AIRCRAFTS WITH CONTROLLERS AND TILTABLE ROTORS FOR ATTITUDE-CONTROLLED FLIGHT

摘要

An aircraft having controllers and tiltable rotors for attitude-controlled flight is provided. The aircraft includes a frame and a plurality of propulsion devices mounted to the frame to propel the aircraft. Each propulsion device includes a rotor, a motor to rotate the rotor, and an actuator to tilt the rotor. The aircraft further includes an energy source carried by the frame to power the plurality of propulsion devices. The aircraft further includes a rotor tilt controller to control the actuators of the propulsion devices to tilt a rotor of a first propulsion device of the plurality of propulsion devices, thereby controllably providing a horizontal thrust component to the aircraft, simultaneously with providing vertical thrust to the aircraft. The aircraft further includes a thrust controller to control thrust of the propulsion devices to control attitude of the aircraft during flight.