angle of attack changing rotational actuators will be provided on both ends of the blade. Such design provides a blade with dynamically changeable geometry ranging from a straight line to a variety of V-shapes in various planes with each part of the said blade having an independently variable angle-of-attack and spatial orientation and thus being able to work in different, mutually complementing aerodynamic regimes at the same time. 
         [0039]      FIG. 8  illustrates another embodiment of a mechanism having fixed tracks  100  and  101  for positioning the blades  102  for non-circular orbit, and changing the angle of attack of the blades.  FIG. 9  shows details of the mechanism for changing the angle of attack. 
         [0040]    The blades  102  are pivotally supported, about pivotal axis  104 , on a supporting assembly  103  that includes an arm  105  with rollers  106  that follows along the cam track  100 . In operation, the blades  102  are positioned radially to follow an orbit  110  determined by the geometry of the track  100  as the blade supporting assembly  103  is rotated, driven by suitable means, not shown. 
         [0041]    With reference to both  FIGS. 8 and 9 , the angle of attack of blade  102  is established by track  101  by means of a pair of rollers  107  attached to the blade  102 , as detailed in  FIG. 9 . To provide balance, the track  100  needs to be symmetrical. Also, the arms  105  need to be symmetrical and even in number, so as to assure that radial positioning of the blade supporting assemblies  103  is mirrored on the other side of the track  100 . As the blades  102  are balanced around their pivots  104  and all movements of the arms  105  and blade assemblies  103  supported by them are symmetrical and identical this embodiment is self balancing without counterweights. As shown, the rollers  107  are attached to a supporting plate  108  that is pivotally attached to the blade  102  at pivot  109 . In operation, the rollers  107  follow the track  101  and pivot the blade about pivot  104  as the supporting assembly is rotated, due to the differences in geometry of track  101  from track  100 . 
         [0042]      FIG. 10  illustrates an embodiment with the blades  119  supported by a wheeled carriage  121  and driven along track  120 . As shown, the wheeled carriage  121  includes a pair of wheels  125  that ride on opposite sides of the track  120 . The carriage  121  is propelled by synchronized pinion drives mounted on the carriage that mesh with a fixed toothed rack located parallel to the track around its perimeter. The carriage  121  supports mechanisms  126  and  127  for altering the spatial orientation of the blades. Mechanism  126  includes a two dimensional linear X-Y motor  128  and pivot  129  and  130 . Rotational actuator  131  provides for varying the angle of attack of blade  119 . At the other end of the blade  119 , mechanism  127  includes pivots  132  and  133  mounted on carriage  136  via X-Y motor  134 . A slidable and rotatable bearing  137  supports one end of blade  119  and accommodates distance changes between the supporting bearings  137  and  138  as blade orientation changes. The mechanisms allow backsweep or forwardsweep of the blade, and/or flapping motion, or performing the undulating motion of the blade assembly by means of a joint action of the X-Y motors on both ends of the blade. 
         [0043]    Alternatively the blades can be driven by a toothed belt running parallel to and along the entire track and mechanically propelled by gears driven by a suitable engine. Blade carriages in such embodiment will have flexible attachment plates attached to the back of the toothed belt in such a manner as to avoid stress concentrations in the belt around the place of such attachment. 
         [0044]    In operation this embodiment can produce flapping and/or undulating blade motion while also providing the option of minute control of the blade speed independently of the blade carriage speed as it will be able to be moved backward by the X=Y motors on both ends of the blade while traversing parts of trajectory where lower speeds are needed, after which the blade can be moved forward in parts of the trajectory where higher speeds are desired thereby also repositioning it. 
         [0045]      FIG. 11  is a block diagram of the control system. The control system includes input means representative of desired operating parameters, including roll, yaw, vertical and horizontal motion control. The system includes angular position indicator means indicating the angular orbital position of each blade; and computing means responsive to said input and the angular position indicator means for signalling the radius control means to activate the actuator for varying the radial distance of each blade from an axis of rotation.  FIG. 11  also shows individual orbit radius control of each side of each blade. Additional actuators control blade angle of attack.  FIG. 11  shows the control elements for one of the rotors (right rotor). Required control elements for the left rotor, which will be similar to the right, are not shown. It can be seen that seen that appropriately controlling each of the two opposite rotors independently will allow roll and yaw control of an aircraft as well as sideways motion. 
         [0046]    The operation of an aircraft employing the cycloidal rotor of the present invention will be basically similar to that using a cycloidal rotor with circular orbit. Controlling each of two opposite rotors independently will allow roll and yaw control of the aircraft. The control and change of the angle of attack/incidence of the blades as they orbit can be basically similar to that of known cycloidal rotors, or by utilizing other known mechanisms. The actuators for blade positioning can be of various types, for example, electric, hydraulic or pneumatic. The significant distinguishing feature of the present invention involves changing of the geometry of the orbit of the blades, and the changeable spatial orientation of the blades for most embodiments, which will be controlled by a computer system based on pilot and other control input. 
         [0047]    The cycloidal rotor of the present invention can be used for various types of applications, including, but not limited to, heavier and lighter than air aircraft, for the propulsion of airboats and boats, propeller snowmobiles and fans.