Swashplateless helicopter and control method thereof

A swashplateless helicopter, comprising:

• an airframe;
• a blade motor mounted on the airframe and controlled by a control system, which is provided with a rotating bracket in a transmission way, wherein the rotating bracket has a first swinging body and a second swinging body which respectively hinged at two opposite sides of the rotating bracket;
• and
• a first blade and a second blade, which are positioned at two opposite sides of the blade motor and respectively connected to the first swinging body and the second swinging body, wherein the first swinging body and the second swinging body are respectively configured to drive the first blade and the second blade to swing forward or backward in a rotating direction of the blade motor, so as to respectively change a pitch of the first blade and the second blade;
• and
• wherein the blade motor is further provided with a motor encoder electrically connected to the control system, which is configured to feed a rotating position of the blade motor back to the control system in real time, so that the control system is able to monitor a rotating position of the first blade and the second blade in real time.