Personal UAV’s are becoming ubiquitous these days, but there is still much room for improvement. Researchers at [Modlab] understand this, and they’ve come up with a very unique method of controlling pitch, yaw, and roll for a coaxial ‘copter using only the two drive motors.
In order to control all of these variables with only two motors, you generally need a mechanism that adjusts the pitch of the propeller blades. Usually this is done by mounting a couple of tiny servos to the ‘copter. The servos are hooked up to the propellers with mechanical linkages so the pitch of the propellers can be adjusted on the fly. This works fine but it’s costly, complicated, and adds weight to the vehicle.
[Modlab’s] system does away with the linkages and extra servos. They are able to control the pitch of their propellers using just the two drive motors. The propellers are connected to the motors using a custom 3D printed rotor hub. This hub is specifically designed to couple blade lead-and-lag oscillations to a change in blade pitch. Rather than drive the motors with a constant amount of torque, [Modlab] adds a sinusoidal component in phase with the current speed of the motor. This allows the system to adjust the pitch of the blades multiple times per rotation, even at these high speeds.
Be sure to watch the demonstration video below.