Air Vehicle Flight Mechanism and Control Method

Abstract

Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

What is claimed is: 
     
         1 . A method of air vehicle control, comprising:
 flapping first and second control surfaces; and   hovering the first and second control surfaces in response to the flapping without the benefit of an additional control surface.   
     
     
         2 . An air vehicle apparatus, comprising:
 first and second flapping control surfaces;   wherein the first and second flapping control surfaces are capable of providing hovering and control moments without the benefit of additional control surfaces.   
     
     
         3 . A method of air vehicle control, comprising:
 flapping first and second wings horizontally about a fuselage, the first and second wings having a first and second variable differential sweep angles of deflection, respectively; and   providing vertical and horizontal vehicle orientation control in response to the horizontal flapping.   
     
     
         4 . The method of  claim 3 , further comprising:
 generating a roll moment in response to the first sweep angle being larger than the second sweep angle.   
     
     
         5 . The method of  claim 3 , further comprising:
 inducing a left yaw moment in the air vehicle in response to:
 deflecting the first wing less than deflection of the second wing during a majority of a back stroke of the flapping; and 
 deflecting the second wing less than deflection of the first wing during a majority of the forward stroke of the flapping. 
   
     
     
         6 . The method of  claim 3 , further comprising:
 inducing a right yaw moment in the air vehicle in response to:
 deflecting the first wing more than deflection of the second wing during a majority of a back stroke of the flapping; and 
 deflecting the second wing more than deflection of the first wing during a majority of the forward stroke of the flapping. 
   
     
     
         7 . The method of  claim 3 , further comprising:
 inducing a forward pitching moment in the air vehicle in response to:
 deflecting first and second wings during a first portion of a forward stroke of the flapping less than during a second portion of the forward stroke of the flapping. 
   
     
     
         8 . The method of  claim 3 , further comprising:
 inducing a forward pitching moment in the air vehicle in response to:
 deflecting first and second wings during a first portion of a backward stroke of the flapping more than during a second portion of the backwards stroke of the flapping. 
   
     
     
         9 . The method of  claim 3 , further comprising:
 inducing a backward pitching moment in the air vehicle in response to:
 deflecting first and second wings during a first portion of a forward stroke of the flapping more than during a second portion of the forward stroke of the flapping. 
   
     
     
         10 . The method of  claim 3 , further comprising:
 inducing a backward pitching moment in the air vehicle in response to:
 deflecting first and second wings during a first portion of a backward stroke of the flapping less than during a second portion of the backwards stroke of the flapping. 
   
     
     
         11 . A method of air vehicle control, comprising:
 flapping first and second airfoils about respective first and second adjacent pivot points, the first and second airfoils configured to provide air vehicle orientation control without the benefit of a third airfoil.   
     
     
         12 . The method of  claim 11 , wherein the flapping further comprises:
 flapping the first airfoil in a first sweep angle about the first pivot point; and   flapping the second airfoil in a second sweep angle about the second pivot point, the first and second sweep angles being different to induce a roll moment in the air vehicle.   
     
     
         13 . The method of  claim 11 , wherein the flapping further comprises:
 modulating a first and second boom stops of a first wing to limit a sweep angle of deflection of the first wing between a forward stroke boom position a backward stroke boom position.   
     
     
         14 . The method of  claim 13 , wherein the first and second boom stops are biased to provide a greater sweep angle of deflection in the forward stroke than in the backward stroke to produce a net yawing moment of the air vehicle. 
     
     
         15 . The method of  claim 13 , wherein the first and second boom stops define a neutral boom position to produce the same boom angle of deflection of the first wing in the forward stroke as in the backward stroke. 
     
     
         16 . An air vehicle, comprising:
 a processor;   at least one drive motor in communication with the processor;   a first flapping wing in communication with one of the at least one drive motor; and   a second flapping wing in communication with one of the at least one drive motors;   wherein the processor and the at least one drive motor are configured to drive the first and second flapping wings to provide lift and control moments without the benefit of either horizontal or vertical stabilizers.