The Vehicle Controlling Near the Screening Surface Using Thrust Vector Deflection of the Electric Motor with Gimbal Mounted Propeller

The controlled spatial motion of the combined vehicle near the screening surface is considered. A propeller motor in a gimbal mount forms control forces and moments. The gimbal mount scheme can be defined on a finite set of successive three independent turns with recurrence, which is represented by 96 variants. The constructive scheme of the gimbal mount of propeller electric motor is proposed, which provides control of combined vehicle in the three main modes: Lifting force (helicopter scheme); Traction mode (aircraft scheme); Lateral traction (course control). The rotative axis of the propeller is combined in coincidence with rotor axis of electric motor determining the first turning of the gimbal mount. The electric motor's stator is located on the inner ring of the gimbal and its rotation axis determines the second finite turn. The turning axis of the outer race of the gimbal relatively the case of the combined vehicle defines the third finite turning movement. This constructive solving of the gimbal mount provides the combined control of thrust vector in wide range of finite turning angles. Basis of movable Cartesian coordinate system is coincides with the rotation axes intersection point. For the entered reference systems and the accepted sequence of finite independent turning movements matrixes of the forward and inverse transform of coordinates in the form of quaternion matrixes are formed. In the form of quaternion matrices, depending on the angle of the thrust vector and the arrangement of the gimbal mount, the driving forces and moments in the reference frame that is associated with the vehicle are determined.