Computer system and program product for controlling vibrations

• US 7,722,322 B2
• Filed: 11/07/2006
• Issued: 05/25/2010
• Est. Priority Date: 08/30/2004
• Status: Active Grant

• Current Assignee: Lord Corporation (Parker-Hannifin Corporation)
• Original Assignee: Lord Corporation (Parker-Hannifin Corporation)
• Inventors: Jolly, Mark R., Altieri, Russell E.
• Primary Examiner(s): Kershteyn; Igor
• Application Number:
  US11/557,384
• Publication Number:
  US 20070156289A1
• Time in Patent Office: 1,295 Days
• Field of Search: 415/119, 416/1, 416/24, 416/98
• US Class Current: 416/1
• CPC Class Codes: B64C 2027/003 mounted on rotor hub, e.g. a rotary force generator
• CPC Class Codes: B64C 27/001 Vibration damping devices
• CPC Class Codes: F16F 15/22 Compensation of inertia forces suppression of vibrations of rotating systems by favourable grouping or relative arrangements of the moving members of the system or systems F16F15/20, counterweights F16F15/28; correcting-weights for balancing rotating bodies F16F15/32
• CPC Class Codes: G01M 1/22 and converting vibrations due to imbalance into electric variables

Abstract

The computer programmable system and program product include first program instructions for actively driving a first imbalance mass concentration rotor and a second imbalance mass concentration rotor at a vibration canceling rotation frequency while controlling the rotational position of the first imbalance mass concentration and the second imbalance mass concentration to produce a rotating net force vector to inhibit periodic vibrations. The program product includes second program instructions to opposingly orient the first imbalance mass concentration relative to the second imbalance mass concentration during a starting stopping rotation speed less than the vibration canceling rotation frequency. The system includes a fault mode control protocol for controlling a rotation of the rotors during a sensed failure of the rotating assembly vibration control system.

Claims

1. A computer programmable media containing programmable software to control a rotating assembly vibration control system with a first imbalance mass concentration rotor and a second imbalance mass concentration rotor, for a rotating assembly having a periodic vibration while rotating at an operational rotation frequency, said computer programmable software including:

first program instructions for rotating said first imbalance mass concentration rotor and said second imbalance mass concentration rotor at a whole number multiple vibration canceling rotation frequency greater than said rotating assembly operational rotation frequency while controlling the rotational position of said first imbalance mass concentration and said second imbalance mass concentration to produce a rotating net force vector to inhibit said periodic vibration,

second program instructions to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a starting stopping rotation speed less than said whole number multiple vibration canceling rotation frequency.

2. A computer programmable media as claimed in claim 1, said computer programmable software including third program instructions including a fault mode control protocol for controlling a rotation of said rotors during a sensed failure of the rotating assembly vibration control system.

3. A computer programmable media as claimed in claim 2, including motor control servo instructions to position said first rotor to track a first rotor command (R1_phi) and motor control servo instructions to position said second rotor to track a second rotor command (R2_phi).

4. A computer programmable media as claimed in claim 3, wherein said fault mode control protocol includes instructions for detecting a first rotor failure.

5. A computer programmable media as claimed in claim 3, wherein said fault mode control protocol includes instructions for detecting a second rotor failure.

6. A computer programmable media as claimed in claim 4, wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said first rotor failure, and upon detecting said first rotor failure said second rotor is commanded to a resultant phase (F_phase) position.

7. A computer programmable media as claimed in claim 5 wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said second rotor failure, and upon detecting said second rotor failure said first rotor is commanded to a resultant phase (F_phase) position.

8. A computer program product for controlling a rotating vibration control system with a first imbalance mass concentration rotor and a second imbalance mass concentration rotor, said computer program product comprising:

a computer readable medium,

first program instructions for driving said first imbalance mass concentration rotor and said second imbalance mass concentration rotor at a vibration canceling rotation frequency while controlling the rotational position of said first imbalance mass concentration and said second imbalance mass concentration to produce a net force vector to inhibit a vibration,

second program instructions to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a transitioning rotation speed.

9. A computer program product as claimed in claim 8, said computer program instructions including program instructions for monitoring a tachometer input signal and maintaining an opposing orientation of said first imbalance mass concentration and said second imbalance mass concentration unless said rotors are driving in sync with said tachometer input signal.

10. A computer program product as claimed in claim 8, said computer program instructions including a fault mode control protocol for controlling a rotation of said rotors during a sensed failure of the rotating vibration control system.

11. A computer program product as claimed in claim 10, said computer program instructions including motor control servo instructions to position said first rotor to track a first rotor command (R1_phi) and motor control servo instructions to position said second rotor to track a second rotor command (R2_phi).

12. A computer program product as claimed in claim 11, wherein said fault mode control protocol includes instructions for monitoring a sensor signal and detecting a first rotor failure.

13. A computer program product as claimed in claim 12, wherein said fault mode control protocol includes instructions for monitoring a sensor signal and detecting a second rotor failure.

14. A computer program product as claimed in claim 13, wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said first rotor failure, and upon detecting said first rotor failure said second rotor is commanded to a resultant phase (F_phase) position.

15. A computer program product as claimed in claim 14, wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said second rotor failure, and upon detecting said second rotor failure said first rotor is commanded to a resultant phase (F_phase) position.

16. A computer program product for controlling a rotating assembly vibration control system, said computer program product comprising:

a computer readable medium,

first program instructions to control a rotation of a first rotor and a rotation of a second rotor,

second program instructions to monitor a plurality of sensor signals,

third program instructions to control the rotation speed and phase of the first rotor and the rotation speed and phase of the second rotor to minimize a monitored vibration sensor signal.

17. A computer program product as claimed in claim 16 including a vibration control loop, said vibration control loop including an influence coefficient algorithm, said vibration control loop influence coefficient algorithm outputting a first rotor command (R1_phi) and a second rotor command (R2_phi).

18. A computer program product as claimed in claim 17 including a sensor filter for filtering said sensor signals to provide a filtered first vibration sensor signal (Filtered X) and a filtered second vibration sensor signal (Filtered Y), said filtered first vibration sensor signal (Filtered X) and said filtered second vibration sensor signal (Filtered Y) inputted into said vibration control loop influence coefficient algorithm.

19. A computer program product as claimed in claim 18 including an inner motor control loop which closes a control loop around a first motor and a second motor based on a first rotor position feedback derived from a first rotor rotational position sensor signal and a second rotor position feedback derived from a second rotor rotational position sensor signal.

20. A computer program product as claimed in claim 19 including motor control servo instructions to position said first rotor to track the first rotor command (R1_phi) and motor control servo instructions to position said second rotor to track the second rotor command (R2_phi).

21. A computer program product as claimed in claim 16 including soft start stop program instructions, said soft start stop program instructions providing commands to opposingly orient a first rotor first imbalance mass concentration relative to a second rotor second imbalance mass concentration.

22. A computer program product as claimed in claim 21 wherein said soft start stop program instructions includes a rotational speed based instruction to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a rotation speed ramp up.

23. A computer program product as claimed in claim 21 wherein said soft start stop program instructions includes a rotational speed based instruction to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a rotation speed ramp down.

24. A computer program product as claimed in claim 16 including instructions for driving said first rotor and said second rotor at a whole number multiple vibration canceling rotation frequency greater than a rotating assembly operational rotation frequency.

25. A computer program product as claimed in claim 24 including soft start stop program instructions to opposingly orient said first rotor relative to said second rotor during a starting stopping rotation speed less than said whole number multiple vibration canceling rotation frequency.

26. A computer program product as claimed in claim 16 including a fault mode control protocol for controlling a rotation of said rotors during a sensed failure of the rotating assembly vibration control system.

27. A computer program product as claimed in claim 26 wherein said fault mode control protocol includes instructions for monitoring sensor signals and detecting a first rotor failure.

28. A computer program product as claimed in claim 26 wherein said fault mode control protocol includes instructions for monitoring sensor signals and detecting a second rotor failure.

29. A computer program product as claimed in claim 27 wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said first rotor failure, and upon detecting said first rotor failure said second rotor is commanded to a resultant phase (F_phase) position.

30. A computer program product as claimed in claim 28 wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said second rotor failure, and upon detecting said second rotor failure said first rotor is commanded to a resultant phase (F_phase) position.

31. A rotating vibration control system for an assembly having an operational vibration, said vibration control system comprised of:

a first motor having a first rotor with a first imbalance mass concentration, said first motor driving a rotation of said first rotor,

a second motor having a second rotor with a second imbalance mass concentration, said second motor driving a rotation of said second rotor,

a first vibration sensor for producing a first vibration sensor signal,

a second vibration sensor for producing a second vibration sensor signal,

a first rotor rotational position sensor,

a second rotor rotational position sensor,

a motor control loon for controlling the rotation of said first rotor and the rotation of said second rotor,

a vibration control loop for providing commands to the motor control loop to minimize the first vibration sensor signal and the second vibration sensor signal, and said motor control loop is an inner motor control loop including a first motor control and a second motor control, and said vibration control loop is an outer vibration control loop, said outer vibration control loop including an influence coefficient algorithm, said outer vibration control loop influence coefficient algorithm outputting a first rotor command (R1_phi) into said inner motor control loop first motor control and a second rotor command (R2_phi) into said inner motor control loop second motor control.

32. A rotating vibration control system as claimed in claim 31, said outer vibration control loop including an bandpass filter, said bandpass filter filtering said first vibration sensor signal to provide a filtered first vibration sensor signal (Filtered X) and filtering said second vibration sensor signal to provide a filtered second vibration sensor signal (Filtered Y), said filtered first vibration sensor signal (Filtered X) and said filtered second vibration sensor signal (Filtered Y) inputted into said outer vibration control loop influence coefficient algorithm.

33. A rotating vibration control system as claimed in claim 32, wherein said inner motor control loop closes a control loop around the first and second motors based on a first rotor position feedback derived from said first rotor rotational position sensor and a second rotor position feedback derived from said second rotor rotational position sensor.

34. A rotating vibration control system as claimed in claim 33, wherein said inner motor control loop servos a position of said first rotor to track the first rotor command (R1_phi) outputted from said outer vibration control loop influence coefficient algorithm and a position of said second rotor to track the second rotor command (R2_phi) outputted from said outer vibration control loop influence coefficient algorithm.

35. A rotating vibration control system for an assembly having an operational vibration, said vibration control system comprised of:

a first motor having a first rotor with a first imbalance mass concentration, said first motor driving a rotation of said first rotor,

a second motor having a second rotor with a second imbalance mass concentration, said second motor driving a rotation of said second rotor,

a first vibration sensor for producing a first vibration sensor signal,

a second vibration sensor for producing a second vibration sensor signal,

a first rotor rotational position sensor,

a second rotor rotational position sensor,

a motor control loon for controlling the rotation of said first rotor and the rotation of said second rotor,

a vibration control loop for providing commands to the motor control loop to minimize the first vibration sensor signal and the second vibration sensor signal, and said system includes a soft start stop control subsystem, said soft start stop control subsystem providing commands to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration.

36. A rotating vibration control system as claimed in claim 35, wherein said soft start stop control subsystem includes program instructions to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a rotation speed ramp up.

37. A rotating vibration control system as claimed in claim 35, wherein said soft start stop control subsystem includes program instructions to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a rotation speed ramp down.

38. A rotating vibration control system as claimed in claim 35, wherein said vibration control system rotates said first rotor and said second rotor at a whole number multiple vibration canceling rotation frequency greater than an operational rotation frequency of said assembly producing said operational vibration.

39. A rotating vibration control system as claimed in claim 38, wherein said soft start stop control subsystem includes program instructions to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration during a starting stopping rotation speed less than said whole number multiple vibration canceling rotation frequency.

40. A rotating vibration control system for an assembly having an operational vibration, said vibration control system comprised of:

a first motor having a first rotor with a first imbalance mass concentration, said first motor driving a rotation of said first rotor,

a second motor having a second rotor with a second imbalance mass concentration, said second motor driving a rotation of said second rotor,

a first vibration sensor for producing a first vibration sensor signal,

a second vibration sensor for producing a second vibration sensor signal,

a first rotor rotational position sensor,

a second rotor rotational position sensor,

a motor control loon for controlling the rotation of said first rotor and the rotation of said second rotor,

a vibration control loon for providing commands to the motor control loon to minimize the first vibration sensor signal and the second vibration sensor signal, and said system includes a fault mode control protocol for controlling a rotation of said rotors during a failure of the rotating assembly vibration control system.

41. A rotating vibration control system as claimed in claim 40, wherein said fault mode control protocol includes detecting a first motor failure.

42. A rotating vibration control system as claimed in claim 40, wherein said fault mode control protocol includes detecting a second motor failure.

43. A rotating vibration control system as claimed in claim 41, wherein said first motor is commanded to a prefailure first rotor (R1_phi) command angular position and said second motor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said first motor failure, and upon detecting said first motor failure said second motor is commanded to a resultant phase (F_phase) position.

44. A rotating vibration control system as claimed in claim 42, wherein said first motor is commanded to a prefailure first rotor (R1_phi) command angular position and said second motor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said second motor failure, and upon detecting said second motor failure said first motor is commanded to a resultant phase (F_phase) position.

45. A rotating vibration control system as claimed in claim 43, wherein upon detecting said first motor failure said first motor is braked.

46. A rotating vibration control system as claimed in claim 44, wherein upon detecting said second motor failure said second motor is braked.

47. A helicopter vibration control system for a helicopter with a rotating wing assembly and having a periodic vibration while rotating at a helicopter operational rotation frequency, said helicopter vibration control system comprised of:

a housing,

said housing containing a first motor, said first motor having a first rotor with a first imbalance mass concentration, said housing containing a second motor, said second motor having a second rotor with a second imbalance mass concentration,

an electronics control system with program instructions which control a speed and a phase of said first motor and said second motor such that said first imbalance mass concentration and said second imbalance mass concentration are driven at a vibration canceling rotation frequency wherein said helicopter periodic vibration is reduced, and said system includes a fault mode control protocol for controlling a rotation of said rotors during a failure of the rotating assembly vibration control system.

48. A helicopter vibration control system for a helicopter with a rotating wing assembly and having a periodic vibration while rotating at a helicopter operational rotation frequency, said helicopter vibration control system comprised of:

a housing,

said housing containing a first motor, said first motor having a first rotor with a first imbalance mass concentration, said housing containing a second motor, said second motor having a second rotor with a second imbalance mass concentration, an electronics control system with program instructions which control a speed and a phase of said first motor and said second motor such that said first imbalance mass concentration and said second imbalance mass concentration are driven at a vibration canceling rotation frequency wherein said helicopter periodic vibration is reduced, and said system includes a soft start stop control subsystem, said soft start stop control subsystem providing commands to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration.

49. A method of controlling a periodic vibration of an aircraft, said method including providing a housing having a rotor housing cavity subsystem, said rotor cavity subsystem containing a first motor having a first rotor with a first imbalance mass concentration, a second motor having a second rotor with a second imbalance mass concentration, driving said first rotor and said second rotor with motor control commands at a vibration canceling rotation frequency while controlling the rotational position of said first imbalance mass concentration and said second imbalance mass concentration in order to produce a net force vector to inhibit said periodic vibration, and said method including providing a soft start stop control subsystem, said soft start stop control subsystem providing commands to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration.

52. A method as claimed in claim 49 wherein said method includes opposingly orienting said first imbalance mass concentration and said second imbalance mass concentration at a transitioning rotation speed less than said whole number multiple vibration canceling rotation frequency.

50. A method of controlling a periodic vibration of an aircraft, said method including providing a housing having a rotor housing cavity subsystem, said rotor cavity subsystem containing a first motor having a first rotor with a first imbalance mass concentration, a second motor having a second rotor with a second imbalance mass concentration, driving said first rotor and said second rotor with motor control commands at a vibration canceling rotation frequency while controlling the rotational position of said first imbalance mass concentration and said second imbalance mass concentration in order to produce a net force vector to inhibit said periodic vibration, and said method including providing a fault mode control protocol for controlling a rotation of said rotors during a failure of the rotating assembly vibration control system.

51. A method as claimed in claim 50 wherein said method includes electromagnetically braking a rotation of said rotors.

53. A rotating vibration control system, said rotating vibration control system comprised of:

a first stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, a first imbalance rotor having a mass concentration, said first imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation, said first imbalance rotor adjacent said first stator,

a second stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, a second imbalance rotor having a having a mass concentration, said second imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation, said second imbalance rotor adjacent said second stator,

a vibration sensor for producing a vibration sensor signal,

a vibration control loop for providing motor control commands to rotate the first rotor and the second rotor to minimize the vibration sensor signal, and

a soft start stop control subsystem, said soft start stop control subsystem providing commands to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration.

54. A rotating vibration control system, said rotating vibration control system comprised of:

a first stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, a first imbalance rotor having a mass concentration, said first imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation, said first imbalance rotor adjacent said first stator,

a second stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, a second imbalance rotor having a having a mass concentration, said second imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation, said second imbalance rotor adjacent said second stator,

a vibration sensor for producing a vibration sensor signal,

a vibration control loon for providing motor control commands to rotate the first rotor and the second rotor to minimize the vibration sensor signal, and

a fault mode control protocol for controlling a rotation of said rotors during a failure of the rotating assembly vibration control system.

55. A method of controlling a periodic vibration of a rotating assembly which rotates at an operational rotation frequency, said method including:

providing a first stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, and a first imbalance rotor, said first imbalance rotor having an eccentric mass concentration, said first imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation,

providing a second stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, and a second imbalance rotor, said second imbalance rotor having an eccentric mass concentration, said second imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation,

providing computer readable program instructions to control the rotation of the first rotor and the rotation of the second rotor to minimize the periodic vibration, and

providing a soft start stop control subsystem, said soft start stop control subsystem providing commands to opposingly orient said first imbalance mass concentration relative to said second imbalance mass concentration.

56. A method of controlling a periodic vibration of a rotating assembly which rotates at an operational rotation frequency, said method including:

providing a first stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, and a first imbalance rotor, said first imbalance rotor having an eccentric mass concentration, said first imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation,

providing a second stator having a plurality of electromagnets, said electromagnets periodically spaced around a center axis of rotation, and a second imbalance rotor, said second imbalance rotor having an eccentric mass concentration, said second imbalance rotor including a plurality of magnets periodically spaced around said center axis of rotation,

providing computer readable program instructions to control the rotation of the first rotor and the rotation of the second rotor to minimize the periodic vibration, and providing a fault mode control protocol for controlling a rotation of said rotors during a failure of the rotating assembly vibration control system.

57. A computer programmable media containing programmable software to control a rotating assembly vibration control system with an at least first imbalance mass concentration rotor and an at least second imbalance mass concentration rotor, for a rotating assembly having a periodic vibration while rotating at an operational rotation frequency, said computer programmable software including:

first program instructions for driving said at least first imbalance mass concentration rotor and said at least second imbalance mass concentration rotor at a vibration canceling rotation frequency while controlling the rotational position of said at least first imbalance mass concentration and said at least second imbalance mass concentration to produce a rotating net force vector to inhibit said periodic vibration,

second program instructions to opposingly orient said at least first imbalance mass concentration relative to said at least second imbalance mass concentration during a starting stopping rotation speed less than said vibration canceling rotation frequency.

58. A computer programmable media as claimed in claim 57, said computer programmable software including third program instructions including a fault mode control protocol for controlling a rotation of said rotors during a sensed failure of the rotating assembly vibration control system.

59. A computer programmable media as claimed in claim 58, including motor control servo instructions to position said first rotor to track a first rotor command (R1_phi) and motor control servo instructions to position said second rotor to track a second rotor command (R2_phi).

60. A computer programmable media as claimed in claim 59, wherein said fault mode control protocol includes instructions for detecting a first rotor failure.

61. A computer programmable media as claimed in claim 59, wherein said fault mode control protocol includes instructions for detecting a second rotor failure.

62. A computer programmable media as claimed in claim 60, wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said first rotor failure, and upon detecting said first rotor failure said second rotor is commanded to a resultant phase (F_phase) position.

63. A computer programmable media as claimed in claim 61 wherein said first rotor is commanded to a prefailure first rotor (R1_phi) command angular position and said second rotor is commanded to a prefailure second rotor (R2_phi) command angular position prior to said second rotor failure, and upon detecting said second rotor failure said first rotor is commanded to a resultant phase (F_phase) position.

64. A computer programmable media as claimed in claim 57, including program instructions for monitoring a tachometer input signal.