Computationally efficient means for optimal control with control constraints
First Claim
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1. A method for actively controlling vibration including the steps of:
- a. measuring ambient vibration;
b. generating a first command signal based upon said vibration measured in said step a;
c. constraining a first component of the first command signal;
d. calculating a residual vibration resulting from the constraint of the first component, wherein the residual vibration is calculated based upon the constraint; and
e. generating a second command signal based upon said residual vibration calculated in said step d.
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Abstract
A method and system that reduces undesired vibration in a vehicle measures ambient vibration and generates a first command signal based upon the measured vibration. If a first component of the first command signal exceeds a maximum allowable, the first component of the first command signal must be constrained. A residual vibration resulting from the constraint of the first component is then calculated. A second command signal to compensate for the residual vibration is then calculated. Force generators are then activated based upon the constrained first component and the second command signal in order to reduce the vibration.
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Citations
18 Claims
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1. A method for actively controlling vibration including the steps of:
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a. measuring ambient vibration; b. generating a first command signal based upon said vibration measured in said step a; c. constraining a first component of the first command signal; d. calculating a residual vibration resulting from the constraint of the first component, wherein the residual vibration is calculated based upon the constraint; and e. generating a second command signal based upon said residual vibration calculated in said step d. - View Dependent Claims (2, 3, 4, 5)
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6. An active control system comprising:
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a plurality of sensors for measuring ambient vibration; a control unit generating a first command signal based upon said vibration measured by said plurality of sensors and based upon a matrix T, wherein T represents a relationship between a change in command signals and a resulting change in sensor measurements, constraining a first component of the first command signal, performing a calculation based upon T to determine a residual vibration resulting from the constraint of the first component, the control unit generating a second command signal based upon said calculated residual vibration; and a plurality of force generators activated based upon said first command signal, said second command signal and said constrained first component. - View Dependent Claims (7, 8)
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9. A computer readable medium storing a computer program, which when executed by a computer performs the steps of:
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a. generating a first command signal based upon measured vibration; b. constraining a first component of the first command signal; c. calculating a residual vibration resulting from the constraint of the first component, wherein the constraint of the first component of the first command signal is an input to the calculation; and d. generating a second command signal based upon said residual vibration calculated in said step c. - View Dependent Claims (10, 11, 12)
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13. A method for actively controlling vibration including the steps of:
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a) sensing ambient vibration; b) generating a first sensed signal as a function of the sensed ambient vibration; c) generating a first control command signal as a function of the first sensed signal; d) constraining a selected component of the first control command signal; e) calculating a residual that is expected to result from the constraint of the selected component, wherein the calculation is based upon the constraint of the selected component; f) generating a second control command signal in response to the residual calculated in step e); and g) generating a compensating force as a function of the constrained selected component and the second control command signal. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification