Increased servo control system bandwidth using a tuned mass damper

Patent metadata

Field	Value
Publication number	US-10088810-B2
Application number	US-201615189105-A
Country	US
Kind code	B2
Filing date	Jun 22, 2016
Priority date	Jun 22, 2016
Publication date	Oct 2, 2018
Grant date	Oct 2, 2018

Abstract

An example servo control system includes one or more components configured to be actuated for movement, a system controller including one or more processors for receiving feedback of the movement of the one or more components and for using the feedback within a control loop to cause an actuator to reduce error of the movement of the one or more components, and a tuned mass damper (TMD) physically connected to the one or more components. Parameters of the TMD are selected to add phase margin at a crossover frequency of the servo control system, and the TMD includes a mass coupled to the one or more components, a damper connected between the mass and the one or more components, and a spring component connected between the mass and the one or more components.

First claim

What is claimed is:

1. A method to increase a servo control system effective bandwidth, comprising:
coupling a tuned mass damper (TMD) to a servo control system, wherein the servo control system includes one or more components configured to be actuated for movement, and wherein parameters of the TMD are selected to add phase margin at a crossover frequency of the servo control system, and wherein the parameters of the TMD are selected based on:
(i) tuning an uncoupled resonance frequency of the TMD to the crossover frequency of the servo control system;
(ii) determining a mass of the TMD to be between about 2% and about 10% of a mass of the one or more components being actuated; and
(iii) optimizing a damping of the TMD to decrease a peak of an error rejection of the servo control system based on the tuned frequency and the mass; and

operating the servo control system with the coupled TMD to increase phase margin and counteract a latency of a control loop of the servo control system.

2. The method of claim 1 , further comprising:
tuning the uncoupled resonance frequency of the TMD to a frequency at which the peak of the error rejection of the servo control system occurs.

3. The method of claim 1 , wherein determining the mass of the TMD to be between about 2% and about 10% of the mass of the one or more components configured to be actuated for movement comprises determining the mass of the TMD to be between about 2% and about 5% of the mass of the one or more components configured to be actuated for movement.

4. The method of claim 1 , wherein operating the servo control system with the coupled TMD to increase phase margin and counteract the latency of the control loop of the servo control system comprises increasing phase margin of the servo control system in a presence of the latency of the control loop without using sensor outputs of the control loop of the servo control system.

5. The method of claim 1 , wherein operating the servo control system with the coupled TMD to increase phase margin and counteract the latency of the control loop of the servo control system comprises:
receiving feedback of movement of one or more components of the servo control system being actuated; and
using the feedback within the control loop to cause an actuator to reduce error of the movement of the one or more components.

6. The method of claim 1 , further comprising:
determining the mass of the TMD to be between a range of a high value and a low value; and
to further decrease the peak of the error rejection of the servo control system, adjusting the mass of the TMD toward the high value.

7. The method of claim 1 , further comprising:
determining the mass of the TMD to be between a range of a high value and a low value; and
to increase a bandwidth of the error rejection peak of the servo control system, adjusting the mass of the TMD toward the low value.

8. The method of claim 1 , further comprising:
adjusting the parameters of the TMD based on a presence of the latency of the control loop of the servo control system.

9. A servo control system, comprising:
one or more components configured to be actuated for movement;
a system controller including one or more processors for receiving feedback of the movement of the one or more components, and for using the feedback within a control loop to cause an actuator to reduce error of the movement of the one or more components; and
a tuned mass damper (TMD) physically connected to the one or more components, wherein parameters of the TMD are selected to add phase margin at a crossover frequency of the servo control system, and wherein the TMD includes a mass coupled to the one or more components, a damper connected between the mass and the one or more components, and a spring component connected between the mass and the one or more components, and wherein parameters of the TMD are selected based on:
(i) tuning an uncoupled resonance frequency of the TMD to the crossover frequency of the servo control system;
(ii) determining a mass of the TMD to be between about 2% and about 10% of a mass of the one or more components being actuated; and
(iii) optimizing a damping of the TMD to decrease a peak of an error rejection of the servo control system based on the tuned frequency and the mass.

10. The servo control system of claim 9 , wherein the system controller operates the servo control system with the coupled TMD to increase phase margin and counteract a latency of the control loop of the servo control system.

11. The servo control system of claim 9 , wherein the system controller operates the servo control system with the coupled TMD to increase phase margin of the servo control system in a presence of the latency of the control loop without using sensor outputs of the control loop of the servo control system.

12. The servo control system of claim 9 , wherein the tuned frequency of the TMD is tuned additionally based on a frequency at which the peak of the error rejection of the servo control system occurs.

13. The servo control system of claim 9 , wherein the mass of the TMD is determined to be between a range of a high value and a low value; and
to further decrease the peak of the error rejection of the servo control system, the mass of the TMD is adjusted toward the high value.

14. The servo control system of claim 9 , wherein the mass of the TMD is determined to be between a range of a high value and a low value; and
to increase a bandwidth of the error rejection peak of the servo control system, the mass of the TMD is adjusted toward the low value.

15. The servo control system of claim 9 , further comprising:
a tuner for:
(i) tuning the uncoupled resonance frequency of the TMD to the crossover frequency of the servo control system; and
(iii) optimizing the damping of the TMD to decrease the peak of the error rejection of the servo control system based on the tuned frequency and the mass.

16. The servo control system of claim 9 , further comprising:
a tuner for adjusting the parameters of the TMD based on a presence of a latency of the control loop of the servo control system.

17. A method of operating a servo control system, comprising:
coupling a tuned mass damper (TMD) to a servo control system, wherein the servo control system includes one or more components configured to be actuated for movement and a system controller including one or more processors, wherein parameters of the TMD are selected to add phase margin at a crossover frequency of the servo control system;
operating the servo control system with the coupled TMD to increase phase margin and counteract a latency of a control loop of the servo control system;
receiving, by the system controller, feedback of the movement of the one or more components of the servo control system being actuated;
using the feedback within a control loop to cause an actuator to reduce error of the movement of the one or more components; and
adjusting, by a tuner coupled to the system controller, the parameters of the TMD based on a presence of a latency of the control loop of the servo control system so as to increase phase margin of the servo control system without using sensor outputs of the control loop of the servo control system, wherein adjusting includes determining a mass of the TMD to be between about 2% and about 10% of a mass of the one or more components being actuated.

18. The method of claim 17 , wherein adjusting, by the tuner coupled to the system controller, the parameters of the TMD based on the presence of the latency of the

Assignees

• Boeing Co

Inventors

• Griffin Steven

Classifications

• G05B5/01 Primary

  electric · CPC title

• G05B6/02 Primary

  electric · CPC title

• G05B2219/41193

  Active damping of tool vibrations by cross coupling · CPC title

• G05B2219/49054

  Active damping of tool vibration · CPC title

• H02K5/24

  specially adapted for suppression or reduction of noise or vibrations · CPC title