Design of failover micro aerial

vehicle with tilting rotors

Denis Khvostov, Sergey Chepinskiy, Alexandr Krasnov,
Ksenia Khvostova, Grigory Shmigelsky
Unmanned Aerial Vehicles

Plane Helicopter Multirotor Convertiplane

Multirotors design
Problem description

Currently, there are many types of multicopters, but all have

one problem - fault tolerance.
So for example, quadrocopter with 4 engines in case of failure
of just one of them goes into an uncontrolled fall.
To solve this problem currently the number of engines
doubles and sometimes even triples - it increases fault tolerance,
but significantly increases the weight of the drone, as well as its
cost and reduces flight time - so it's not the best solution.
Marcel Hirscher case
Project goals

Thus the aim of our project is to solve this problem by creating a failover
UAV, suitable for:
– operating in harsh environmental conditions (eg. Natural disasters)
– saving expensive equipment installed on board

As well cheapening production of such drones is our purpose.

 Brief project description

To resolve this issue, we developed a special construction of the quadcopter, which increases degrees
of freedom of quadrocopter’s thrust engines and allows us to using just 4 engines to achieve fault
tolerance and increase maneuverability with only slight increase in cost and weight of the machine.
Flight mode: tricopter

This mode can be used in case of failure of one engine.

We can fully control quadcopter position by three remaining engines.
Flight mode: tandem

This mode can be used in case of failure

of two engines on one side of quadrotor.

We can still control the quadcopter

position by using the remaining engines,
as well as is done in tandem rotor
helicopters.
Flight mode: solus

This mode can be used in case of failure

of two engines along the diagonal, or in
case of failure of three engines.

In such situation we can control

quadcopter altitude and safely lower it.
Flight mode: hover

This mode can be used to improve stability on strong wind by changing thrust vector.
Further development

After developing and testing main modes presented above, we plan to:

- explore the possibilities of performance aerobatics

- flying with a fixed roll angle

- other modes by which quadrocopter will be able to move in a limited

space and effectively bend around obstacles.
Thank you for watching!
Denis Khvostov – talionar@yandex.ru