Gyroscopic Flight Control System and prototype drone
Creators: name: Adam, McEvoy
Publisher: name: Zenodo
Year: 2025

description: The Gyroscopic Flight Control System enables an aircraft to maneuver without traditional aerodynamic control surfaces by using high-speed spinning rings (gyros) to generate torque through gyroscopic precession. When a spinning ring is tilted by an actuator, the angular momentum of the ring shifts, producing a reactive torque perpendicular to the tilt—this force is used to control pitch, roll, and yaw. By precisely adjusting the tilt angles of multiple concentric, counter-rotating rings, the system creates smooth and responsive control in all axes, even while hovering. The control forces are governed by the equation τ=I⋅ω⋅Ω⋅sin⁡(θ)\tau = I \cdot \omega \cdot \Omega \cdot \sin(\theta)τ=I⋅ω⋅Ω⋅sin(θ), where torque (τ\tauτ) is proportional to the ring's inertia, spin rate (ω\omegaω), tilt speed (Ω\OmegaΩ), and tilt angle (θ\thetaθ). This allows for extremely agile and stable maneuvering without the need for airflow or surface deflection.

 

Objective

Create a drone-sized prototype capable of in-place hover and maneuvering without control surfaces or directional thrust, using only gyroscopic precession for control. 



COMPONENT BREAKDOWN

1. Frame





Type: Custom X-frame




Material: Carbon fiber or G10 plates




Key Parts:





Top X-frame (arms + center cutout)




Bottom reinforcement plate




Stack columns or standoffs




Motor mounts





2. Lift System





Motors: 4x brushless (1000–1300kV)




Props: 4x 10" carbon fiber props




ESCs: 4x 40A BLHeli_32



3. Gyroscopic System





Rings: 3 concentric carbon or aluminum rings




Motors: 3x high-RPM inrunners (15,000+ RPM)




Actuators: 6x high-speed servos (2 per ring axis)




Mount Base: Custom gyro mounting plate (SVG provided)




Reinforcement: Bottom plate supports cage structure



4. Control Electronics





Flight Controller: Pixhawk or STM32-based custom FC




Custom MCU: For ring precession calculation & actuator control




IMU: MPU6000 or equivalent



5. Power





Battery: 6S 22.2V 5000mAh LiPo




PDB: Power Distribution Board for ESCs and logic





BUILD INSTRUCTIONS



Stage 1: Frame Assembly





Cut the X-frame top plate (use Custom_X_Frame_Drone.svg).




Mount arms and install motor brackets.




Install bottom reinforcement plate (Bottom_Reinforcement_Plate.svg) using 4 outer bolt points and standoffs.





Stage 2: Lift Motor Integration





Mount 4 brushless motors to arm ends.




Attach props (2 CW, 2 CCW).




Secure ESCs along arms.




Route power and signal wires to PDB.





Stage 3: Gyro Assembly





Cut and mount the gyro base plate (Gyro_Mount_Plate.svg) on top of the bottom reinforcement layer.




Install bearings in 3 ring-axis support holes.




Mount rings:





Inner: Spins CW




Middle: Spins CCW




Outer: Spins CW






Attach inrunner motors to each ring.




Attach actuators to outer edge of each ring at 6 locations (distribute evenly).




Wire actuators to the MCU.





Stage 4: Electronics





Mount Pixhawk or STM32 FC on vibration-damped foam.




Mount custom MCU and IMU near gyro core.




Connect ESCs and actuators.




Mount battery and wire into PDB.




Install telemetry module if needed.





Stage 5: Software & Testing





Load firmware that disables ESC stabilization—lift only, no yaw/pitch/roll from props.




Write or upload control logic that:





Reads input or position error




Calculates required ring tilt




Activates actuator tilts to induce precession






Perform ring spin-up tests.




Test actuator tilt + precession response on tethers or static lift stand.




Lift test: hover with no stick input.




Maneuver test: command pitch/roll/yaw from gyro ring tilts only.





DEMO GOALS





Hover stability using no control surfaces




Show controlled pitch, roll, yaw from gyro only