Computationally efficient means for optimal control with control constraints
AssigneeSikorsky Aircraft Corporation
InventorRobert Karl Goodman
Life of this patent
Estimating the term…
Abstract
A method and system that reduces undesired vibration in a vehicle measures ambient vibration and generates a first command signal based upon said vibration measured in said step a. If a first component of the first command signal exceeds a maximum allowable, the first component of the first command signal must be constrained. A residual vibration resulting from the constraint of the first component is then calculated. A second command signal to compensate for said residual vibration is then calculated. Force generators are then activated based upon the constrained first component and the second command signal in order to reduce the vibration.
Claims16
A method for reducing sensed physical variables comprising:
- a) sensing a plurality of physical variables;
- b) generating a first sensed signal as a function of the sensed physical variables;
- c) generating a first control command signal as a function of the first sensed signal;
- d) constraining a kth component of the first control command signal;
- e) calculating a residual resulting from the application of the constrained kth component;
- f) generating a second control command signal in response to the residual;
- and
- g) generating a compensating force as a function of the constrained kth component and the second control command signal.
A method for actively controlling vibration including the steps of:
- a. measuring ambient vibration;
- b. generating a first command signal based upon said vibration measured in said step a;
- c. constraining a first component of the first command signal;
- d. determining a residual vibration resulting from the constraint of the first component;
- e. generating a second command signal based upon said residual vibration.
An active control system comprising:
- A plurality of sensors for measuring ambient vibration;
- A control unit generating a first command signal based upon said vibration measured by said plurality of sensors, constraining a first component of the first command signal, determining a residual vibration resulting from the constraint of the first component and generating a second command signal based upon said residual vibration;
- A plurality of force generators activated based upon said first command signal, said second command signal and said constrained first component.
The active control system of claim 12 wherein the control unit reduces the first component to not exceed the maximum allowable command signal.
A computer readable medium storing a computer program, which when executed by a computer performs the steps of:
- a. generating a first command signal based upon measured vibration;
- b. constraining a first component of the first command signal;
- c. determining a residual vibration resulting from the constraint of the first component;
- d. generating a second command signal based upon said residual vibration.
Dependencies are inferred from the claim text.