Abstract: A method of controlling a helicopter having a rotor with blades is provided. The method includes receiving, by a computing device comprising a processor, at least one input associated with the helicopter; generating, by the computing device, control signals configured to counteract blade bending associated with the rotors based on the received at least one input; measuring, by the computing device, blade signals using sensors for the blades; extracting, by the computing device, harmonic loads from the measured blade signals; adapting, by the computing device, the control signals based on the harmonic loads; and controlling, by the computing device, servos connected to the blades to adjust the blades according to the adapted control signals to reduce vibratory loads on the blades.

Abstract: A method of counteracting a rotor moment of one or more rotors of a concentric dual-rotor helicopter includes sensing angular velocity and angular acceleration of a helicopter during a flight maneuver. The angular velocity and angular acceleration are compared to a set of control parameters and one or more control servos change the cyclic pitch of the one or more rotors to counteract the rotor moment. A control system for counteracting a rotor moment of one or more rotors of a concentric dual-rotor helicopter includes one or more sensors configured to sense angular velocity and angular acceleration of a helicopter during a flight maneuver. A computer is operably connected to the one or more sensors and configured to compare sensor data to a set of control parameters. A plurality of control servos change the cyclic pitch of the one or more rotors to counteract the rotor moment.