Patent ID: 7648338

Claim:
A rotary-wing aircraft comprising: a dual, counter-rotating, coaxial rotor system having an upper rotor system and a lower rotor system rotatable about a common axis of rotation; an upper swashplate linked to said upper rotor system; a lower swashplate linked to said lower rotor system; a sensor system within an airframe; an upper HHC actuator system which includes at least one individually controllable actuator in each axis to control said upper swashplate and said upper rotor system in an X-Y-Z axis; a lower HHC actuator system which includes at least one individually controllable actuator in each axis to control said lower swashplate and said lower rotor system in an X-Y-Z axis; and a HHC controller in communication with said sensor system, said upper HHC actuator system, and said lower HHC system to individually control said upper rotor system and said lower rotor system to reduce vibration.