Design, Development, and Open-Loop Flight-Testing of a Twin-Rotor Cyclocopter Micro Air Vehicle

Abstract

This paper describes the systematic design and development of a hover-capable cyclocopter/cyclogyro, which is a 100-yearold vertical takeoff and landing (VTOL) concept that was invented during the early 20th century. The cyclocopter is an aircraft that utilizes cycloidal rotors (cyclorotors), a revolutionary horizontal axis propulsion concept that appears to be aerodynamically more efficient than a conventional rotor. Another key advantage of the cyclorotor is its thrust vectoring capability, which is utilized in the present study for attitude control. The present vehicle has a twin-cyclorotor and a horizontal tail rotor configuration where each of the rotors is powered using independent motors. A novel attitude control technique is developed using differential rotational speed control and thrust vectoring of the cyclorotors for rolling and yawing and horizontal tail rotor for pitch control. Using this control strategy, for the first time in the history, the stable flight of a cyclocopter was demonstrated.