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    Systems and Methods for Independent Pitch Control of Rotor Blades of Rotor Assembly to Achieve Directional Control

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    15 views32 pages

    Systems and Methods For Independent Pitch Control of Rotor Blades of Rotor Assembly To Achieve Directional Control

    Uploaded by

    M.Sh

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    © All Rights Reserved
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    'US011292592B2 «2 United States Patent (10) Patent No: US 11,292,592 B2 Randall (4s) Date of Patent Apr. 5, 2022 (64) SYSTEMS AND METHODS FOR (58) Field of Classification Search INDEPENDENT PITCH CONTROL OF CPC... BIC 29/0025; BGIC 29102; BEAC 27/001 ROTOR BLADES OF ROTOR ASSEMBLY TO TB6IC 27/68; BGC 27/10; B6AC 27/72, ACHIEVE DIRECTIONAL CONTROL, (Continved) (71) Applicant: Maglev Aero Ine. Hopkinton, MA 66) References Cited ws) US. PATENT DOCUMENTS. (72) Inventor: am Morris Randall, Hopkinton, MA, SQN1401 A 21976 Kling otal ws) 4807830 4 "2198 Honoa (03) Assignee: MAGLEV AERO INC, Hopkingion, ae MA(US) POREIGN PATENT DOCUMENTS (4) Notice: Subject to any disclaimer, the term of this cx 2076s ¥ 2009 patent is extended or adjusted under 35. EN oasis Y 62009 USC. 154(b) by 14 days, res inooxs912 A 62017 (21) Appl. Now 167748272 (OTHER PUBLICATIONS (22) Filed: Jam. 21, 2020 Notice of Allowaace on U.S. pp. No. 16°746614 date Sep. 8, 2020, 63) Prior Publication Data Coninved) US 202010156779 AL May 21, 2020 Primary Bvaminer — Ian Jea (74) Attornes, Agent, or Firm — Foley & Lardner LLP Related U.S. Application Data 6) oon (63) Continuation of application No. _Systems and methods relate to a vertical takeofand landing PCT/UUS20191027938, filed on Apr. 17, 2019. (VTOL) platform that can include a stator and a rotor (Continued) ‘magnetically levitated by the stator. The rotor and stator can be anlar, sh that the rotor rotates about a rotational axis. (1) inet The stator can include magnets that provide guidance Baie 2900 (2006.01) levitation, ad drive forces to drive the rotor, a8 ell as 40 Bose 1450 (2005.01) control operation of rotor blades of the rotor that ean be (Continved) independently rotated to specific pitch angles to control at Jeast one of lif pitch, roll, or yaw of the VIOL platform. [B6AC 29/0025 (2013.01); BGC 13726 Various controllers can be used to enable independent and 013017 BIC 1880 COIZOLy, edundant contol of components of the VTOL platfon, (Continved) 20 Ca US 11,292,592 B2 Page 2 Related U.S. Application Data (G0) Provisional application No. 62795.283, ile on Dec. 4.2018, provisional application No. 62/659.013, fled fon Apr 17, 2018. (SI) Inch. B6IC 2720 (2006.01), HOK 20722 (2006.01) Bosc 27732 (2005.01), OK 118 (2006.01) HOD 12786 (202201), HOKU (201601), BOIC 2873 (2006.01), HOK 224 (2006.01) ‘HON 1500 (2006.01) BOIC 1326 (2006.01) Forp s02 (2005.01), B64C 2710 (2006.01) BOSC 2772 (2008.01) Bosb 2728 (2006.01), B6sD 35/02 (2006.01) B6AD 35/08 (2006.01), HOK IN? (2006.01) HOK 12795 (2022.01), HO2K 128 (2006.01), 02K 1600 (2006.01) Bos 27168 (2006.01) BOIC 2700 (2006.01) Bosc 2902 (2006.01) BIC 27114 (2006.01) BAC 27/80 (2006.01), BIC 39102 (2006.01), B6sD 3506 (2006.01) (2) USC cc BOsC 27/001 (2013.01); BOSC 2710 (2013.01); Bose 2720 201301). Bosc 2782 (2013.01), BsC 27473 (2013.01); BOI 27/68 (2013.01); BGC 27/72 (2013.01); BIC 20/00 (2013.01): BOC 2970016 (2013.01), B6#C 2993 (2013.01); B6sD 2724 (2013.01): ‘BéaD 35/02 (2013.01), BAD 3/04 (2013.01); FULD $/02 (2013.01); HO2K 117 (2013.01), HO2K 1/187 (2013.01), HO2K 1/2786 (2013.01), HO2K 12793 (2013.01): HO2K 128 (2013.01); HO2K 1/21 2016.01): ‘HO2K 16/00 (201301), HODK 21/22 (2013.01); H02K 2124 (2013.01), HN 15/00 2013.01), Bo4C 27/14 2013.01); BAC 27/80 (2013.01); Bode 39/024 (2013.01): Bo4C 2027/003 (2013.01); B64C 2027,004 2013.01}, Bosc 2201/027 013.01); BOI 01/042 (2013.01); BIC 2201/108 (2013.01); B64D 3.706 (2013.01) (58) Fleld of Classitication Search CPC... BGAC 15/26; B64C: 29/0016; B6sC 27/47 BosC 27/32; BOSC 13/50; BOSC 77/20 BAC 29100; BAC 2027/003; BIC 20271004; BGAC 27/14; B6AC 27180 BAC 39024; BOIC 22011027; REIC 2201/042; 64C 2201/108; BEAD 27/24 sal) 35102; BOAD 35/08; BOIL 35,06; ORK V7: HORK 1/2793; HOIK 1/28 HO2K 16/00; 102K 11/21; HO2K 21/245, HO2K 1/187; HO2K 1/2786, HO2K 21/22: POID $102; HO2N 15100; YO2T S0V60: ‘your $0140 ‘See application file for complete sear history. 60) References Cited US. PATENT DOCUMENTS. 5967749 A 101999 Eaves ota 057622 882000 Him GS7S401 BL 62003. Carver {635058 BL 62008. Gabrys FAI0A23 282008 Nom a. 7325884 2112010 Bastin eal 122011 Boje 2014 Tes 112015 ttikys ot a Fram eal Rice Frans ot Nanaaliy 2o0s0067s27 AL Petersen Jovoonss261 Al Walker aon70238ss9 AL Rao 2oooop01sst AL Che ta 2oromno1uss AL Bojive aninurso7i9 Al Walde et al 20110031760 1 Lugs DoWvoLagst At Roen pomun272s20 Al Ruan eta ao120262008 AL Do0sts7 Al 50001805 AL 102012 Smith ta 2015. Framko a A015. Sekamoco ot a ao1abows9s Al* 22016 Devine OK 3077 4152, 201002NI7TE AL 92016 Li at a aoroneoss38 AL 102016 Luge Goreoroi9y AL 102016 Mace! OLS7142 At "S017 Firwnsi eta SOORISIS Al 32018 Chon eta goionrionty AL 72019 Laer 2020018833 AL $2020. Randal 2020018830 AL $2020 Randal gnantseo% AL $2030. Rania 20200161991 AL $2020 Randal 0204020 81 62090 Randall, (OTHER PUBLICATIONS Notice of Allowance on U'S. App. No. 16776351 dated Sep. 8, 2020, Notice of allowance on US. Appl. No, 16776386 dated Sep 9, 200 Notice of Allowance on US. Appl. No. 167776360 dated Sep. 8, 2020, Non-Final Olice Acton on US. App. No, 16744897 dated Aug, Notice of Allowance on US. Appl. No, 16744915 dated May 27, 200, Imeraional Search Report and Writen Opinion on PCT PCT [US20190027936 dated Aug. 23,2019 (12 pape Notice of Allowance on US. App. No. 1648.24 dated May 6, 200 "Estondod EP Seatch Report on EP 197890379 dated Dec. 17,2021 (1 page. * cited by examiner U.S. Patent Apr. 5, 2022 Sheet 1 of 13 US 11,292,592 B2 U.S. Patent Apr. 5, 2022 Sheet 2 of 13 US 11,292,592 B2 300 User Interface 330 334 3424] ea p 344 Display iar ‘Communications Sensor Device ae Circuit — 4 310 346 | a 312-\ (Foner ] Processor 314 “Y Memory 318 Flight ‘Motor cue Controller Controtler 320 [222 350 Stator 110 =| 382 Stator Magnets Levitation a System 354 ! 360 i Guidance ~~ 370 i System ! 120 “YN Rotor Magnets “) Rotor Blades 24, 126 FIG. 3 US 11,292,592 B2 U.S. Patent Apr. 5, 2022 Sheet 3 of 13 U.S. Patent Apr. 5, 2022 Sheet 4 of 13 US 11,292,592 B2 FIG. 5 U.S. Patent Apr. 5, 2022 Sheet 5 of 13, US 11,292,592 B2 684 a 4 a 372 ~— 122 604b a 604a are SY ™ . 362 362a 350 _—— 680 350 | g64b | 364a ne ed 7 412 374 | —— 424 \~ ea i FIG. 6 U.S. Patent Apr. 5, 2022 Sheet 6 of 13 US 11,292,592 B2 900 702) 704) Flight Controller 1 Flight Dynamies ee Operator Input Model 708 708 708b 708 708d ay yy Ny VY Vertical Pitch Yaw Roll Command Command Command Command y y y Y 710 FIG. 7 U.S. Patent Apr. 5, 2022 Sheet 7 of 13 US 11,292,592 B2 904 902a 4 4s 802 902 & 900 a t U.S. Patent Apr. 5, 2022 Sheet 8 of 13 US 11,292,592 B2 1000 1004 1010 Position Encoder }« _ 4002 10024) yo (1006 Motor Control Motor Control Motor Control Circuit Circuit Circuit , t 1004 1004a —~] 1004b —~] (004c ——] 710 J 1008 J y¥ ¥ ¥ 1006 J FIG. 10 US 11,292,592 B2 Sheet 9 of 13 Apr. 5, 2022 U.S. Patent / voir —-[_epeasooy 0814 Olt St Zobt I Lb Sls eae] Orie ge zeth— gzte t AEL zit ott r r roi eet \ ver \ oes \ azir-\ wupapy Joe favs f pene ! \ aN: f 7 | ZbLE aa ote vob zu OLE 4epoouz 494}0.3U0D JB}OUOD JE{OU0D uoniseq yeuBeyy yeubew yeubewi vor BELL 901n- BOOT Or . @ US 11,292,592 B2 Sheet 10 of 13 Apr. 5, 2022 U.S. Patent zie gozt bit U.S. Patent Apr. 5, 2022 Sheet 11 of 1300 13 Receive Movement Instruction at Flight Controller | 1305 Generate Flight Control Commands by Flight Controller _ Generate Motor Control Signals by Motor Controller Based on Flight Control Commands | 1316 Drive Electromagnets of Stator Based on Motor Control Signals | 1320 Output Electromagnet Fields by Electromagnets to Drive Rotor |/— 1325 FIG. 13 US 11,292,592 B2 U.S. Patent Apr. 5, 2022 Sheet 12 of 13 US 11,292,592 B2 FIG. 14A US 11,292,592 B2 Sheet 13 of 13 Apr. 5, 2022 U.S. Patent apt Old apeavoy | gry a 9et ‘vet 20101 I ort : DD) ~ 08€ a JUIAIaDay 9MOd ar uno PX zse | vorsswsues smog [ Orbt sayf0s3U09 a wa [T ~ Ste our 002 308883014 | ~ ze nai onUOD we (Hosuas b be¢ ~ tHE ™ ove 80bT “ oz zovt pte OTE N oe “ o8€ A oort US 11,292,592 B2 1 SYSTEMS AND METHODS FOR INDEPENDENT PITCH CONTROL OF ROTOR BLADES OF ROTOR ASSEMBLY TO ACHIEVE DIRECTIONAL CONTROL CROSS-REFERENCE TO RELATED "APPLICATIONS. ‘The present dislosure is a continuation of PCT. Appli= ‘ation No. PCT/US2019/027938, iled “SYSTEMS AND. METHODS OF VERTICAL TAKEOFF AND LANDING USING MAGNETIC LEVITATION,” filed Ape. 17, 2019, ‘which claims the benefit of and priory to U.S. Provisional Application No. 62/659,013, ‘tled “SYSTEMS AND METHODS FOR VERTICAL TAKEOFP AND LANDING WITH MAGNETIC PROPULSION,” filed Ape. 17, 2018, and US. Provisional Application No. 62/775,253, titled “MAGNETIC LEVITATION FOR VERTICAL TAKEOFF AND LANDING,” filed Doe. 4, 2018, the disclosures of ‘which are incorporated herein by reference in their entire ‘TECHNICAL FIELD, ‘The present disclosure relates generally to vertical akeos sand landing. More particularly the present disclosure relates to magnetic levitation for vertical takeoff and landing, BACKGROUND Various airbome platfomns ean perform vertical tkeol snd landing (VTOL), in which the platonms can hover. ake off, and land vertically. VTOL platforms ean include fixed ‘wing platforms and rotary wing platforms. VTOL platormns ‘ean inch unmanned aerial vehicles. VTOL platforms ean, have distributed electrical propulsion, andl ean have tilt rotor and/or tilt wing configurations. Typically, VTOL platlorms rely on combustion-based power generation fo generate lift and other movement forces. In addition, VTOL platforms may have relatively Jarge form factors. As such, existing VTOL platforms may hhave teciscal limitations that make such platfonms dificult to use in urban environments and personal use modes. SUMMARY, Atleast one aspect of the present disclosure relates 10 3 VTOL platform, The VTOL platform includes @ rotor, 3 Stator, o light controller, and a motor controller. The rotor includes a plurality of rotor blades oriented about a rotor axis and radially spaced fom the stator. Fach rotor blade is ‘coupled to a rotor aem such that rotation of the rotor arm ‘causes the rotor blade to rotate about a rotor pitch axis, The rotor atm is coupled to first ror magnet Spaced from & second rotor magnet. The stofor includes plurality of ‘lectromagnets. The fight eontolleris configured to receive ‘8 movement insietion, extract a desired movement rom the movement instruction, and generate one or more fight ‘commans configured to cause the rotor o generate at Jest ‘one of thrust, moment of force about a yaw axis, moment of Jc about a platform pitch axis, or moment of farce about rol axis, The motor controller is configured to receive the ‘one oF more light control commands and drive electrical signals through the electromagnets based on the one or more fight contol commands. The plurality of electromagnets are ‘configure to output electromagnetic fc corresponding to the eleczieal signals to dive the rotor magnets of the rotor 0 o 2 to rotate the rotor about the rotor axis, rotate the rotor blade fhout the blade neutral pitch axis, and cause the rotor to generate the at least one of te thrust, the moment of force About the yaw axis, the moment of force about the platform Pitch axis, or the moment of foree about the platform rll ‘At Teast one aspect of the present disclosure relates 10 a rotor for operation with a stator. The rotor includes an Annular rior base fining rotational axis and comprising a plurality of rotor segments arranged around the stator Each rotor seument includes a sidewall spaced from the rational exis, first rotor wall extending from a fist end ‘of the sidewall and towards the rotational axis, and a second rotor wall extending from a second end of the sidewall and towards the rotational axis, the second rotor wall spaced from the first rotor wall, the rolor defining a rotor axis ‘through the first rotor wall and the second rotor wall and parallel to the rotational axis Each rotor segment includes at Jeast one frst rotor magnet coupled with the ist rotor wall, the af least one first rolor magnel configured lo maintain @ fist space betwoen the first rotor wall and a fist stator magnet along the ror axis, Each rotor segment includes st least one second rotor magnet coupled with the second rotor wall, the at least one second rotor magnet configured to ‘maintain a second space between the second rotor wall and a second stator magnet along the rotor axis. Each rotor segment includes at least one third rotor magnet coupled ‘with the sidewall and spaced from one or more propulsion ‘magnets ofthe stator. The rotor is configured tobe driven by the propulsion magnets via a magnetic field of the one oF ‘more propulsion magnets interacting with the atleast one third rotor magnet, ‘At least one aspect relates toa stator for operation with 3 rotor. The stator incliles sul stator base comprising a plurality of stator segments, the stator base defining a central axis, Each stator segment includes a sidewall, a Support siractare extending from the sidewall, st least one fist stator magnet conpled with frst surface ofthe support structure a least one second stator magnet coupled with a second surface of the support structure opposite the first srlice, ad atleast one propulsion magnet. Theat last one fist stator magnet and the atleast one second stator magnet efine a stator axis parallel to the central axis, the at least one fit stator magnet configured 10 maintain a fist space between a fist rotor magnet oF Uae rotor ad the at least one fist stator magnet along the stator axis, and the at least one second stator magnet configured to maintain a second space between a second rotor magnet of the rotor and the at least ‘one second stator magnet along the stator axis. The at least ‘one propulsion magnet is coupled with the suppor structore fand spaced from one or more third rotor magnets of the rotor, thea least one propulsion magnet configured o output ‘a magnete field responsive to a control signal to drive the rotor about the central axis. At Teast one aspect relates ta rotor contol system. The rotor control system includes a rotor and a stator. The rotor includes a fist mor magnetic component aligned with one ‘ormore fist stator coils, a second rotor magnetic component aligned with one or more second stator cols and adjacent 10 the fist rotor magnetie component, an arm connecting the fist rotor magnetic component and the second rotor mag- netic component, and a first rotor blade fixed to the arm. A fist am end of the is arm coupled with the frst rotor ‘magnetic component and a second arm end of the arm coupled withthe second rotor magnetic component defining fan arm angle which changes hased on a first magnetic force applied tothe first rotor magnetic component relative to a US 11,292,592 B2 3 second magnet force applied to the second rotor magnetic ‘componcn. The fist rotor blade extends from the arm along, ‘a blade pitch axis, the frst rotor blade defining. a blade piteh angle relative tothe blade pitch axis, the blade pith angle ‘corresponding t0 the am angle, The stator includes a plunlity of electrmagnets configured to output at least & first magnetic field that drives the frst rotor magnetic ‘component and a second magnetic field that drives the Second rotor magnetic component responsive to at least one ‘contol signal, thea least one contol signal causing the firs, ‘magnet field to apply the first magnetic force on the fst rotor magnetic component and the second magnetic Held to apply the second magnetic force on the second magnetic ‘component to contr the Blade pitch angle. ‘At Teast one aspect relates o rotor contol system. The rotor control system includes a rotor and a stator. The rotor ‘includes an annulae rotor base defining. a rotational axis and ‘comprising plurality of rotor segments arranged around the Stator. Each rotor segment includes a ist rotor blade con- figured to he rolated about a blade pitch axis perpendicular to the rotational axis, a power receiver circuit, a motor that rotates using power received via the power receiver circuit or rotating the first mtr blade about the Blade pte axis, 2 ‘motor controller that provides a motor signal to the motor for rotating the first rotor blade about the blade pitch axis responsive toa contol signal, and frst wireless transceiver that roveives the control signal and provides the control signal tothe motor controller. The stator includes a second ieless transeciver that receives a control command and ‘wirelesly transmits the control signal to the fist wireless transceiver hased on the control command, and a power transmitter eieuit that outputs 1 magnetic fed that interacts ‘with the power receiver circuit 10 provide power to the power receiver circuit ‘AL least one aspect relates to a system, The system includes a rotor and stator, The rotor includes a sidewall, a frst rotor wall extending from a fist end of the sidewall ‘anda second rotor wall extending from a second end ofthe sidewall, the second rotor wall spaced from the fist rotor ‘wall, at least one frst rotor magnet eoupled with the fist rotor wall, and atleast one second rotor magnet coupled with the second rotor wal. The stator inchides a suppor sructure ‘extending betwoen the fist rotor wall and second rotor wall at least one first stator magnet coupled with fist surface of the support structure and proximate to the atleast one fst rotor magnet, the atleast one first rotor magnet inducing & ‘cureat in the atleast one first stator magnet corresponding to a first distance berwoen the atleast one fist stator magnet ‘and atleast one first rotor magnet, and atleast one second, Stator magnet coupled with a second surface of the support Structure opposite the frst surface and proximate tothe at Feast one second rotor magnet, the atleast one sevond stator magnet electrically coupled with the atleast one frst stator ‘magnet to receive the current from the first stator magnet, the atleast one second stator magnet outputting 4 magnetic field having a magnetic field strength based onthe current from the fist stalor magnet, the magnetic field interacting ‘withthe at least one second rotor magnet to control a second, distance between the at least one sevond stator mage and the at least one second rotor magnet. ‘AL least one aspect relates t0 a system, The system inchides a motor anda stator, The rotor incldes a sidewall, rotor wall extending from an end of the sidewall, and at Feast one rotor magnet coupled with the rotor wall. The stator includes a support structure adjacent the rotor Wall, a frst stator magnet coupled witha surface ofthe support sructre proximate tothe atleast one rotor magnet, the at Teast one 0 o 4 rotor magnet inducing a curent in the fist stator magnet corresponding to a fist magnetic force of a first magnetic field between the fist stator magnet and the a least one rotor ‘magnet, and a second stator magnet coupled to the surface ‘ofthe stipporsteuetire the socond stator magnet electrically couple to the first stalor magnet, the second stator magnct receiving the current from the fist stator magnet t contol ‘second magnetic force of second magnetic Held between the second stator magnet and the a least one rotor magnet. "AL least one aspect relates 10 a system. The system includes @ rotor and a stator. The roor inchdes 8 rotor sidewall defining a rotational axis, atleast one rovor blade ‘cnpled with and transverse the sidewall along a frst surface ofthe sidewall, anda rotor magnet coupled with the sidewall along a second surface of the rotor sidewall opposite the fst surface. The stator includes a plurality of stator magnets circumferential arranged along a surface ofa stator side- ‘all facing the second surface of the rotor sidewall, and a controller wirelessly coupled t the plurality of stator mag- ‘els the coateoller controlling te plurality of stator magnets to selectively produce a respective magnetic field interacting ‘with the rotor magnet of the rotor to rotate the rotor and the ‘tor blade about the rotational axis to produce lift along the rlational axis, ‘At least one aspect relates to a system. The system includes a rotor and a stator The rotor inchides 8 rotor sidewall defining a rotational axis, atleast one rotor blade ‘coupled with and transverse the sidewall along a frst surface of the side wall, and a rotor magnet coupled with the sidewall along a second surlace of the rotor sklewall oppo site the frst surface. The stator includes a plurality of stator ‘magnets circumferentially arranged along a surface of stator sidewall facing the second surface of the motor side- wal, and a controller electrically coupled tthe plurality of stator magnets, the controller controlling the plurality of lator magnets at a switching rate to seletively produce a respective magnetic field, the magnetic fields interacting ‘with the rotor magnet of the rotor to rotate the rotor and rotor blade at a rotational velocity coresponding to the switching rate to produce lift at afi velocity ‘At least one aspect relates to a system. The system includes a rotor configured to rotate about a rotational axis and a stator. The rotor includes a rotor sidewall, a least one ‘olor blade rotalably coupled with the sidewall slong a first surface of the side wall, the a least one rotor blade rotating about a blade axis extending transverse the side wall, and 3 Tint mor magnet und a second rotor magnet coupled With the sidewall along a second surlice of the rotar sidewall ‘opposite the first surface. The stator includes a plurality of fist stator magnets cgcumferentially arranged along stator sidewall facing the rotor sidewall, at least one of the plurality of first stator magnets proximate to the first rotor ‘magnet, a plurality of second stator magnets spaced from respective first stator “magnets and. cireumferentally famanged along the stator sidewall, at least one of the plurality of second stator magnets proximate to the second olor magnet, and a magnet controller electrically coupled to the plurality of fist stator magnets and the plurality of second stator magnets, the magnet controller controlling the plurality of first stator magnets at first switehing rate and ‘controling the plurality of second stator magnets at second Switching rate fo produce rotation ofthe rota blade about the blade axis "At least one aspect relates to a system. The system includes stator and a rotor, The stator includes a plurality of stalor magnets eircumferentially arranged along @ surface of the stator The rotor is configured to rotate about US 11,292,592 B2 stator The rotor includes a plurality of rotor segments, Each rovor segment includes a sidewall spaced from the rotational xis having a ist surfce and a second surface opposite the first surface, at Teast one rotor magnet coupled to the side ‘wall along the fist surfsce, the rotor configured ta be driven by the plurality of stator magnets via respective magnetic fields ofthe plurality of stator magnets interacting with the at least one ror magnet, and at least one rotor blade having 4 frst blade end coupled with the second surface of the sidewall and a second blade end, the frst end aad second defining a motor blade length, the second end and rotational axis defining a radius of rotation, a ratio ofthe rotor Blade Tength to the radius of rotation of the tip being les than oF ‘equal 1 075. ‘AL least one aspect relates to a system, The system Includes « rotor configured to rotate sbout a rotational axis tnd a stator. The rotor includes a ror sidewall, first rotor blade rotatably coupled with the sidewall along a fist surface ofthe side wall, dhe first rotor blade rotaing about ‘first blade axis extending transverse the sie wall, second rotor blade rotatably coupled with the sidewall along the frst surface ofthe sidewall, the second rotor lade rotating about ‘a second blade axis extending transverse the sidewall fist set of rotor magnets including a first rotor magnet and & Second rotor magnet coupled with the sidewall along @ second surface of the rotor sidewall opposite the fist surface proximate the first rotor Blade, and a second set of rotor Tagnets inchiding a third rotor magnet and a fourth rotor ‘magnet coupled with the sidewall along the second surface ‘of the rotor sidewall proximate the second motor blade. The stator includes a plurality of first stator magnets circumfer- cntilly arranged slong a stalor sidewall facing the roto sidewall, atleast one of the plurality of fest stator magnets prowimate to the first rotor magnet and atleast one of the plurality of first stator magnets proximate the thind rotor Tagnet, 2 phirality of second stator magnets spaced from respective first stator magnets and cireumferentally arranged along the stator sidewall, at least one of the plurality of second stator magnets proximate to the second Fotar magnet and atleast one ofthe plunity of second stator ‘magnets proximate to the fourth rotor magnet, and at east ‘one contoller electrically coupled to the plurality of fist, ator magnets and the plurality of second stator magnets, theat least one controller configured 1 receive a movement instruction, exit a desiod movement from the movement instruction, generate a plurality of control signals based on the desired movement, and provide the plurality of control signals to the plurality of frst stator magnets and the plurality of second stator magnets to eause the plurality of first stator magnets and the plurality of second stator mag nets to output magnetic fields corresponding to the plurality ‘of control signals that drive the rotor magnets of the rotor to rotate the rotor about the rotational axis, rotate the first rotor blade about the first blade axis, and rotate the second rotor blade about the second blade axis to produce the desired movement ‘At Teast one aspect relates to rotor for operation with 2 stator, The rotor ineludes an anaular rotor base defining @ rotational axis and comprising 2 plurality of fist rotor Segments amranged around the staiot and coafigured to be driven in a fit direction about the rotational axis, and a plurality of second ror segments arranged around the stator Adjacent to the plurality of ist rotor segments and eonfig- ured to be driven in second direction about the rational axis opposite the first direction, each rotor segment inchud- ing a sidewall spaced from the rotational axis, a first rotor 0 o 6 wall extending from first end of the sidewall and towards the rotational axis, and second rotor wall extending from 4 second end ofthe sidewall and towards the oational axis, the second rotor wall spaced from the fist rotor wall the ‘or defining rotor axis through the first rotor wall and the second rotor wall and parallel to the rotational axis, atleast ‘one first rotor magnet coupled with the first rotor wall, the at least one first rotor magnet configured to maintain a first space between the frst otor wall and the First stator magnet ‘long the rotor axis, at least one second rotor magnet ‘coupled with the seven rotor wal, the atleast one second ‘tor magnet configured to maintain a second space between the second rotor wall and the second rotor magnet along the ror axis at least one third rotor magnet coupled with the sidewall and spaced from one or more propulsion magnets of the stator, the rotor configured to be driven by the propulsion magnets via a magnetic field ofthe one or more propulsion magnets interacting with the at Fest one third rotor magnet. In some embodiments, the atleast one rotor blade is frst rotor blade and the rotor magnet is first eotor ‘magnet corresponding othe frst rotor blade the frst rotor blade configured to rotate about the rotational ais in first rection, and the ror includes a second rotor blade spaced apart from the fist rotor blade, the second rotor blade ‘coupled With and transverse the sidewall along a first surface ‘of the sidewall, and a second rotor magnet corresponding 10 the second rotor blade, the second rotor magnet being driven to drive the second rotor bade in a second direction aber the rotational axis opposite the frst direction ‘Those skilled in the art will appreciate that dhe summary is illustative only and is not intended fo be in any way Jimiting. Other aspects, inventive features, and advantages of he devices and/or processes described herein, as defined solely by the claims, will become apparent in the detailed ‘eseripion set forth herein and taken in conjunction with the ‘sccomprnying drawings, BRIEF DES CRIPTION OF THE DRAWINGS ‘The foregoing and other objects, aspects, features, and advantages of the disclosure will bocome more apparent and better understood by referring to the following description taken in conjunetion with the accompanying drawings, ia whieh FIG. 1 is a schematic diggram of an embodiment of a VTOL platform, FIG. 2 isa schematic diagram of a portion of the VTOL platform of FIG. 1 FIG. 3 isa block diagram of various systems of the VIO. plators of FIG. 1 FIG. 4is a partial perspective view of a motor region of the VIOL platform of FIG. 1 FIG. Sis. section view of the motor region ofthe VTOL platform of FIG. 1 FIG. 6 is a schematic diagram of an embodiment of levitation and guidance systems. FIG. 7 is a block diagram of an embodiment of a flight nics system of a VIOL platform. FIG. 8 isa schematic diagram of collective piteh conto! executed by the ight dynamies system of FIG. 7 IG. 9 is a schematic diagram of cyclic pitch contol ‘executed by the light dynamies system of FIG. 7 FIG. 10 is a block disgram of an embodiment ofa motor controller oF VTOL. platform. FIG. 11 isa block diagram of an embodiment of a stator ofa VIOL platform. oy US 11,292,592 B2 7 FIG. 12 is a block diagram of a rotor control system of a VTOL platform, FIG. 13 isa flow diagram of an embodiment of a method ‘of controling a VTOL platform. FIG, 144 is a schematic diagram of an embodiment of rotor having motor-driven rotor blades. FIG. 148 isa block diagram of an embodiment of a rotor ‘contol system using motor-driven rotor blades. DETAILED DESCRIPTION For purposes of reading the description of the various ‘embosiiments below, the following enumeration of the soe- tions of the specification and their respective contents may be helpful: ‘Section A describes embodiments of systems and methods ‘of a VTOL platform that operates using magnetic levitation: Section B describes embodiments of systems and meth- ‘ods of levitation and guidance of a VIOL platform that ‘operates using magnetic levitation; and Section C deseribes embodiments of systems and meth: ‘ods of controling ® VTOL. platform that operates using ‘magnetic levitation, including flight dynamics, motor control, and pitch contol AA Systems and Methods of VIOL. Platform netic Levitation Referring generally o FIGS, 1-8, 9 VTOL platform in socordance with the present disclosure ean use magnetic Tevitasion and specific control mechanisms to eliccntly drive a rolor with a stator to enable vertical takeo? and Tanding, as well as flight control operations such as Flt pitch, roll, and yaw contol. The VTOL platform can have Improved size, weight, power, and cost (SWAP-C) foctors relative to existing systems, including increased power density relative to internal combustion-based systems, The \VTOL platform can achieve igh rotor rotation rates for an annular platform configuration. “The VIOL platform can have reduced noise relative to ‘existing systems with similar performance capability by reducing both mechanical and aerodynamic rise gener- tion, Existing systems that rely on mechanical operation of gearboxes, swashplates, and generators may genenite sige nificant nose, In turbines mechsnical noise may be tas mite along the stricture of tse turbine and radiated from its surfaces, and aerodynamic noise may be produced by the Flow of aie over the blades, In helicopters, aoise may be enerated by the main rotor and tail rotor interactions With ‘This ean be verified by analyzing the frequency spectrum. ‘ofa helicopter during takeof there may be global and local ‘maxims atthe respective blade pasting frequencies of each rotor blade. There may also be & very large distibution of ‘acoustic power that sweeps over the higher Irequencies, and this broadband noise may result fom a combination of multiple noise mechanisms, including operation of the t= bine, gearbox, and transmission. The present solution can adress these noise sources by using a direct electric pow= ‘entrain that relies on fewer interactions between mechanical ‘components, and also by configuring rotor blades in 3 manner that reduces noise generation. As suc, the present solution can reduce energy ineficeneies associated with noise generation, as well as nuisances associated with noise that make existing systems less viable for urban envion- rent and personal use modes. Tn some embodiments, the VIOL platform includes 2 rotor, a stator, a fight controller, and a motor controller: The rotor includes a plurality of rotor blades oriented about a Us Mag. 0 o 8 rotor axis and radially spaced from the stator. Fach rotor blade is coupled toa rotor an such that rotation of the rotor ‘am causes the rotor blade (orotate about a rovor pitch axis ‘The rotor arm is coupled to frst rotor magnet spaced from fa second rotor magnet. The stator includes a plurality of ‘lcctmmagnets. The flight contalleris configured to receive ‘8 movement iastuction, extract @ desited movement from the movement instruction, and generate one or more flight ‘commands configured to cause the rotor to generate at least fone of thatst, moment of force about a yaw axis, moment of ore about a platform pitch axis, or moment of foree about ‘platform coll axis. The motor controller is configured to receive the one or more flight control commands and drive electrical signals through the electromagnets based on the fone or more flight control commands. The plurality of electromagnets are configured to output electromagnet fields coeresponding to the electrical signals 10 drive the rotor magnets of the ror to rotate the rotor about the rotor axis rotate the roto blade about the blade neutral pitch ax ‘and cause the rolor to generate tke at least one af the ths. the moment of force about the yaw axis the moment of foree about the platform piteh axis, oF the moment of force about the platform roll axis, Referring sow to PIGS, 1-2, a VIOL platform 100 includes a stator 10 that drives a rotor 120. The rotor 120 can extend om the stator 110 to a housing 130 (e.g, @ nacelle). A support structure 140 ean be mounted! 1 the stator 10, such ast provide a seat 142 for an operator 144 of the VIOL. platform 100, While FIGS. 1-2 ilfestrate the Stator 110 inward of the rotor 120, the stator 110 may’ be ‘outward fiom the rotor 120, The rotar 120 can be supported by a levitation system (eg. levitation system 360 described with reference to FIG. 3) coupled to the stator 110 to rotate bout the stator 110, The stator 110 and rotor 120 ca include various magnets (e., permanent magnets; electromagnetic ils; electromagnetic eoils through which current ean be riven to eause the electromagnetic cols to generate mag- netic fields) ‘The stator 110 can use poster fom a power supply 112 to rive the rotor 120 by omputting electromagnetic fields 10 trive magnets ofthe rotor 120, inching to rotate the rotor 120 about a rotational axis 122. For example, the stator MO can drive the rotor 120 based on control signals reveived from a controller, as discussed further herein, The power supply 112 can include one or more batteries. The power supply 112 can be highly distributed and integrated into the Support structure 140, which can improve stiiness and reduce weight of the VIOL platform 100 as compared t0 existing systems, The stator 110 can have increased efficiency relative to ‘existing mechanical systems, Using an electromagnetic oo pling between the stator 110 and rotor 120, rather than ‘echanial connections, can improve operation relative to txisting systems. In order to achieve a VTOL. platform having similar performance parameter as can be enabled by the present solution in existing systems vould require the engine to drive small gears spinning much faster than a Large rains rotor, which could result insignificant mechanical {fiction losses, and would weigh significantly more than a simple rotor mounted to a driven axle. In such existing systems, there could be large ellicieney losses due (0 the fetreme gear ratio, large inherent manwfacturing dificulies from the large geared andor toothed ring structures, loud ‘mechanical interactions outweighing any aeroacoustie ben- efits of the annular rotor geometry, andlor lange, heavy Structures used for power transfer that could increase total ‘Weight significantly. The present solution can adress such US 11,292,592 B2 9 phenomens by using the tator 110 fo deve the rotor 1204 Some embodiments, the present solution can produce a disiibuted torque through the use of a power dense ellicient and responsive electric synchronous moter, rather a gearbox ‘rane for tongue transfer a the rotoeting, ad ean inn tancowsly act a the electromechanical rotor, drive axle, and blade hb, thus lowering, weight, efficiency losses, and ‘mechanical complexity. unter with respect to the stator 110 and rotor 120, it has ben foun tat motor power density increases lincarly with hub rains, and decreases Hinearly with motor height, The present solution ean implement such Features 10 configure the stator 110 to have a relatively larg radius and relatively Tow thickness to increase efficiency and power density, ‘enabling the stator 110 to have less mass and/or greater power Output relative t existing internal combustion-based systems. The rotor 120 is shown as an annular rotor that can orbit bout the siator 10 and support srcture 140.‘The rotor 120 ‘includes « plurality of fist Blades 124 (coupled to respective magnets as discussed further herein). The phuraity of fst blades 124 can extend betwoen the stator 110 and the housing 130. In some embodiments, the stator 10 controls ‘pitch angle ofeach first blade 124. The fist blades 124 ean be coupled with and transverse to (et, perpendicular to) sidewall 134, As illustrated in FIGS, Land 4, exch fist blade 124 can extend from a frst blade end (e.g, blade root) 444 ‘coupled with the sidewall 134 (e.g, rotor Segments 132 of sidewall 134) o a second blade end (e.g, blade tip) 448, ‘which can be coupled with the housing 130 or fee from the housing 130, The fist blade 124 ean define blade axis 440 ‘extending from the frst blade end 444 to the second blade ‘end, which can he perpendicular to the rotational axis 122 the eotor 120 includes a plurality ‘of second blades 126, which can be similar tothe first blades 124 and may rotate about the tational axis 122 indepen- dently relatively to the plurality of fist laces 124. The second blades 126 can be spaced from the frst blades 124, such as being emupled with the sidewall 134 (e.2, rotor segments 132 of sidewall 134) below the ist blades 124, or ‘coupled with a second sidewall 134 helow the first Blades 1s [By rotating the first blades 124 andor second blades 126 the VTOL platform 100 ean generat ill due to action ofthe fir Blades 124 andlor second blades 126 on air passing through the VTOL platform 190, Similarly, the first blades 124 and/or second blades 126 can be deiven in 8 manner to ‘cause rotation about yaw, rol, andor pitch axes "The rotor blades 124, 126 can be individually feathered (ex, blade surfaces aligned ata particular angle relative to direction of airflow) to maintain cyclic and collective pitch ‘commands for guidance of the VTOL platoon 100. As ‘compared to existing systems, in which a swashplate may be "used o control operation of rotor blades, the present solution ‘can individually control pitch of each rotor blade 124, 126 jn fitionless manner. Systems and Methods for Controlling Lift Using Contra- Rotating Rotors In some embodiments, the plurality of fist blades 124 rotate in first direction about the rotational axis 122, while the plurality of second blades 126 rotate in a second diree- tion about the rotational axis 122 opposite the first direction. As such, the plurality of frst blades 124 and plurality of second hiades 126 can be contr-rotating. For example, cach second blade 126 can be coupled with respective rotor ‘magnets 380 that are driven by the stator 110 in the second ‘direction, As discussed further herein, the coat circuit 310, 0 o 10 «an contol operation ofthe plurality of fist Blades 124 by providing fst control signal to cause the plurality of Rest blades 12410 rotate about the rational axis 122 in the fist

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