Anti-torque control using fixed blade pitch motors

1. A helicopter rotation estimation method for use with a helicopter including a plurality of first fixed blade pitch variable-speed motors mounted on a tail boom of the helicopter, the method comprising:

measuring a rotation of the helicopter in response to a baseline speed of the plurality of first variable-speed motors mounted on the tail boom of the helicopter;

measuring a rotational response of the helicopter to a speed signal from the one or more of the first variable-speed motors; and

comparing the measured rotation of the helicopter to an estimated rotation of the helicopter to modify the speed of the one or more first variable-speed motors to achieve a certain rotation of the helicopter based on a comparison of the estimated and the actual rotation of the helicopter.

2. The method of claim 1 , further comprising obtaining an airspeed of the helicopter from an airspeed sensing system disposed at a forward portion of an airframe of the helicopter and reducing or increasing the speed of one or more of the plurality of first fixed blade pitch variable-speed motors to control a yaw or a response to transients on the helicopter during flight.

3. The method of claim 1 , wherein the step of comparing further comprises filtering noise from data reflective of the rotation of the helicopter.

4. The method of claim 1 , wherein the step of comparing further comprises iteratively correcting data reflective of the rotation of the helicopter between the estimated rotation and the actual rotation.

5. The method of claim 1 , wherein the step of comparing further comprises correcting data reflective of the rotation of the helicopter by reference to speed data for the one or more first fixed blade pitch variable-speed motors versus the rotation of the helicopter.

6. The method of claim 1 , wherein a control logic in a flight control computer calculates the estimated rotation of the helicopter.

7. The method of claim 1 , wherein the certain rotation of the helicopter comprises no rotation of the helicopter or adjusts a torque, a roll, or a yaw of the helicopter.

8. The method of claim 1 , further comprising a plurality of second fixed pitch blade variable-speed motors mounted on the tail boom of the helicopter that are substantially parallel and planar with the plurality of first fixed pitch blade variable-speed motors.

9. The method of claim 8 , wherein the plurality of first variable-speed motors are coaxially aligned with the plurality of second variable-speed motors and the fixed pitch blades are outwardly facing.

10. The method of claim 1 , wherein the plurality of first variable-speed motors are arranged in a round, oval, crescent-shaped, J-shaped, diagonal, square, rectangular, triangular, pentagonal, hexagonal, polygonal, rhomboid, trapezoid, X-shaped, Y-shaped, or kite-shaped pattern.

11. A method for controlling a rotation of a helicopter, the method comprising:

measuring the rotation of the helicopter in response to a speed of three or more variable-speed motors mounted on a tail boom of the helicopter, wherein one or more fixed pitch blades are attached to each of the three or more variable-speed motors;

changing the speed of one or more of the variable-speed motors to achieve an estimated rotation of the helicopter;

measuring an actual rotation of the helicopter;

comparing the estimated rotation of the helicopter to the actual rotation of the helicopter; and

adjusting the speed of one or more of the variable-speed motors to achieve the estimated rotation of the helicopter.

12. The method of claim 11 , further comprising repeating the measuring, comparing and adjusting steps.

13. The method of claim 11 , wherein the estimated rotation of the helicopter comprises no rotation of the helicopter or adjusts a torque, a roll, or a yaw of the helicopter.

14. The method of claim 11 , further comprising:

looking up an estimated or measured effect on a torque for each individual variable-speed motor or pairs of the variable-speed motors; and

calculating the estimated rotation of the helicopter using the estimated or measured effect on the torque.

15. The method of claim 11 , wherein a torque of each variable-speed motor and the respective fixed pitch blade is based on a size, power and position of the variable-speed motor and the respective fixed pitch blade.

16. The method of claim 11 , wherein the three or more fixed pitch blade variable-speed motors comprise:

three or more first fixed pitch blade variable-speed motors; and

three or more second fixed pitch blade variable-speed motors that are substantially parallel and planar with the three or more first fixed pitch blade variable-speed motors.

17. The method of claim 16 , wherein the three or more first variable-speed motors are coaxially aligned with the three or more second variable-speed motors and the fixed pitch blades are outwardly facing.

18. The method of claim 11 , wherein the three or more variable-speed motors are arranged in a round, oval, crescent-shaped, J-shaped, diagonal, square, rectangular, triangular, pentagonal, hexagonal, polygonal, rhomboid, trapezoid, X-shaped, Y-shaped, or kite-shaped pattern.

19. The method of claim 11 , further comprising providing a directional thrust using at least one of the three or more variable-speed motors, wherein the directional thrust comprises a starboard thrust, a port thrust, or both starboard and port thrust concurrently.

20. The method of claim 11 , wherein the three or more variable-speed motors can be turned on or off independently, turned on or off as a group, turned one or off in pairs, or each variable-speed motor can operate independently to direct thrust in a same or a different direction.

21. The method of claim 11 , further comprising rotating the three or more variable-speed motors about a longitudinal axis of the tail boom.

22. The method of claim 11 , wherein the fixed pitch blades and variable-speed motors are individually ducted.

23. The method of claim 11 , wherein each of the fixed pitch blades and variable-speed motors are on a pivot that allows for rotation of the individual fixed pitch blades and variable-speed motors.