US6002232A
Expired / Lapsed
US
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Robust vibration suppression methods and systems
Assignee: Iowa State University Research Foundation Inc
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Filing: 1997-08-15
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Granted: 1999-12-14
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Expires: 2017-08-15
Abstract
Abstract Robust Vibration Suppression methods and systems providing improved robustness range and are effective in single or multiple degree of freedom systems are disclosed. Methods disclosed include providing an output response from a physical system by selecting a command input to be applied to a physical system based on robustness and/or noise generation potential as determined by analyzing the acceleration frequency spectra of the command inputs. Also disclosed are specific robust command inputs and methods for deriving new robust command inputs.
Inventors
- 👤 Kenneth G. McConnell
- 👤 Chad E. Bouton
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 16:29
CPC Classifications
G; G05; G05B; G05B5/00; G05B5/01
Claims Analysis
Total Claims: 64
Claim 1
Independent Claim
100 words
A method for providing an output response from a physical system, the method comprising: selecting a command input to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra of the command input; determining whether the robustness of the command input meets or exceeds a desired level of robustness based on the width of a frequency notch in the acceleration frequency spectra; and applying the command input to the physical system to obtain an output response if the robustness of the command input meets or exceeds the desired level of robustness.
Claim 2
Independent Claim
100 words
A method for providing an output response from a physical system, the method comprising: selecting a command input to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra of the command input; determining whether the robustness of the command input meets or exceeds a desired level of robustness based on the width of a frequency notch in the acceleration frequency spectra; and applying the command input to the physical system to obtain an output response if the robustness of the command input meets or exceeds the desired level of robustness.
Claim 3
Dependent Claim
17 words
A method according to claim 1, wherein obtaining the acceleration frequency spectra comprises performing a Fourier Transform.
Claim 4
Dependent Claim
38 words
A method according to claim 1, wherein the width of the frequency notch is within desired limits at a magnitude equal to a desired percentage of the magnitude of the largest local peak of the acceleration frequency spectra.
Claim 5
Dependent Claim
14 words
A method according to claim 3, wherein the physical system comprises a stepper motor.
Claim 6
Dependent Claim
15 words
A method according to claim 3, wherein the physical system comprises a flexible robotic manipulator.
Claim 7
Dependent Claim
45 words
A method according to claim 1, wherein the width of the frequency notch is about 0.95 (f/f n ) or less to about 1.05 (f/f n ) or more at a magnitude of about 1% or less of the magnitude of the largest local peak.
Claim 8
Dependent Claim
23 words
A method according to claim 6, wherein the frequency notch is one of the first five frequency notches in the acceleration frequency spectra.
Claim 9
Dependent Claim
23 words
A method according to claim 6, wherein the frequency notch is one of the first two frequency notches in the acceleration frequency spectra.
Claim 10
Dependent Claim
20 words
A method according to claim 6, wherein the frequency notch is the first frequency notch in the acceleration frequency spectra.
Claim 11
Dependent Claim
45 words
A method according to claim 1, wherein the width of the frequency notch is about 0.9 (f/f n ) or less to about 1.1 (f/f n ) or more at a magnitude of about 5% or less of the magnitude of the largest local peak.
Claim 12
Dependent Claim
23 words
A method according to claim 10, wherein the frequency notch is one of the first five frequency notches in the acceleration frequency spectra.
Claim 13
Dependent Claim
23 words
A method according to claim 10, wherein the frequency notch is one of the first two frequency notches in the acceleration frequency spectra.
Claim 14
Dependent Claim
20 words
A method according to claim 10, wherein the frequency notch is the first frequency notch in the acceleration frequency spectra.
Claim 15
Independent Claim
111 words
A method for providing an output response from a physical system, the method comprising: selecting a command input to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra of the command input; determining whether the potential of the command input to generate noise from the physical system meets or exceeds a desired level of potential noise generation based on the peak magnitudes of the acceleration frequency spectra; and applying the command input to the physical system to obtain an output response if the potential of the command input to generate noise meets or exceeds the desired level of potential noise generation.
Claim 16
Independent Claim
111 words
A method for providing an output response from a physical system, the method comprising: selecting a command input to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra of the command input; determining whether the potential of the command input to generate noise from the physical system meets or exceeds a desired level of potential noise generation based on the peak magnitudes of the acceleration frequency spectra; and applying the command input to the physical system to obtain an output response if the potential of the command input to generate noise meets or exceeds the desired level of potential noise generation.
Claim 17
Dependent Claim
17 words
A method according to claim 14, wherein obtaining the acceleration frequency spectra comprises performing a Fourier Transform.
Claim 18
Dependent Claim
40 words
A method according to claim 14, wherein the command input has the desired level of potential noise generation when the acceleration frequency spectra of the command input has peak magnitudes below a desired level over a range of frequency ratios.
Claim 19
Dependent Claim
14 words
A method according to claim 15, wherein the physical system comprises a stepper motor.
Claim 20
Dependent Claim
50 words
A method according to claim 14, wherein the desired level of potential noise generation comprises peak magnitudes in the acceleration frequency spectra of about 5% or less of the magnitude of the largest peak in the acceleration frequency spectra at frequency ratios of about 5 (f/f n ) or more.
Claim 21
Dependent Claim
50 words
A method according to claim 14, wherein the desired level of potential noise generation comprises peak magnitudes in the acceleration frequency spectra of about 1% or less of the magnitude of the largest peak in the acceleration frequency spectra at frequency ratios of about 5 (f/f n ) or more.
Claim 22
Dependent Claim
50 words
A method according to claim 14, wherein the desired level of potential noise generation comprises peak magnitudes in the acceleration frequency spectra of about 5% or less of the magnitude of the largest peak in the acceleration frequency spectra at frequency ratios of about 10 (f/f n ) or more.
Claim 23
Dependent Claim
50 words
A method according to claim 14, wherein the desired level of potential noise generation comprises peak magnitudes in the acceleration frequency spectra of about 1% or less of the magnitude of the largest peak in the acceleration frequency spectra at frequency ratios of about 10 (f/f n ) or more.
Claim 24
Independent Claim
106 words
A method for providing an output response from a physical system, the method comprising: selecting two or more command inputs to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra for each of the command inputs; determining the relative robustness of the command inputs based on the width of a frequency notch in each of the acceleration frequency spectra, wherein the more robust command input has a wider frequency notch; selecting the more robust command input as the final command input; and applying the final command input to the physical system to obtain an output response.
Claim 25
Independent Claim
106 words
A method for providing an output response from a physical system, the method comprising: selecting two or more command inputs to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra for each of the command inputs; determining the relative robustness of the command inputs based on the width of a frequency notch in each of the acceleration frequency spectra, wherein the more robust command input has a wider frequency notch; selecting the more robust command input as the final command input; and applying the final command input to the physical system to obtain an output response.
Claim 26
Dependent Claim
23 words
A method according to claim 22, wherein obtaining the acceleration frequency spectra comprises performing a Fourier Transform for each of the command inputs.
Claim 27
Dependent Claim
14 words
A method according to claim 22, wherein the physical system comprises a stepper motor.
Claim 28
Dependent Claim
15 words
A method according to claim 22, wherein the physical system comprises a flexible robotic manipulator.
Claim 29
Dependent Claim
36 words
A method according to claim 22, wherein the frequency notch used to determine relative robustness of each of the command inputs is one of the first five frequency notches in each of the acceleration frequency spectra.
Claim 30
Dependent Claim
36 words
A method according to claim 22, wherein the frequency notch used to determine relative robustness of each of the command inputs is one of the first two frequency notches in each of the acceleration frequency spectra.
Claim 31
Dependent Claim
33 words
A method according to claim 22, wherein the frequency notch used to determine relative robustness of each of the command inputs is the first frequency notch in each of the acceleration frequency spectra.
Claim 32
Independent Claim
155 words
A method for providing an output response from a physical system, the method comprising: selecting two or more command inputs to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra for each of the command inputs; determining the relative potential of each of the command inputs to generate noise from the physical system based on the relative peak magnitudes of each of the acceleration frequency spectra over a range of frequency ratios, wherein the peak magnitudes of the acceleration frequency spectra of the command input with the smaller potential to generate noise are lower than the peak magnitudes of the acceleration frequency spectra of the other command inputs over the range of frequency ratios; selecting the command input with the smaller potential to generate noise as the final command input; and applying the final command input to the physical system to obtain an output response.
Claim 33
Independent Claim
155 words
A method for providing an output response from a physical system, the method comprising: selecting two or more command inputs to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra for each of the command inputs; determining the relative potential of each of the command inputs to generate noise from the physical system based on the relative peak magnitudes of each of the acceleration frequency spectra over a range of frequency ratios, wherein the peak magnitudes of the acceleration frequency spectra of the command input with the smaller potential to generate noise are lower than the peak magnitudes of the acceleration frequency spectra of the other command inputs over the range of frequency ratios; selecting the command input with the smaller potential to generate noise as the final command input; and applying the final command input to the physical system to obtain an output response.
Claim 34
Dependent Claim
14 words
A method according to claim 29, wherein the physical system comprises a stepper motor.
Claim 35
Dependent Claim
20 words
A method according to claim 29, wherein the range of frequency ratios is about 5 (f/f n ) or more.
Claim 36
Dependent Claim
20 words
A method according to claim 29, wherein the range of frequency ratios is about 10 (f/f n ) or more.
Claim 37
Independent Claim
124 words
A method for providing an output response from a physical system, the method comprising: selecting two or more command inputs to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra for each of the command inputs; ranking the command inputs for robustness based on the width of a frequency notch in each of the acceleration frequency spectra; ranking the command inputs for noise generation potential based on the relative peak magnitudes of each of the acceleration frequency spectra over a range of frequency ratios; selecting one of the command inputs based on the rankings for robustness and noise generation; and applying the selected command input to the physical system to obtain an output response.
Claim 38
Independent Claim
124 words
A method for providing an output response from a physical system, the method comprising: selecting two or more command inputs to be applied to a physical system having a fundamental natural frequency (f n ); obtaining an acceleration frequency spectra for each of the command inputs; ranking the command inputs for robustness based on the width of a frequency notch in each of the acceleration frequency spectra; ranking the command inputs for noise generation potential based on the relative peak magnitudes of each of the acceleration frequency spectra over a range of frequency ratios; selecting one of the command inputs based on the rankings for robustness and noise generation; and applying the selected command input to the physical system to obtain an output response.
Claim 39
Dependent Claim
33 words
A method according to claim 33, wherein the frequency notch used to rank the command inputs for robustness is one of the first five frequency notches in each of the acceleration frequency spectra.
Claim 40
Dependent Claim
30 words
A method according to claim 33, wherein the frequency notch used to rank the command inputs for robustness is the first frequency notch in each of the acceleration frequency spectra.
Claim 41
Dependent Claim
20 words
A method according to claim 33, wherein the range of frequency ratios is about 5 (f/f n ) or more.
Claim 42
Dependent Claim
20 words
A method according to claim 33, wherein the range of frequency ratios is about 10 (f/f n ) or more.
Claim 43
Independent Claim
84 words
An apparatus comprising: a physical system having a fundamental natural frequency (f n ), the physical system providing an output response to a command input; and a control system operatively connected to the physical system, the control system providing the command input to the physical system, the control system comprising two or more preselected command inputs and robustness ranks for the preselected command inputs based on the width of a frequency notch in the acceleration frequency spectra for each of the preselected command inputs.
Claim 44
Independent Claim
84 words
An apparatus comprising: a physical system having a fundamental natural frequency (f n ), the physical system providing an output response to a command input; and a control system operatively connected to the physical system, the control system providing the command input to the physical system, the control system comprising two or more preselected command inputs and robustness ranks for the preselected command inputs based on the width of a frequency notch in the acceleration frequency spectra for each of the preselected command inputs.
Claim 45
Dependent Claim
36 words
An apparatus according to claim 38, wherein the frequency notch used to determine the robustness ranks is one of the first five frequency notches in each of the acceleration frequency spectra of the preselected command inputs.
Claim 46
Dependent Claim
33 words
An apparatus according to claim 38, wherein the frequency notch used to determine the robustness ranks is the first frequency notch in each of the acceleration frequency spectra of the preselected command inputs.
Claim 47
Independent Claim
94 words
An apparatus comprising: a physical system having a fundamental natural frequency (f n ), the physical system providing an output response to a command input; and a control system operatively connected to the physical system, the control system providing the command input to the physical system, the control system comprising two or more preselected command inputs and noise generation potential ranks for each of the preselected command inputs based on the relative peak magnitudes of each of the acceleration frequency spectra over a range of frequency ratios for each of the preselected command inputs.
Claim 48
Independent Claim
94 words
An apparatus comprising: a physical system having a fundamental natural frequency (f n ), the physical system providing an output response to a command input; and a control system operatively connected to the physical system, the control system providing the command input to the physical system, the control system comprising two or more preselected command inputs and noise generation potential ranks for each of the preselected command inputs based on the relative peak magnitudes of each of the acceleration frequency spectra over a range of frequency ratios for each of the preselected command inputs.
Claim 49
Dependent Claim
20 words
An apparatus according to claim 41, wherein the range of frequency ratios is about 5 (f/f n ) or more.
Claim 50
Dependent Claim
20 words
An apparatus according to claim 41, wherein the range of frequency ratios is about 10 (f/f n ) or more.
Claim 51
Independent Claim
81 words
A method for providing an output response from a physical system, the method comprising: selecting an initial command input; selecting a number (n) of integrations to be performed to reach a final command input; manipulating the initial command input according to the following equation to obtain an intermediate command input function ##EQU13## integrating the intermediate command input function n times to obtain the final command input; and applying the final command input to the physical system to provide an output response.
Claim 52
Independent Claim
81 words
A method for providing an output response from a physical system, the method comprising: selecting an initial command input; selecting a number (n) of integrations to be performed to reach a final command input; manipulating the initial command input according to the following equation to obtain an intermediate command input function ##EQU13## integrating the intermediate command input function n times to obtain the final command input; and applying the final command input to the physical system to provide an output response.
Claim 53
Dependent Claim
25 words
A method according to claim 44, wherein the number of integrations is selected to provide a final command input having a desired command input period.
Claim 54
Dependent Claim
35 words
A method according to claim 44, wherein the initial command input is a Posicast command input and the number (n) of integrations is four, whereby the final command input is defined by the equation: ##EQU14##
Claim 55
Dependent Claim
14 words
A method according to claim 44, wherein the physical system comprises a stepper motor.
Claim 56
Dependent Claim
15 words
A method according to claim 44, wherein the physical system comprises a flexible robotic manipulator.
Claim 57
Independent Claim
37 words
A method for providing an output response from a physical system, the method comprising: selecting a command input defined by the following equation: ##EQU15## applying the command input to the physical system to provide an output response.
Claim 58
Independent Claim
37 words
A method for providing an output response from a physical system, the method comprising: selecting a command input defined by the following equation: ##EQU15## applying the command input to the physical system to provide an output response.
Claim 59
Dependent Claim
14 words
A method according to claim 49, wherein the physical system comprises a stepper motor.
Claim 60
Dependent Claim
15 words
A method according to claim 49, wherein the physical system comprises a flexible robotic manipulator.
Claim 61
Independent Claim
45 words
An apparatus comprising: a physical system providing an output response to a command input; and a control system operatively connected to the physical system, the control system providing the command input to the physical system, wherein the command input is represented by the equation: ##EQU16##
Claim 62
Independent Claim
45 words
An apparatus comprising: a physical system providing an output response to a command input; and a control system operatively connected to the physical system, the control system providing the command input to the physical system, wherein the command input is represented by the equation: ##EQU16##
Claim 63
Dependent Claim
14 words
An apparatus according to claim 52, wherein the physical system comprises a stepper motor.
Claim 64
Dependent Claim
15 words
An apparatus according to claim 52, wherein the physical system comprises a flexible robotic manipulator.
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