US6011373A
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: 1999-04-30
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Granted: 2000-01-04
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Expires: 2019-04-30
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 frequency spectra of a derivative of the command inputs.
Inventors
- 👤 Kenneth G. McConnell
- 👤 Chad E. Bouton
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-31 06:44
CPC Classifications
G; G05; G05B; G05B5/00; G05B5/01
Claims Analysis
Total Claims: 34
Claim 1
Independent Claim
101 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 a frequency spectra of a derivative 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 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
101 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 a frequency spectra of a derivative 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 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
21 words
A method according to claim 1, wherein the derivative of the command input is a second derivative of the command input.
Claim 4
Dependent Claim
16 words
A method according to claim 1, wherein obtaining the frequency spectra comprises performing a Fourier Transform.
Claim 5
Dependent Claim
37 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 frequency spectra.
Claim 6
Dependent Claim
14 words
A method according to claim 1, wherein the physical system comprises a stepper motor.
Claim 7
Dependent Claim
15 words
A method according to claim 1, wherein the physical system comprises a flexible robotic manipulator.
Claim 8
Independent Claim
112 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 a frequency spectra of a derivative 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 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 9
Independent Claim
112 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 a frequency spectra of a derivative 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 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 10
Dependent Claim
21 words
A method according to claim 7, wherein the derivative of the command input is a second derivative of the command input.
Claim 11
Dependent Claim
16 words
A method according to claim 7, wherein obtaining the frequency spectra comprises performing a Fourier Transform.
Claim 12
Dependent Claim
39 words
A method according to claim 7, wherein the command input has the desired level of potential noise generation when the frequency spectra of the command input has peak magnitudes below a desired level over a range of frequency ratios.
Claim 13
Dependent Claim
14 words
A method according to claim 7, wherein the physical system comprises a stepper motor.
Claim 14
Independent Claim
107 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 a frequency spectra of a derivative of 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 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 15
Independent Claim
107 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 a frequency spectra of a derivative of 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 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 16
Dependent Claim
19 words
A method according to claim 12, wherein the derivative of each of the command inputs is a second derivative.
Claim 17
Dependent Claim
22 words
A method according to claim 12, wherein obtaining the frequency spectra comprises performing a Fourier Transform for each of the command inputs.
Claim 18
Dependent Claim
14 words
A method according to claim 12, wherein the physical system comprises a stepper motor.
Claim 19
Dependent Claim
15 words
A method according to claim 12, wherein the physical system comprises a flexible robotic manipulator.
Claim 20
Independent Claim
154 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 a frequency spectra of a derivative of 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 frequency spectra over a range of frequency ratios, wherein the peak magnitudes of the frequency spectra of the command input with the smaller potential to generate noise are lower than the peak magnitudes of the 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 21
Independent Claim
154 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 a frequency spectra of a derivative of 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 frequency spectra over a range of frequency ratios, wherein the peak magnitudes of the frequency spectra of the command input with the smaller potential to generate noise are lower than the peak magnitudes of the 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 22
Dependent Claim
19 words
A method according to claim 17, wherein the derivative of each of the command inputs is a second derivative.
Claim 23
Dependent Claim
14 words
A method according to claim 17, wherein the physical system comprises a stepper motor.
Claim 24
Independent Claim
125 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 a frequency spectra of a derivative of 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 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 25
Independent Claim
125 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 a frequency spectra of a derivative of 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 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 26
Dependent Claim
19 words
A method according to claim 20, wherein the derivative of each of the command inputs is a second derivative.
Claim 27
Dependent Claim
32 words
A method according to claim 20, wherein the frequency notch used to rank the command inputs for robustness is one of the first five frequency notches in each of the frequency spectra.
Claim 28
Dependent Claim
29 words
A method according to claim 20, wherein the frequency notch used to rank the command inputs for robustness is the first frequency notch in each of the frequency spectra.
Claim 29
Independent Claim
86 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 frequency spectra of a derivative of each of the preselected command inputs.
Claim 30
Independent Claim
86 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 frequency spectra of a derivative of each of the preselected command inputs.
Claim 31
Dependent Claim
19 words
An apparatus according to claim 24, wherein the derivative of each of the command inputs is a second derivative.
Claim 32
Independent Claim
93 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 frequency spectra over a range of frequency ratios for each of the preselected command inputs.
Claim 33
Independent Claim
93 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 frequency spectra over a range of frequency ratios for each of the preselected command inputs.
Claim 34
Dependent Claim
19 words
An apparatus according to claim 26, wherein the derivative of each of the command inputs is a second derivative.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2003-01-03 | 2003-07-05 | 2004-01-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2007-01-03 | 2007-07-05 | 2008-01-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2011-01-03 | 2011-07-05 | 2012-01-04 | $7700.00 | Window Closed / Lapsed |