This is some truly amazing engineering. Be sure to watch the video.
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I’m trying to understand how the blade control works.
It sounded like by accelerating / decelerating it causes the blades to change pitch. By speeding up / slowing down more than once per revolution(torque changes according to sine wave at very high frequency) it simulates cyclic control. So it replaces mechanical complexity with complex control algorithms.
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Based on my loose understanding I think they perform some sort of out-of-phase vibration with the motor to make the blades pitch. From the article…
Instead of only driving the motor with a steady torque, we add a sinusoidal component in phase with the rotation of the rotor to induce a cyclic pitch variation
Oh, OK, that means they are applying power to the motors in a sinusoid, but slowly enough that the motors can keep up with the sinusoidal power applied. I suppose it would be an AC signal riding on top of a DC substrate.