CN107933909A - A kind of high-speed and high-efficiency tilting wing unmanned vehicle - Google Patents
A kind of high-speed and high-efficiency tilting wing unmanned vehicle Download PDFInfo
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- CN107933909A CN107933909A CN201711358420.7A CN201711358420A CN107933909A CN 107933909 A CN107933909 A CN 107933909A CN 201711358420 A CN201711358420 A CN 201711358420A CN 107933909 A CN107933909 A CN 107933909A
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- tilting
- aerofoil
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/28—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft with forward-propulsion propellers pivotable to act as lifting rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U30/00—Means for producing lift; Empennages; Arrangements thereof
- B64U30/20—Rotors; Rotor supports
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
- B64U50/14—Propulsion using external fans or propellers ducted or shrouded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
Abstract
The invention discloses a kind of high-speed and high-efficiency tilting wing unmanned vehicle, and pneumatic efficiency and control reliability of the aircraft layout with higher, on the premise of VTOL is ensured, can realize that high-speed and high-efficiency flies.Aircraft includes：Tilting rotor, the aerofoil that verts, tail duct, fixed empennage, airframe structure and undercarriage.Tilting rotor and the aerofoil that verts can be rotated by actuation mechanism along shaft, tilting rotor variable-distance.Tail duct is change propulsive vector duct.Aircraft flies to put down from flies that lift mode, transition flight state and straight and level flight state need to be undergone.Tilting rotor takes into account the rotor efficiency for the winged winged state of state peace of hanging down, and can drive aircraft high-speed flight；The aircraft aerofoil that verts is located at tilting rotor purling region, and rudder effectiveness is higher；Change propulsive vector tail duct hangs down winged pitching for aircraft and yaw provides controling power, improves aircraft and hangs down winged control stability.
Description
Technical field
The present invention relates to a kind of tilting wing vertically taking off and landing flyer, belong to aeronautical product technical field.
Background technology
Tilting wing unmanned vehicle has the VTOL ability of helicopter concurrently and the high speed of propeller fixed wing aircraft flies
Row performance, belongs to vertically taking off and landing flyer.Tilting wing unmanned vehicle power force direction can vert, and widely should have
With prospect, main application includes logistics, line walking, forest fire protection, environmental monitoring etc..Although tilting wing unmanned vehicle can expire
The application demand of some special screnes of foot, but also exist in practical application hang down fly in circles wing efficiency is low, level speed is slow, hang down flight to
The problems such as control performance is poor.Such as：Fly to fly to use same set of dynamical system with flat 1. existing tilting wing unmanned vehicle hangs down, and
Mostly constant pitch airscrew, and in fact, more rotors and Fixed Wing AirVehicle rotor are no matter from shape size or mechanical mechanism
On all there are significant difference, this be by propeller under different flight state aerodynamic conditions it is different determined, therefore existing incline
Switch rotor unmanned vehicle dynamical system is difficult while efficiently compatible hang down flies the winged state of peace, and level speed is relatively low；It is 2. existing
Tilting rotor unmanned vehicle scheme uses more rotor mode VTOL more, and flight is realized by rotor rotating speed or pitch control
Device Heading control, but fuselage wing structure front face area is big in practical applications, and the controling power of antitorque of rotor Heading control is bright
Inadequate, wind resistance when this causes such aircraft to hang down winged is poor.
The content of the invention
The present invention provides a kind of high-speed and high-efficiency tilting wing unmanned vehicle scheme, aircraft layout has higher
Pneumatic efficiency and control reliability, on the premise of VTOL is ensured, can realize that high-speed and high-efficiency flies.
A kind of tilting wing unmanned vehicle includes：Tilting rotor, the aerofoil that verts, tail duct, fixed empennage, airframe structure
And undercarriage, and including at least 2 tilting rotors and vert aerofoil and 1 tail duct.
Tilting wing unmanned vehicle according to one of above-mentioned technical proposal, it is characterised in that the tilting rotor
Aerofoil can vert jointly around the rotation axis parallel to spanwise with verting.
Tilting wing unmanned vehicle according to one of above-mentioned technical proposal, it is characterised in that the tilting rotor
Aircraft can be taken into account and hung down and flown and flat wing efficiency of flying in circles.
Tilting wing unmanned vehicle according to one of above-mentioned technical proposal, it is characterised in that the tilting rotor
Vertical power of ascending to heaven is provided for aircraft when vertical winged, pulling force is provided before being provided when preceding winged for aircraft, is hung down winged and preceding winged using same set of rotation
Wing dynamical system.
Tilting wing unmanned vehicle according to one of above-mentioned technical proposal, it is characterised in that the machine for the aerofoil that verts
Wing plane is parallel with tilting rotor purling all the time, reduces shielded area of the aerofoil to rotor down-wash flow.
Tilting wing unmanned vehicle according to one of above-mentioned technical proposal, it is characterised in that have on the aerofoil that verts
There is control rudder face, tilting rotor purling is acted directly on control rudder face.
Tilting wing unmanned vehicle according to one of above-mentioned technical proposal, it is characterised in that tail duct pushes away for change
Force vector duct, can provide pitching and Heading control power for aircraft.
In one more specifically technical solution, the present invention in order to achieve the above object using a kind of tilting wing without
People's aircraft, including tilting rotor, the aerofoil that verts, tail duct, fixed empennage, airframe structure and undercarriage.Flat fly is flown to from
Lift mode (winged state of hanging down) need to be undergone, vertically turns to equal winged transition flight state (transition state) and turns to put down flat after flying
Straight state of flight (flat winged state).The control method of use is as follows：When hanging down winged state, tilting rotor and tail duct are aircraft
Lift is provided, by varying left and right rotor pitch and tail duct rotating speed, aircraft pitching and rolling control is realized, passes through the wing that verts
Face and tail duct control surface deflection, realize aircraft course control.In transition state, the aerofoil that verts inclines jointly with tilting rotor
Turn, component of the tilting rotor lift on preceding winged direction flies before driving aircraft at this time, in point on preceding winged direction
Measure and the aerofoil that verts on the lift collective effect that produces, provide gesture stability power for aircraft.In flat winged state, tilting rotor
Vert completely to, at this time vert aerofoil offer prevailing lift parallel with heading, the driving of tilting rotor pulling force with the aerofoil that verts
Fly before aircraft, the gesture stability to aircraft is realized by varying the rudder face drift angle respectively verted on aerofoil and empennage.
The beneficial effect that the present invention is brought：
(1) aircraft tilting rotor of the present invention employs variable-pitch propeller, takes into account the rotor for the winged winged state of state peace of hanging down
Efficiency improves aircraft cruising time, it can be achieved that high-speed flight.
(2) the aircraft aerofoil that verts is located at tilting rotor purling region, and rudder effectiveness is higher.
(3) tail duct is change propulsive vector duct, it can be achieved that pitching and yaw control when aircraft hangs down winged, improve flight
Control stability when device hangs down winged.
Brief description of the drawings
Fig. 1 is that tilting wing aircraft of the present invention hangs down winged view；
Fig. 2 is that tilting wing aircraft of the present invention equals winged view；
Fig. 3 is that tilting wing aircraft of the present invention puts down winged state top view；
Fig. 4 is that one embodiment of the invention is hung down winged state top view；
Fig. 5 is one embodiment of the invention tail duct and rudder face relative position schematic diagram；
In Fig. 1：1. tilting rotor；2. vert aerofoil；21. the aerofoil that verts controls rudder face；3. tail duct；4. fix empennage；
4.1 empennages control rudder face；5. airframe structure；6. undercarriage.
In Fig. 3：1. tilting rotor；2. vert aerofoil；21. the aerofoil that verts controls rudder face；3. tail duct；4. fix empennage；
4.1 empennages control rudder face；5. airframe structure；6. undercarriage.
In Fig. 4：1. tilting rotor；3. tail duct；4. fix empennage；5. airframe structure.
In Fig. 5：31. tail ducted fan；32. control rudder face.
Embodiment
Fig. 1~3 show the basic structure layout and fortune of a kind of high-speed and high-efficiency tilting wing unmanned vehicle of the present invention
Line mode.Aircraft includes：Tilting rotor (1), the aerofoil that verts (2), tail duct (3), fixed empennage (4), airframe structure (5) and
Undercarriage (6), it is characterised in that tail duct is located at position between tilting rotor (1) tiliting axis and empennage (4).
Aircraft should be able to carry out the flight of three kinds of state of flights, including：Winged state, the transition state peace of hanging down fly state.
Fig. 1 show the present embodiment hang down winged state when respectively vert the relative position of component (1) (2) and airframe structure (5)；Fig. 2 is implementation
The flat winged view of example；Fig. 3 shows the phase of respectively vert when the present embodiment equals winged state component (1) (2) and airframe structure (5)
To position；Embodiment transition state respectively verts component rotation position between the winged winged state of state peace of hanging down.2 in the present embodiment
The layout of a tilting rotor and 1 tail duct should not limit present invention, and aircraft can also include 46 or multiple distributions
Formula tilting rotor (1) and 2 or multiple tail ducts (3), Fig. 4 provide for a kind of containing 4 tilting rotors (1) and 2 tails culverts
The quantity of the aircraft layout in road, tilting rotor and tail duct the content should regard specific master-plan according to the present invention with arrangement
Depending on scheme.
Such as Fig. 1, the tilting rotor (1) of the embodiment is fixed on the aerofoil that verts (2), inclines together with the aerofoil that verts (2)
Turn, wherein the Plane of rotation of tilting rotor (1) is vertical with the aerofoil that verts (2) plane, and tilting rotor (1) should be variable-distance rotation
The wing, to take into account the rotor efficiency of hang down winged state and preceding winged state, multiple tilting rotors (1) can use motor or fuel engines to drive
It is dynamic.Preferably, tilting rotor (1) is driven using motor, and displacement uses electric drive, and can be according to carrying out flow velocity in flight course
Degree is automatic change rotor always away from.
Such as Fig. 1, the aerofoil that verts (2) of the embodiment, in flat winged state, can be used as aircraft wing to ascend to heaven before providing
Power.The aerofoil (2) that verts should include control rudder face.When hanging down winged state, the differential aircraft that is deflected to of control rudder face provides course control
Power processed, in flat winged state, the differential aircraft that is deflected to of control rudder face provides lateral control force.Preferably, the aerofoil (2) that verts inclines
Turn to drive using motor, the aerofoil that verts (2) wing plane has certain established angle with tilting rotor (1) purling, makes aerofoil in rotor
There is lift-rising effect, control rudder face is arranged in tilting rotor (1) direct zone of action of purling, improves rudder under the action of purling
Face control efficiency.
Such as Fig. 5, the aircraft tail duct (3) of the embodiment includes tail ducted fan (31) and control rudder face (32), contains
Road fan (31) driving can use fuel engines or motor；Ducted fan (31) lift is variable, should be by varying fan pitch
Or the mode of rotation speed of the fan is realized；Control rudder face (32) is located at ducted fan (31) purling zone of action, can be around parallel to machine
The shaft deflection of body axis, produces vectored thrust effect.Preferably, ducted fan (31), which uses, spacing fan+fixation water conservancy diversion
The scheme of blade, thrust variation is realized by varying rotating speed, is simplified mechanical structure and is offset part by wind by fixed flow deflector
The reaction torque that fan rotation produces；Control rudder face (32) uses symmetrical airfoil, and rudder face area is according to practical flight device shipping-direction stability
It is designed.The present embodiment tail duct (3) scheme should not limit present invention, including the scheme of motor driving and spacing fan
Fall within present invention.
The fixation empennage (4) of the embodiment does not vert, longitudinal direction and horizontal course stabilization when putting down winged for aircraft.It is fixed
There is tail vane on empennage (4), tail vane is deflected to aircraft and equals winged offer pitching and Heading control power, and fixed empennage (4) is located at tail culvert
After road (3), improve aircraft and equal winged stability.Such as Fig. 3, embodiment aircraft includes a V-type and fixes empennage (4).This reality
Present invention should not be limited by applying example, and the number quantity and form for specifically fixing aerofoil (4) will be according to the aerodynamic characteristic of specific aircraft
It is designed with structure type.
The airframe structure (5) is connecting the tilting rotor of aircraft (1), the aerofoil that verts (2), tail duct (3) and solid
Determine empennage (4), and flight load can be accommodated.The present embodiment aircraft fuselage structures (5) as shown in figure 3, shape should be streamlined,
To reduce aerodynamic drag.
The undercarriage (6) ensures the normal takeoff and landing of aircraft to support Flight Vehicle Structure.Such as Fig. 2, embodiment
The undercarriage (6) of aircraft includes nose-gear (61) and rear undercarriage (62), and nose-gear (61) and rear undercarriage (62) are equal
It is directly anchored to below airframe structure (5).
The present embodiment aircraft is when hanging down winged state, such as Fig. 1 and Fig. 4.Pitch control is by varying tilting rotor (1) and tail
Duct (3) lift difference realizes that rolling control realizes that Heading control passes through left and right by varying left and right tilting rotor (1) lift difference
Vert aerofoil (2) control rudder face is differential and tail duct (3) vectored thrust direction is realized.The attitude control method for winged state of hanging down
To be designed based on more rotor control methods for specific distribution form, the control method of this embodiment should not limit the present invention
Content.
In transition state, the aerofoil that verts (2) verts the present embodiment aircraft jointly with tilting rotor (1), verts at this time
Component of rotor (1) pulling force on preceding winged direction flies before driving aircraft, the component of in the vertical direction and the aerofoil (2) that verts
Making a concerted effort for aerodynamic force, gesture stability power is provided for aircraft.Pitch control rises by varying tilting rotor (1) and tail duct (3)
Force difference realizes that rolling control realizes that Heading control passes through lateral tilting rotor face by varying left and right tilting rotor (1) lift difference
(2) control rudder face is differential and tail duct (3) vectored thrust direction is realized.The attitude control method of transition state will be based on more
Rotor control method is designed for specific distribution form, and the control method of this embodiment should not limit present invention.
The present embodiment aircraft in flat winged state, tilting rotor (1) and the aerofoil that verts (2) vert completely to flight side
To parallel, fly at this time before the pulling force driving aircraft of tilting rotor (1), tilting rotor changes pitch and adapts to flat fly with efficient automatically
High speed incoming.Pitching and Heading control control control surface deflection to realize by rear fixed empennage (4), and rolling is controlled by varying left and right
Vert the differential realization of control rudder face of aerofoil (2).The attitude control method of flat winged state will be based on Fixed Wing AirVehicle controlling party
Method is designed for specific distribution form, and the control method of this embodiment should not limit present invention.
The core of the present invention is that tilting rotor is displacement rotor, can efficiently adapt to the different works that rotor hangs down when flying peaceful fly
Condition；Control rudder face is located at rotor down-wash flow region, and control efficiency is higher；Tail duct is change propulsive vector duct, flying vehicles control
Reliability is higher.The present invention is not limited to above-mentioned embodiment, if the various changes and deformation to the present invention do not depart from
The scope of the invention, still fall within the present invention claim and equivalent technology within the scope of.
Claims (6)
1. a kind of high-speed and high-efficiency tilting wing unmanned vehicle, it is characterised in that housing construction includes：Tilting rotor (1), vert
Aerofoil (2), tail duct (3), fixed empennage (4), airframe structure (5) and undercarriage (6).
2. a kind of high-speed and high-efficiency tilting wing unmanned vehicle according to claim 1, it is characterised in that aircraft is at the same time
Comprising there is the rotor to vert and aerofoil and be capable of providing VTOL lift and Heading control power tail duct.
3. a kind of high-speed and high-efficiency tilting wing unmanned vehicle according to claim 1, it is characterised in that body at least wraps
Containing 2 tilting rotors (1) and 2 aerofoils that vert (2), the aerofoil that verts (1) and tilting rotor (2) vert together, and can Raoping
Row is rotated in the shaft of spanwise.
4. tilting rotor according to claim 1, it is characterised in that rotor for can back gauge rotor, VTOL can be taken into account
With rotor efficiency of high speed when flat winged.
5. the aerofoil according to claim 1 that verts, it is characterised in that it can be rotated along the tiliting axis parallel to spanwise,
Reduce rotor down-wash flow shielded area, improve rotor efficiency and provide gesture stability power at the same time for aircraft.
6. tail duct according to claim 1, it is characterised in that including at least a tail duct (3), tail duct (3) is
Variable thrust vector duct, it can provide pitching and Heading control power for aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711358420.7A CN107933909A (en) | 2017-12-17 | 2017-12-17 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711358420.7A CN107933909A (en) | 2017-12-17 | 2017-12-17 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN107933909A true CN107933909A (en) | 2018-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711358420.7A Pending CN107933909A (en) | 2017-12-17 | 2017-12-17 | A kind of high-speed and high-efficiency tilting wing unmanned vehicle |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382579A (en) * | 2018-05-06 | 2018-08-10 | 北京天宇新超航空科技有限公司 | A kind of new and effective tilting rotor unmanned vehicle |
| CN108394556A (en) * | 2018-05-06 | 2018-08-14 | 北京天宇新超航空科技有限公司 | A kind of efficient tilting rotor wing unmanned aerial vehicle |
| CN109353505A (en) * | 2018-09-21 | 2019-02-19 | 清华大学 | A kind of tailstock formula unmanned plane of aerodynamic force/thrust vectoring complex controll |
| CN109436314A (en) * | 2018-12-29 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of unmanned vehicle |
| CN109573006A (en) * | 2019-01-30 | 2019-04-05 | 深圳市道通智能航空技术有限公司 | A kind of tilting rotor wing unmanned aerial vehicle and its wing components |
| CN109703753A (en) * | 2019-02-12 | 2019-05-03 | 欧阳军 | A kind of new vertical takeoff and landing vehicle |
| CN110143274A (en) * | 2019-05-13 | 2019-08-20 | 中国人民解放军国防科技大学 | Wing assembly, unmanned aerial vehicle and control method of wing assembly |
| CN111409821A (en) * | 2020-04-26 | 2020-07-14 | 北京航空航天大学合肥创新研究院 | Solar unmanned aerial vehicle with tilting wings |
| CN112498679A (en) * | 2020-12-14 | 2021-03-16 | 江西洪都航空工业股份有限公司 | Tilting composite power aircraft |
| CN113335525A (en) * | 2021-07-23 | 2021-09-03 | 浙江自贸区协同科技有限公司 | High-speed cruise fixed-wing unmanned aerial vehicle with rotary outer wings for vertical take-off and landing |
| CN113788139A (en) * | 2021-10-26 | 2021-12-14 | 上海磐拓航空科技服务有限公司 | Method for accurately controlling aircraft track through multifunctional pneumatic control surface |
| CN113978717A (en) * | 2021-11-19 | 2022-01-28 | 南昌航空大学 | Electronic unmanned aerial vehicle of duct verts |
| CN114056557A (en) * | 2020-07-29 | 2022-02-18 | 中国科学院沈阳自动化研究所 | Hybrid power tilt rotor unmanned aerial vehicle |
| CN114194385A (en) * | 2021-11-26 | 2022-03-18 | 中电科芜湖通用航空产业技术研究院有限公司 | Aircraft and control method thereof |
| CN114610059A (en) * | 2022-03-03 | 2022-06-10 | 广东汇天航空航天科技有限公司 | Yaw control method and device, rotorcraft and storage medium |
| CN115092389A (en) * | 2022-06-22 | 2022-09-23 | 上海电气集团股份有限公司 | Tilt-rotor duck type vertical take-off and landing unmanned aerial vehicle |
| RU2787906C1 (en) * | 2021-12-16 | 2023-01-13 | Максим Анатольевич Миронов | High-speed unmanned aerial vehicle |
| CN115636084A (en) * | 2022-10-31 | 2023-01-24 | 云南骏鹰航空科技有限公司 | Tilting wing vertical take-off and landing aircraft and control method thereof |
| CN116215852A (en) * | 2023-05-08 | 2023-06-06 | 成都沃飞天驭科技有限公司 | Vertical take-off and landing aircraft and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108382579A (en) * | 2018-05-06 | 2018-08-10 | 北京天宇新超航空科技有限公司 | A kind of new and effective tilting rotor unmanned vehicle |
| CN108394556A (en) * | 2018-05-06 | 2018-08-14 | 北京天宇新超航空科技有限公司 | A kind of efficient tilting rotor wing unmanned aerial vehicle |
| CN109353505A (en) * | 2018-09-21 | 2019-02-19 | 清华大学 | A kind of tailstock formula unmanned plane of aerodynamic force/thrust vectoring complex controll |
| CN109436314A (en) * | 2018-12-29 | 2019-03-08 | 深圳市道通智能航空技术有限公司 | A kind of unmanned vehicle |
| CN109573006A (en) * | 2019-01-30 | 2019-04-05 | 深圳市道通智能航空技术有限公司 | A kind of tilting rotor wing unmanned aerial vehicle and its wing components |
| CN109573006B (en) * | 2019-01-30 | 2024-04-12 | 深圳市道通智能航空技术股份有限公司 | Tilt rotor unmanned aerial vehicle and wing subassembly thereof |
| CN109703753A (en) * | 2019-02-12 | 2019-05-03 | 欧阳军 | A kind of new vertical takeoff and landing vehicle |
| CN110143274A (en) * | 2019-05-13 | 2019-08-20 | 中国人民解放军国防科技大学 | Wing assembly, unmanned aerial vehicle and control method of wing assembly |
| RU2790454C2 (en) * | 2019-08-20 | 2023-02-21 | Петр Николаевич Старков | Vertical take off and landing aircraft with variable direction of propulsion thrust |
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