METHOD AND APPARATUS FOR CABLE-DRIVEN ADAPTIVE VIBRATION CONTROL
First Claim
1. A vibration control drive system used in an unmanned aerial vehicle (UAV), comprising:
- a base platform fixedly coupled to a UAV structure;
a working platform coupled to the base platform by two or more cables at two or more connection points on the working platform;
two or more actuators positioned either on the base platform or the working platform, each actuator configured to receive a signal to adjust tension in a corresponding cable; and
a first controller coupled to and adapted to control the two or more actuators, whereby two or more control signals are calculated for the two or more actuators based on a target position from a current position of the working platform according to one of (i) an open-loop configuration, (ii) a first closed-loop configuration utilizing velocity of the working platform as a feedback signal, or (iii) a second closed-loop configuration utilizing velocity of the working platform as a first feedback signal and the position information of the working platform as a second feedback signal.
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Abstract
A vibration control system for an unmanned aerial vehicle (UAV) is disclosed. The system includes a base platform fixedly coupled to a UAV structure, a working platform coupled to the base platform by two or more cables at two or more connection points on the working platform, and two or more actuators positioned either on the base platform or the working platform, each actuator configured to receive a signal to adjust tension in a corresponding cable, wherein by adjusting tension in the two or more cables, natural frequency of the working platform can be adjusted in response to frequency of vibration experienced by the working platform in order to maintain a frequency ratio (FR) of the vibration frequency to the natural frequency at or above a predetermined value.
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Citations
20 Claims
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1. A vibration control drive system used in an unmanned aerial vehicle (UAV), comprising:
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a base platform fixedly coupled to a UAV structure; a working platform coupled to the base platform by two or more cables at two or more connection points on the working platform; two or more actuators positioned either on the base platform or the working platform, each actuator configured to receive a signal to adjust tension in a corresponding cable; and a first controller coupled to and adapted to control the two or more actuators, whereby two or more control signals are calculated for the two or more actuators based on a target position from a current position of the working platform according to one of (i) an open-loop configuration, (ii) a first closed-loop configuration utilizing velocity of the working platform as a feedback signal, or (iii) a second closed-loop configuration utilizing velocity of the working platform as a first feedback signal and the position information of the working platform as a second feedback signal. - View Dependent Claims (2, 3, 6, 7, 8, 9, 10)
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4. The drive system of claim 4, wherein the n−
- 1 equations and n unknowns can be solved for each tension of the two or more cables based on minimum norm least-squares.
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5. The drive system of claim 5, wherein the Jacobian matrix is defined by
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11. A vibration control system for an unmanned aerial vehicle (UAV), comprising:
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a base platform fixedly coupled to a UAV structure; a working platform coupled to the base platform by two or more cables at two or more connection points on the working platform; and two or more actuators positioned either on the base platform or the working platform, each actuator configured to receive a signal to adjust tension in a corresponding cable; wherein by adjusting tension in the two or more cables, natural frequency of the working platform can be adjusted in response to frequency of vibration experienced by the working platform in order to maintain a frequency ratio (FR) of the vibration frequency to the natural frequency at or above a predetermined value. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification