Скачать или смотреть L3Harris Workhorse, the FVR Quad, has Yaw Authority

The FVR platform is certainly an impressive accomplishment. According to its maker, "The FVR is designed for long endurance, 12 to 18 hours, with an 8 to 22 pound payload capacity."

According to the patent, large quad platforms are great at their VTOL thing, but have little yaw authority. To make a quad more agile, L3Harris came up with a solution: orient propellers at an angle to the horizontal. This way, you can have a bit more push to yaw the drone.

The inventors took several approaches to this concept. One approach is to have a second set of 'thrust rotors' under the regular props that are set to an angle.

Another idea is a tricopter with "pivoting engine pods [that] can each be actuated to position each one of thrust rotors 110-113 in horizontal position relative the inwardly and outwardly tilted positions."

Title: “Vertical Take-off And Landing Aircraft With Rotor Thrust Yaw Control”
US Patent No: 11485488 
Filed (US Prov.): 2014-12-07
Granted: 2022-11-01
Applicant: L3HARRIS LATITUDE LLC

www.uavpatents.com/l3harris-workhorse-the-fvr-quad-has-yaw-authority/