Rotary wing aircraft vibration control system with resonant inertial actuators
A control system for resonant inertial actuators estimates operating parameters of the resonant inertial actuators based on voltage and current feedback and dynamically limits selected parameters to maintain the safe, efficient, and cost effective operation of the resonant inertial actuators. Resistance within the electrical drives for the resonant inertial actuators is estimated from the voltage and current feedback and in conjunction with the modeling of the resonant inertial actuators other operating parameters are calculated or otherwise estimated. Having regard for the responsiveness of the resonant inertial actuators to changes in command signals, the command signals are adjusted to dynamically limit the estimated parameters.
1. A method of operating a vibration control system of a rotary wing aircraft for counteracting vibrations in a vibrating structure of the aircraft comprising:
monitoring a current and a voltage through a resonant inertial actuator over at least a portion of an interval of time;
monitoring a vibration frequency of the vibrating structure of the rotary wing aircraft;
transforming the monitored current and voltage in a time domain in reference to the vibration frequency in quadrature into complex current and voltage values in a frequency domain over at least a portion of the time interval;
incorporating the complex current and voltage values into a calculation of a value of an operating parameter of the resonant inertial actuator;
comparing the calculated value of the operating parameter against a threshold relating to a desired range of operation for the resonant inertial actuator; and
limiting a command output of the resonant inertial actuator to maintain the value of the operating parameter within the desired range.
2. The method of claim 1 wherein the resonant inertial actuator operating parameter is at least one resonant inertial actuator operating parameter selected from the resonant inertial actuator operating parameter group including an actuator temperature, an actuator displacement, an actuator force, and an actuator power.
3. The method of claim 1 wherein the operating parameter is at least one of a plurality of operating parameters each having a calculated value based on the averaged complex values for current and voltage.
4. The method of claim 3 wherein the plurality of operating parameters include at least two resonant inertial actuator operating parameters selected from the resonant inertial actuator operating parameter group including an actuator temperature, an actuator displacement, an actuator force, and an actuator power.
5. The method of claim 1 wherein the interval of time is one of a plurality of separate time intervals and the method includes a step of intermittently driving the resonant inertial actuator at an off-resonance frequency that departs from the monitored frequency for the separate time intervals.
6. The method of claim 5 wherein the step of incorporating the complex current and voltage values into a calculation includes an intermediate step of estimating resistance values through the resonant inertial actuator as a real part of impedance.
7. The method of claim 6 wherein the resonant inertial actuator operating parameter is selected from the resonant inertial actuator operating parameter group including an actuator temperature, an actuator displacement, an actuator force, and an actuator power and the estimated resistance values are incorporated into the calculation of the operating parameter.
8. The method of claim 7 wherein the resonant inertial actuator operating parameter is at least two resonant inertial actuator operating parameters selected from the resonant inertial actuator operating parameter group including an actuator temperature, an actuator displacement, an actuator force, and an actuator power.
9. The method of claim 1 wherein the command output is limited by limiting at least one of current and voltage for driving the inertial actuator.