Automatic load monitoring system with remote sensing

• US 4,894,787 A
• Filed: 04/28/1988
• Issued: 01/16/1990
• Est. Priority Date: 04/28/1988
• Status: Expired due to Fees

• Current Assignee: Kaman Aerospace Corporation (Kaman Corporation)
• Original Assignee: Kaman Aerospace Corporation (Kaman Corporation)
• Inventors: Lang, George F., Flannelly, William G., Gunsallus, Clifford T.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Mattson, Brian M.
• Application Number:
  US07/187,227
• Time in Patent Office: 628 Days
• Field of Search: 364/508, 364/550, 416/134 A, 416/140, 340/665, 340/671, 340/672, 340/603, 340/615, 73/118, 73/574, 73/579, 73/583, 73/455, 73/1 R, 73/10 V, 73/577, 73/660
• US Class Current: 702/42
• CPC Class Codes: G01D 1/00 Measuring arrangements giving results other than momentary value of variable, of general application G01D3/00 takes precedence; in tariff metering apparatus G01D4/00; transducers not specially adapted for a specific variable G01D5/00
• CPC Class Codes: G01L 5/0071 Specific indicating arrangements, e.g. of overload

Abstract

A novel system for determining the magnitudes of loads on rotating helicopter components from signals remotely measured on the helicopter fuselage is characterized by a processor which decomposes the measured signals into corresponding Fourier components and extracts selected components therefrom. A programming module performs a multiplication on the respective Fourier components to correlate the measured components with corresponding determinative parameter values. The parameter values are established in a calibration process which is characterized by determination of the independent values of a measured signal set using a Jones orthogonalization process. The signals output from the coefficient programming module are provided to a multiplying resolver which receives synthesized reference sinusoids from a digital processor and generates time dependent signal components therefrom. These signals are ultimately summed in an analog summer circuit whose output signal corresponds to the desired parameter signal.

Claims

1. A method of generating, from a first set of signals measured in a first member indicative of a first member parameter, a relational set of signals substantially equating with said first signal set a second set of signals indicative of said parameter as measured in a cooperative second member, said method comprising the steps of:

measuring a first signal set indicative of a first member parameter by means of sensors directly configured with the first member;

measuring a second signal set by means of sensors directly configured with the second member, said second member measured signal set including signals indicative of said parameter;

Fourier decomposing said first member signal set into signals corresponding to a time independent first member Fourier coefficient signal set therefor;

Fourier decomposing said second member signal set into signals corresponding to a time independent second member Fourier coefficient signal set therefor;

said first and second member Fourier coefficient signal sets corresponding to respective first and second mathematical vectors lying in a vector space with each of said signal sets mathematically configured into respective first and second matrices comprised of elements corresponding to Fourier coefficient signals thereof arranged in rows and columns,

computing, from said second member Fourier coefficient signal set a substantially independent signal subset thereof having a plurality of signal elements that substantially spans said mathematical vector space; and

generating a relational signal set corresponding to a mathematical pseudo inverse of said first member Fourier coefficient signal set with said substantially independent signal subset.

2. The method of claim 1 wherein the first member rotates relative to the second member.

3. The method of claim 1 wherein said first member Fourier coefficients signal set further comprises a plurality of signal subsets indicative of said first member parameter for a corresponding plurality of flight conditions and wherein said relational and second member Fourier coefficient signal sets further comprise signal subsets of corresponding flight conditions.

4. The method of claim 1 wherein said computing step includes computation steps in accordance with a Jones Euclidian Limit Length Orthogonalization Algorithm that includes the steps of:

assuming a first column of elements of said second member Fourier coefficient signal set to be mathematically independent and comprise said substantially independent signal subset,

comparing each element in successive columns of said second member Fourier coefficient signal set with said mathematically independent signal column, and

supplementing said independent signal subset with elements of said successive columns which are determined to be substantially mathematically independent from said independent signal subset.

5. The method of claim 4 wherein said computing step further comprises the steps of comparing each of said second member Fourier coefficient signal elements against a pre-selected threshold value indicative of substantial mathematical independence and including each of said elements in said substantially independent signal subset only if said threshold value is at least as great as said element.

6. The method of claim 5 wherein said comparing step further comprises the steps of computing a mathematical dot product of said second member Fourier coefficient signal elements and said substantially independent signal subset.

7. The method of claim 1 wherein said time independent Fourier coefficient signal sets include constant coefficients and coefficients for fundamental and harmonic frequencies thereof, said method further comprising the steps of selecting only particular ones of said Fourier coefficients corrresponding to selected ones of said harmonics frequencies.

8. An apparatus for use in generating, from a first set of signals measured in a first member indicative of a first member parameter, a relational set of signals equating with said first signal set a second set of signals indicative of said parameter as measured in a cooperative second member, said apparatus comprising:

means directly configured with the first member for measuring a signal set indicative of a first member parameter;

means directly configured with the second member for measuring a second signal set including signals indicative of said parameter;

a controller including

means for Fourier decomposing said first member signal set into signals corresponding to a selected time independent first Fourier coefficient signal set

means for Fourier decomposing said second member signal set into signals corresponding to a selected time independent second Fourier coefficient signal set;

said first and second Fourier coefficient signal sets corresponding to respective first and second mathematical vectors lying in a vector space with each of said signal sets mathematically configured into respective first and second matrices comprised of elements corresponding to Fourier coefficient signals thereof arranged in rows and columns,

said controller for computing, from said second Fourier coefficient signal set, a substantially independent signal subset thereof having a plurality of elements that substantially spans said mathematical vector space, and for generating a relational signal set comprised of a mathematical pseudo inverse of said substantially independent signal subset and said first Fourier coefficient signal set.

9. The apparatus of claim 8 wherein the first member rotates relative to the second member.

10. The apparatus of claim 9 wherein said first Fourier coefficient signal set further comprises a plurality of signal subsets indicative of said first member parameter for a corresponding plurality of flight conditions and wherein said relational and second Fourier coefficient signal sets further comprise signal subsets of corresponding flight conditions.

11. The apparatus of claim 8 wherein the first member vibrates relative to the second member.

12. The apparatus of claim 8 wherein the controller computes the independent signal subset in accordance with a Jones Euclidian Limit Length Orthogonalization Algorithm and includes a means for:

assuming a first column of said second member Fourier coefficient signal set to be mathematically independent and comprise said independent signal subset,

comparing each element in successive columns of said second member signal set with said mathematically independent signal column, and

supplementing said independent signal subset with elements of said successive columns which are determined to be substantially mathematically independent from said independent signal subset.

13. The apparatus of claim 12 wherein said controller further comprises a comparator for comparing each value of Fourier coefficient signal elements against a pre-selected threshold value indicative of substantial mathematical indpendence and including said element in said substantially independent signal subset only if said threshold value is at least as great as said element.

14. An electronic phase synchronization circuit receiving a periodic timing signal having a period and a signal phase, comprising:

a control signal circuit receiving said periodic timing signals, for generating, during said timing signal period, a selected number of control signals;

a synthesizer circuit receiving said control signals, for generating in response thereto a plurality of first and second periodic signals, each of said first and second synthesizer periodic signals characterized by a signal phase and a frequency, said control signals selectively enabling said synthesizer circuit to output selected ones of said first and second synthesizer periodic signals; and

a circuit for adjusting, once per said timing signal period, the phase of said first and second synthesizer periodic signals to equal the phase of said periodic timing signal.

15. The circuit of claim 14 wherein said phase synchronization circuit synchronizes said timing signal and said synthesized periodic signals within a selected frequnecy range, and further provides an error signal when said timing signal is not within said synchronization signal frequency range.

16. The circuit of claim 15 wherein said phase synchronization circuit synchronizes said timing signal and said synthesized periodic signals over a capture frequency range that is equal in magnitude to said synchronization frequency range.

17. The circuit of claim 15 wherein said error signal is inherently digital.

18. The circuit of claim 14 wherein said first and second periodic signals further comprise respective signal harmonics thereof.

19. The circuit of claim 14 wherein said control signal circuit comprises a digital control signal circuit.

20. The circuit of claim 19 wherein said synthesizer circuit comprises a digital erasable programmable memory and multiplying digital/analog converters.

21. The circuit of claim 14 wherein said periodic timing signal is provided by a helicopter rotor rotation sensor.

22. A system for determining a time dependent signal corresponding to a parameter in a first member, said system comprising:

a means for measuring a time dependent signal set in a second member cooperative with said first member including signals indicative of said first member parameter; and

a controller, including

a means for Fourier decomposing said second member signal set into a set of signals corresponding to a selected time independent second member Fourier coefficient signal set therefore;

a correlating means for generating a computed first member parameter signal set indicative of said first member parameter that combines said second member Fourier coefficient signal set with a signal set of predetermined correlation coefficients generated by computing a mathematical pseudo-inverse of first member Fourier coefficient signal set corresponding to Fourier coefficients of first member parameter signals directly measured in said first member with a signal set corresponding to a substantially independent subset of signals indicative of said first member parameter directly measured in said second member, said first and second member Fourier coefficient signal sets corresponding to respective first and second mathematical vectors lying in a vector space with each of said signal sets mathematically configured into respective first and second matrices comprised of elements corresponding to signals thereof arranged in rows and columns; and

a means for generating from periodic signals and said computed first member parameter signal set a time dependent signal indicative of said first member parameter.

23. The system of claim 22 wherein said controller is configured to operate in real time.

24. The system of claim 22 wherein said controller further comprises:

a control signal circuit receiving a periodic timing signal having a signal phase, for generating, during said external timing signal period a selected number of control signals,

a synthesizer circuit receiving said control signals, for generating a plurality of first and second periodic signals each having a phase, said control signals selectively enabling said synthesizer circuit to output selected first and second periodic signals; and

a circuit for adjusting, once per timing signal period, the phase of said first and second synthesized periodic signals to equal the phase of said periodic timing signal.

25. The system of claim 24 wherein said controller synchronizes said timing signal and said synthesized periodic signals within a selected periodic signal range and wherein said controller further provides an error signal when said timing signal is not within said periodic signal range.

26. The system of claim 22 wherein said correlation means further comprises a signal filter means for receiving said measured signals and said synthesized first and second periodic signals, and providing therefrom only a selected Fourier coefficient signal component of the measured signals.

27. The system of claim 26 wherein said correlation means further comprises a coefficient module, receiving the Fourier coefficient signal set, for providing signal multiplication with signals corresponding to said correlation coefficients.

28. The system of claim 27 wherein said first and second synthesized periodic signals further comprises respective signal harmonics thereof.

29. The system of claim 28 wherein said signal generation means further comprises a multiplying resolver circuit, receiving the correlated signals from said coefficient module and said first and second synthesized periodic signals, said multiplying resolver circuit for reconstructing, from said received signals, time dependent signals corresponding to said first member parameter.

30. The system of claim 29 wherein said signal generation means further comprises an analog signal summer circuit, for receiving the time dependent signal components from said multiplying resolver circuit, and outputting a summed, time dependent signal corresponding to the first member parameter.

31. A method for use in determining values of a physical parameter in a first member, comprising the steps of:

measuring a time dependent signal set in a second member cooperative with said first member including signals indicative of said first member parameter;

Fourier decomposing said second member signal set into a set of signals corresponding to selected time independent second member Fourier coefficeint signal set therefor;

generating a computed first member parameter signal set indicative of said first member parameter that combines said second member Fourier coefficient signal set with predetermined correlation coefficients generated by computing a mathematical pseudo-inverse of a first member Fourier coefficient signal set corresponding to Fourier coefficients of first member parameter signals directly measured in said first member with a signal set corresponding to a substantially independent subset of signals indicative of said first member parameter directly measured in said second member, said first and second member Fourier coefficient signal sets corresponding to respective first and second mathematical vectors lying in a vector space with each of said signal sets mathematically configured into respective first and second matrices comprised of elements corresponding to signals thereof arranged in rows and columns; and

generating from periodic signals and said computed first member parameter signal set a time dependent signal corresponding to said first member parameter.

32. An apparatus for use in generating, from a first set of signals measured in a first member indicative of a first member parameter, a relational set of signals equating with said first signal set a second set of signals indicative of said parameter as measured in a cooperative second member, said apparatus comprising:

a means directly configured with the first member for measuring a first member signal set indicative of a first member parameter;

a means directly configured with the second member for measuring a second member signal set including signals indicative of said parameter;

a controller including

a means for transforming said first member signal set into signals corresponding to a selected time independent first coefficient signal set,

a means for transforming said second member signal set into signals corresponding to a selected time independent second coefficient signal set;

said first and second coefficient signal sets corresponding to respective first and second mathematical vectors lying in a vector space with each of said signal sets mathematically configured into respective first and second matrices comprised of elements corresponding to coefficient signals thereof arranged in rows and columns,

said controller for computing, from said second coefficient signal set, a substantially independent signal subset thereof having a plurality of elements that substantially spans said mathematical vector space, and for generating a relational signal set comprised of a mathematical pseudo inverse of said substantially independent signal subset and said first coefficient signal set.