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 dynamically limiting an operating parameter of a resonant inertial actuator operating with a vibrating structure, the method comprising:
driving the resonant inertial actuator at a near resonant frequency of the resonant inertial actuator for counteracting vibrations in the structure;
intermittently driving the resonant inertial actuator at an off-resonance frequency for separate intervals of time;
monitoring a current and a voltage through the resonant inertial actuator over at least portions of the separate intervals of time;
calculating values of the operating parameter of the resonant inertial actuator based on the monitored current and voltage within the separate intervals of time; and
reducing a demanded force of the resonant inertial actuator in response to calculated values of the operating parameter crossing a threshold value.
2. The method of claim 1 , comprising estimating resistance values through the resonant inertial actuator as a real part of impedance from the monitored current and voltage within the separate intervals of time.
3. The method of claim 2 , wherein calculating values of the operating parameter incorporates the estimated resistance values.
4. The method of claim 1 : wherein:
the operating parameter is an actuator displacement operating parameter; and
reducing the demanded force includes reducing the demanded force in response to calculated values of the actuator displacement operating parameter crossing the threshold value.
5. The method of claim 4 , wherein the operating parameter comprises first and second operating parameters, the actuator displacement operating parameter being the first operating parameter and the second operating parameter being an actuator force operating parameter, the method comprising:
calculating values of the actuator force operating parameter based on the values of the actuator displacement operating parameter; and
reducing the demanded force of the resonant inertial actuator in response to calculated values of the actuator force operating parameter crossing an actuator force threshold value.
6. The method of claim 1 , wherein the operating parameter is a temperature of the resonant inertial actuator, the temperature of the resonant inertial actuator being limited by a reduction in the demanded force.
7. The method of claim 1 , comprising:
transforming the monitored current and voltage in a time domain into a complex current value and a complex voltage value in a frequency domain; and
averaging the complex current and voltage values over at least a portion of the time domain.
8. The method of claim 7 , comprising dividing an averaged complex voltage value by an averaged complex current value.
9. The method of claim 7 , wherein transforming the monitored current and voltage comprises performing quadrature amplitude demodulation.
10. The method of claim 1 , wherein the operating parameter is an actuator power operating parameter and reducing the demanded force comprises reducing the demanded force in response to calculated values of the actuator power operating parameter crossing the threshold value.
11. The method of claim 7 , wherein the complex current and voltage values are incorporated into calculating the values of the operating parameter of the resonant inertial actuator, the method comprising:
comparing the calculated value of the operating parameter against the threshold value, wherein the threshold value relates 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.