US 7,613,540 B2 · Method and system for vibration avoidance for automated machinery

Abstract

A method for vibration avoidance in automated machinery produces actuator space-time contours that meet design objectives of the machinery while suppressing energy content at frequencies in the space-time contour, by concatenating multiple space-time contour segments together in such a way as to be mostly free of energy at the frequencies of interest while meeting other specified design goals. The segments used to construct these frequency-optimized-contours are a series of concatenated polynomial segments, the independent variable t being time. These segments can define the variable to be controlled (e.g. speed or distance) versus time, or define one of the controlled variable's time-derivatives (e.g., the slope of the speed vs. time, etc.). When these frequency-optimized-contours are fed as a command to a machine controller through an actuator or actuators, the energy at the frequencies of interest is low enough to avoid deleterious vibration from occurring while still meeting the machine performance objectives.

Claims22

Dependent claims

A method of producing a space-time contour to be followed by at least one actuator forcing at least one machine element, based upon a series of concatenated polynomial segments that are functions of time where their dependent variable is a time-derivative of at least the first order of a physical variable to be controlled, each polynomial segment comprising a duration and at least one coefficient;

the method comprising:
a) optimizing the durations and coefficients of the series of concatenated polynomial segments, such that the following constraints are met:
i) energy that would be introduced into at least one machine element by an actuator following a space-time contour created by time-integrating the series of concatenated polynomial segments, is suppressed for at least one frequency, and
ii) a space-time contour created by time-integrating the series of concatenated polynomial segments, is constrained within at least one limitation of the physical variable;
and
b) time-integrating, at least once, the series of concatenated polynomial segments to form a space-time contour in the physical variable to be controlled;
c) commanding an actuator to follow the space-time contour.

4 more elements

Dependencies are inferred from the claim text.

Method and system for vibration avoidance for automated machinery

Life of this patent

Method and system for vibration avoidance for automated machinery

Life of this patent

Abstract

Claims22