# US 10,370,096 B2 · Rotor phase control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,370,096 B2 - Document ID: US10370096B2 - Status: Granted - Kind: B2 - Application number: 15/301,142 - Filed: 2014-04-02 - Published: 2017-01-26 - Granted: 2019-08-06 - Earliest claimed: 2014-04-02 - Assignees: Sikorsky Aircraft Corporation - Applicants: Sikorsky Aircraft Corporation - Inventors: Anthony Litwinowicz; Kenneth S. Wittmer; Matthew T. Luszcz - Web page: https://patentgrep.com/patent/US10370096B2 ## CPC - B64C 27/57: automatic or condition responsive, e.g. responsive to rotor speed, torque or thrust - B64C 13/16: actuated automatically, e.g. responsive to gust detectors - B64C 27/10: arranged coaxially - B64C 27/32: Rotors - B64C 27/72: Means acting on blades - B64C 2027/7205: {on each blade individually, e.g. individual blade control [IBC]} - Y02T 50/30: Wing lift efficiency - B64C: AEROPLANES; HELICOPTERS - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract Embodiments are directed to obtaining data from at least one sensor, processing, by a processor, the data to determine an independent rotor phase lag for each of a plurality of axes associated with a rotorcraft, and issuing, by the processor, at least one command to provide for on-axis moments in accordance with the independent rotor phase lag for each of the axes. ## Claims ### Claim 1 A method of adjusting phasing of a rotor comprising: obtaining data from at least one sensor; processing, by a processor, the data to determine an independent rotor phase lag for each of a plurality of axes associated with the rotor of a rotorcraft, wherein the data is mapped to commands via a table; issuing, by the processor, at least one command to one or more actuators to provide for on-axis moments in accordance with the independent rotor phase lag for each of the axes; and adjusting phasing of the rotor separately for each of the plurality of axes via operation of the one or more actuators. ### Claim 2 (depends on 1) The method of claim 1, wherein the data pertains to at least one of: temperature, pressure, density, speed, and advance ratio. ### Claim 3 (depends on 1) The method of claim 1, wherein the plurality of axes comprises a pitch axis and a roll axis of the rotorcraft. ### Claim 4 (depends on 1) The method of claim 1, wherein the data is processed using at least one table that maps parametric data to rotor phase lag values. ### Claim 5 (depends on 4) The method of claim 4, wherein the at least one table is populated based on a configuration of the rotor that is used on the rotorcraft. ### Claim 6 (depends on 4) The method of claim 4, wherein the at least one table is populated based on flight testing. ### Claim 7 (depends on 1) The method of claim 1, wherein the at least one command corresponds to a cyclic command associated with a swashplate. ### Claim 8 (depends on 1) The method of claim 1, wherein the at least one command provides for individual blade control. ### Claim 9 An apparatus comprising: at least one processor; and a memory having instructions stored thereon that, when executed by the at least one processor, cause the apparatus to: obtain data from a plurality of sensors; process the data to determine an independent rotor phase lag for each of a plurality of axes associated with a rotor of a rotorcraft; and issue commands to one or more actuators to provide for on-axis moments in accordance with the independent rotor phase lag for each of the axes such that a phase of the rotor is adjusted separately for each of the plurality of axes via the one or more actuators. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the data pertains to at least two of: temperature, pressure, density, speed, and advance ratio. ### Claim 11 (depends on 9) The apparatus of claim 9, wherein the plurality of axes comprises a pitch axis and a roll axis of the rotorcraft. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein the memory has at least one table stored thereon that maps parametric data to rotor phase lag values, and wherein the apparatus is configured to process the data in accordance with the at least one table. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein values of the at least one table are populated based on a configuration of the rotor that is used on the rotorcraft. ### Claim 14 (depends on 12) The apparatus of claim 12, wherein values of the at least one table are populated based on flight testing. ### Claim 15 (depends on 9) The apparatus of claim 9, wherein the commands correspond to orthogonal cyclic commands associated with a swashplate when phasing is the same for each of the axes. ### Claim 16 (depends on 9) The apparatus of claim 9, wherein the commands provide for individual blade control. ### Claim 17 A rotorcraft comprising: at least one rotor comprising a plurality of blades; a plurality of sensors associated with the at least one rotor; and a control system configured to: obtain data from the sensors; process the data to determine an independent rotor phase lag for each of a plurality of axes associated with the at least one rotor of the rotorcraft; and issue commands to one or more actuators to provide for on-axis moments in accordance with the independent rotor phase lag for each of the axes such that a phase of the at least one rotor is adjusted separately for each of the plurality of axes via the one or more actuators. ### Claim 18 (depends on 17) The rotorcraft of claim 17, wherein the data pertains to advance ratio and air density, and wherein the plurality of axes comprises a pitch axis and a roll axis of the rotorcraft. ### Claim 19 (depends on 17) The rotorcraft of claim 17, wherein the control system is an electronic control system. ### Claim 20 (depends on 17) The rotorcraft of claim 17, wherein the control system comprises a control computer configured to process the data by accessing at least one table that maps a phase lag needed to generate on-axis moments for each of the axes at varying airspeeds.