U.S. patent application number 11/953824 was filed with the patent office on 2008-04-24 for method for implementing vibration suppression system under control from a remote site.
This patent application is currently assigned to IPTRADE, INC.. Invention is credited to Baruch Pletner, Gregory A. Zvonar.
Application Number | 20080097705 11/953824 |
Document ID | / |
Family ID | 36913876 |
Filed Date | 2008-04-24 |
United States Patent
Application |
20080097705 |
Kind Code |
A1 |
Pletner; Baruch ; et
al. |
April 24, 2008 |
METHOD FOR IMPLEMENTING VIBRATION SUPPRESSION SYSTEM UNDER CONTROL
FROM A REMOTE SITE
Abstract
A method of implementing vibration suppression at equipment
residing at a local site is provided. The method comprises
transmitting a prompt from a remote site to the local site,
automatically sensing vibration response information from the
equipment in response to the prompt, and transmitting the sensed
vibration response information to the remote site. The method
further comprises analyzing the sensed vibration response
information at the remote site, and creating a vibration
suppression algorithm based on the analyzed information. Another
prompt is then transmitted from the remote site to the local site,
and in response thereto, vibrations are induced within the
equipment at the local site in accordance with the vibration
suppression algorithm, and additional vibration response
information from the equipment is sensed. The additional vibration
response information is transmitted to, and analyzed at, the remote
site, where a modified vibration suppression algorithm is created
and transmitted to the local site for suppression of vibrations in
the equipment.
Inventors: |
Pletner; Baruch; (Newton,
MA) ; Zvonar; Gregory A.; (Winchester, MA) |
Correspondence
Address: |
Vista IP Law Group LLP
2040 MAIN STREET, 9TH FLOOR
IRVINE
CA
92614
US
|
Assignee: |
IPTRADE, INC.
Newton
MA
02458
|
Family ID: |
36913876 |
Appl. No.: |
11/953824 |
Filed: |
December 10, 2007 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
11262070 |
Oct 27, 2005 |
|
|
|
11953824 |
Dec 10, 2007 |
|
|
|
60654607 |
Feb 18, 2005 |
|
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Current U.S.
Class: |
702/56 |
Current CPC
Class: |
G05D 19/02 20130101;
F16F 15/02 20130101 |
Class at
Publication: |
702/056 |
International
Class: |
G01L 7/00 20060101
G01L007/00 |
Claims
1. A method of implementing vibration suppression on equipment
residing at a local site, comprising: transmitting a prompt from a
remote site to the local site to automatically cause vibration
response information to be sensed from the equipment; analyzing the
vibration response information; creating a vibration suppression
algorithm based on the analysis; and storing the vibration
suppression algorithm in software for use at the local site.
2. The method of claim 1, wherein normal operation of the equipment
is highly sensitive to vibration.
3. The method of claim 1, wherein the prompt is transmitted from
the remote site to the local site over a Virtual Private Network
(VPN) connection.
4. The method of claim 1, wherein the vibration response
information is analyzed and the vibration suppression algorithm is
created at the remote site.
5. The method of claim 1, wherein the prompt causes probe
vibrations to be induced at equipment.
6. The method of claim 1, further comprising automatically
acquiring the vibration response information at the remote site in
response to the prompt.
7. The method of claim 1, further comprising transmitting another
prompt from the remote site to the local site to automatically
cause the vibration suppression algorithm to be programmed into
control circuitry residing at the local site.
8. The method of claim 1, further comprising: transmitting another
prompt from the remote site to the local site to automatically
cause vibrations to be induced at equipment in accordance with the
vibration suppression algorithm and to automatically cause
additional vibration response information to be sensed from the
equipment; analyzing the additional vibration response information;
and modifying the vibration suppression algorithm based on the
additional analysis.
9. The method of claim 8, further comprising automatically
acquiring the additional vibration response information at the
remote site in response to the other prompt.
10. The method of claim 8, further comprising transmitting still
another prompt from the remote site to the local site to
automatically program the modified vibration suppression algorithm
into control circuitry residing at the local site.
11. A method of implementing vibration suppression at equipment
residing at a local site, comprising: receiving a prompt from a
remote site; automatically sensing vibration response information
from the equipment in response to the prompt; transmitting the
sensed vibration response information to the remote site; receiving
a vibration suppression algorithm from the remote site; and
inducing vibrations in the equipment in accordance with the
vibration suppression algorithm.
12. The method of claim 11, wherein normal operation of the
equipment is highly sensitive to vibration.
13. The method of claim 11, wherein the prompt is received from the
remote site over a Virtual Private Network (VPN) connection.
14. The method of claim 11, further comprising inducing probe
vibrations in the equipment in response to the first prompt.
15. The method of claim 11, wherein the sensed vibration response
information is automatically transmitted to the remote site in
response to the prompt.
16. (canceled)
17. The method of claim 11, further comprising receiving another
prompt from the remote site, wherein the vibrations are
automatically induced in the equipment in response to the other
prompt.
18. The method of claim 17, further comprising: automatically
sensing additional vibration response information from the
equipment in response to the other prompt; transmitting the
additional sensed vibration response information to the remote
site; receiving a modified vibration suppression algorithm from the
remote site; and programming the modified vibration suppression
algorithm into control circuitry residing at the local site.
19. The method of claim 18, further comprising receiving still
another prompt from the remote site, wherein the control circuitry
is automatically programmed with the modified vibration suppression
algorithm in response to the still other prompt.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
[0001] The present application claims priority from U.S.
Provisional Application Ser. No. 60/654,607, filed Feb. 18, 2005.
This application is filed concurrently with U.S. patent application
Ser. No. 11/______ (Bingham Docket No. 3002884-7045162001),
entitled "Distributed Vibration Analysis and Suppression System
with Collocated Control Electronics", and U.S. patent application
Ser. No. 11/______ (Bingham Docket No. 3002884-7045162002),
entitled "Kit and Method for Constructing Vibration Suppression
and/or Sensing Units", which are expressly incorporated herein by
reference.
FIELD OF THE INVENTION
[0002] The present inventions generally relate to the analysis and
suppression of structural vibration in apparatus and systems.
BACKGROUND OF THE INVENTION
[0003] Structural vibration is one of the key performance limiting
phenomena in many types of advanced machinery, such as space launch
vehicle shrouds, all types of jet and turbine engines, robots, and
many types of manufacturing equipment. For example, semiconductor
manufacturing equipment and the equipment used to manufacture
micro- and nano-devices are sensitive to structural vibration at
ever increasing levels. The positioning accuracy requirements in
the most advanced semiconductor manufacturing and test equipment in
the market today are on the order of single-digit nanometers.
[0004] Because structural vibration depends on many factors that
are not easily modeled, such as boundary and continuity conditions,
as well as the disturbance environment, it is impossible to design
a machine from the first prototype that will meet all vibration
requirements. This means that the final steps in analyzing and
suppressing vibration are accomplished after the actual production
unit has been built. Unfortunately, this is precisely the time that
any delay in shipment is the most costly in terms of lost revenue
and competitive advantage.
[0005] To address this shortfall, it is known to incorporate
vibration analysis and suppression systems into precision
equipment. In general, a typical vibration analysis and suppression
system includes a multitude of vibration sensors and vibration
actuators that are installed on-board the precision equipment in
selected locations. The system also includes a control system that
transmits control signals in accordance with a vibration
suppression algorithm to the actuators during normal operation of
the precision equipment to mechanically suppress the vibrations.
Using a feedback loop, the sensed vibration information is fed back
to the control circuitry, which adjusts the control signals in
response to dynamic conditions.
[0006] Using a combination of feedforward and feedback control
theory, the vibration suppression algorithm used by the control
circuitry to generate the control signals is selected in accordance
with vibration information acquired by the sensors during vibration
testing of the precision equipment, preferably before the precision
equipment is operated in the field.
[0007] The vibration analysis portion of this process is typically
implemented during initial vibration testing. In particular,
sensors are affixed to select locations on the precision equipment,
and operated to sense the response of the precision equipment to
artificially induced environmental vibrations. The sensed
vibrations are then analyzed to ascertain the nature of the
vibration suppression algorithm to be programmed into the control
circuitry. Once the algorithm has been programmed, at least some of
the sensors will then be replaced with the actuators that will be
used to generate the control signals that suppress the
environmental vibrations during the feedback control portion of the
vibration testing process (to ascertain performance of the control
algorithm), as well as during normal operation of the precision
equipment in the field (to improve performance by suppressing
vibrations at key locations).
[0008] The feedback and feedforward control portions of the
vibration suppression process are typically implemented both during
vibration testing after the vibration suppression algorithm has
been programmed into the control circuitry, as well as during
normal operation of the precision equipment in the field. In
particular, in response to the normal operating environment, the
sensors feed back vibration information to the control circuitry,
which in response, generates the vibration suppression control
signals, the parameters of which are continually adjusted in
real-time in response to the varying vibration conditions. In case
of predictable and repeated disturbance, such as from cooling fans,
etc., the disturbance information as measured by dedicated sensors
can be fed forward to the controller to improve control performance
even further. These control signals are transmitted to the
actuators, which vibrate to suppress the environmental vibrations.
Minor adjustments of the vibration suppression algorithm as
previously designed can then be performed based on the actual
performance of the vibration suppression system.
[0009] There are several unresolved issues that can be addressed
during vibration testing. For example, because the sensors must be
affixed to key locations in the precision equipment in a robust
manner (typically using a bonding material, such as epoxy) to
ensure the accuracy of the sensed vibration information during
feedforward vibration testing, replacement of the sensors with
actuators for feedback vibration testing and normal operation of
the precision equipment can be a tedious process. In addition, the
analysis of the sensed vibration information and programming of the
vibration suppression algorithm may sometimes be accomplished by
third parties that are remote from the equipment site, and who
must, therefore, repeatedly interface with personnel on-site during
the iterative vibration information acquisition and algorithm
programming process.
[0010] There are also unresolved issues that can be addressed
during normal operation of the precision equipment in the field.
For example, control circuitry currently used in vibration analysis
and suppression systems is located remotely from the vibrating part
of the precision equipment, typically being hardwired to the
on-board sensors and actuators even during the normal operation of
the precision equipment. There are several disadvantages to this
architecture.
[0011] For example, the connecting cables extending from the
precision equipment stationary parts, such as electronics cabinets,
to the moving parts, such as stages and end effectors, often hinder
its normal operation-especially in the case where the sensors and
actuators are located on rotating or rapidly translating
components. Such cables may in fact introduce unwanted vibrations,
at least partially negating the benefits of the vibration
suppression system. Significantly, because most vibration
actuators, such as piezoceramics, voice coils and others, require a
relatively large voltage (typically in the hundreds of volts), the
cables are quite bulky, providing a further hindrance to normal
operation of the equipment. In addition to the mechanical
awkwardness, the use of cables (both from the sensors and to the
actuators) also provides a long path through an environment rich in
electromagnetic noise that can be injected into the analog signals
transmitted between the sensors/actuators and the remotely located
control circuitry. As a result, proper control of the actuators may
be compromised due to corruption of either the control signals
transmitted from the control circuitry to the actuators or the
sensing signals transmitted to the control circuitry from the
sensors, or both.
[0012] There thus remains a need for improved vibration analysis
and suppression systems and methods for testing and implementing
such systems.
SUMMARY OF THE INVENTION
[0013] In accordance with a first aspect of the present inventions,
a method of implementing vibration suppression on equipment (e.g.,
equipment having a normal operation that is highly sensitive to
vibration) residing at a local site is provided. The method
comprises transmitting a prompt from a remote site to the local
site (e.g., over a Virtual Private Network (VPN) connection) to
automatically cause vibration response information to be sensed
from the equipment. In an optional method, the prompt additionally
causes probe vibrations to be induced in the equipment.
[0014] The method further comprises analyzing the vibration
response information, and creating a vibration suppression
algorithm based on the analysis. In an optional method, the
vibration response information is automatically acquired at the
remote site in response to the prompt. In one method, the vibration
response information is analyzed and the vibration suppression
algorithm is created at the remote site from which the prompt was
transmitted, although it should be appreciated that such functions
can be performed at other remote sites. An optional method further
comprises transmitting another prompt from the remote site to the
local site to automatically cause the vibration suppression
algorithm to be programmed into control circuitry residing at the
local site.
[0015] Another optional method further comprises transmitting
another prompt from the remote site to the local site to
automatically cause vibrations to be induced in the equipment in
accordance with the vibration suppression algorithm and to
automatically cause additional vibration response information to be
sensed from the equipment, analyzing the additional vibration
response information, and modifying the vibration suppression
algorithm based on the additional analysis. The additional
vibration response information may be acquired at the remote site
in response to the other prompt. Still another prompt may be
transmitted from the remote site to the local site to automatically
program the modified vibration suppression algorithm into control
circuitry residing at the local site.
[0016] While the present inventions should not be so limited in
their broadest aspects, this method allows the control, operation,
and data acquisition at the local site to be accomplished from a
remote site without interaction, or with minimal interaction, with
personnel at the local site.
[0017] In accordance with a second aspect of the present
inventions, another method of implementing vibration suppression at
equipment residing at a local site is provided. The method
comprises receiving a prompt from a remote site (e.g., over a
Virtual Private Network (VPN) connection), and automatically
sensing vibration response information from the equipment in
response to the prompt. An optional method comprises inducing probe
vibrations in the equipment in response to the first prompt.
[0018] The method further comprises transmitting the sensed
vibration response information to the remote site. In an optional
method, the sensed vibration response information is transmitted to
the remote site in response to the prompt. The method further
comprises receiving a vibration suppression algorithm from the
remote site, and inducing vibrations in the equipment in accordance
with the vibration suppression algorithm. An optional method
comprises receiving another prompt from the remote site, and
automatically programming control circuitry at the local site with
the vibration suppression algorithm in response to the other
prompt.
[0019] Another optional method comprises receiving another prompt
from the remote site, wherein the vibrations are automatically
induced in the equipment in response to the other prompt. This
optional method may further comprise automatically sensing
additional vibration response information from the equipment in
response to the other prompt, transmitting the additional sensed
vibration response information to the remote site, receiving a
modified vibration suppression algorithm from the remote site, and
programming the modified vibration suppression algorithm into
control circuitry residing at the local site. Still another prompt
can be received from the remote site, wherein the control circuitry
is automatically programmed with the modified vibration suppression
algorithm in response to this other prompt.
[0020] Other and further aspects and features of the invention will
be evident from reading the following detailed description of the
preferred embodiments, which are intended to illustrate, not limit,
the invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] The drawings illustrate the design and utility of preferred
embodiments of the present invention, in which similar elements are
referred to by common reference numerals. In order to better
appreciate how the above-recited and other advantages and objects
of the present inventions are obtained; a more particular
description of the present inventions briefly described above will
be rendered by reference to specific embodiments thereof, which are
illustrated in the accompanying drawings. Understanding that these
drawings depict only typical embodiments of the invention and are
not therefore to be considered limiting of its scope, the invention
will be described and explained with additional specificity and
detail through the use of the accompanying drawings in which:
[0022] FIG. 1 is a functional block diagram of a vibration analysis
and suppression system constructed in accordance with one preferred
embodiment of the present inventions;
[0023] FIG. 2 is an exploded view of a self-contained unit that can
be used to implement one of the master vibration actuating device,
slave vibration actuating devices, or vibration sensing device used
in the system of FIG. 1;
[0024] FIG. 3 is a functional block diagram of a master vibration
actuating device used in the system of FIG. 1;
[0025] FIG. 4 is a functional block diagram of a slave vibration
actuating device used in the system of FIG. 1;
[0026] FIG. 5 is a functional block diagram of a vibration sensing
device used in the system of FIG. 1;
[0027] FIG. 6 is a functional block diagram of one preferred
embodiment of a communications system used to remotely download
environmental vibration information from a sensing device for
analysis, upload vibration suppression algorithms to a master
actuating device, and download closed-loop vibration information
from the sensing device;
[0028] FIG. 7 is a functional block diagram of one preferred
embodiment of a communications system used to remotely induce
vibrations within the equipment, and download resulting vibration
information from a plurality of sensing devices for analysis;
and
[0029] FIG. 8 is a functional block diagram of an implementation
that electrically isolates the high-voltage amplifier in the master
actuating device of FIG. 3 from the remaining componentry of the
master actuating device.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0030] Referring to FIG. 1, a vibration analysis and suppression
system 10 constructed in accordance with one preferred embodiment
of the present inventions is described. The system 10 is designed
to be used on equipment 12 whose performance is highly sensitive to
vibration. The system 10 utilizes a flexible distributed design
concept that maximizes the equipment owner's return on investment
and ease of implementation. The entire system 10 is designed to be
affixed to key locations on the moving parts of the equipment 12,
such as the end effector of a robotic arm. Thus, no cables, or at
the least no large cables, need be installed between the stationary
and moving parts of the equipment 12 during normal operation,
thereby eliminating the mechanical awkwardness and electromagnetic
interference (EMI) problems associated with prior art
architectures. The components of the system 10 are also designed to
be attached the equipment 12 in a distributed and modularized
fashion, thereby providing maximum flexibility in implementing and
testing the system 10.
[0031] To this end, the system 10 generally comprises a plurality
of vibration actuating devices for mechanically inducing vibrations
within the structure of the equipment 12 to suppress the
environmental vibrations. These actuating devices can be
functionally divided into two types: (1) a single master actuating
device 14, which includes all of the necessary control circuitry
required to generate vibration control signals in accordance with
an on-board vibration suppression algorithm; and (2) a plurality of
vibration slave devices 16 controlled by the master actuating
device 14. That is, the master actuating device 14 generates and
transmits vibration control signals to the slave actuating devices
16, which respond by inducing vibrations within the structure of
the equipment 12. Thus, it can be appreciated that, in contrast to
prior art architectures wherein the control circuitry was remotely
connected to the actuators via cables, the control circuitry is
located in the master actuating device 12. The system 10 further
comprises a vibration sensing device 18 for sensing vibrations
within the equipment 12 and feeding vibration response information
back to the master actuating device 14, which generates the
vibration control signals in response thereto. Although only one
sensing device 18 is illustrated, the system 10 can include
additional sensing devices, so that the vibrations in the equipment
12 can be analyzed in a more robust and thorough manner.
[0032] Significantly, communication between the master actuating
device 14, slave actuating device 16, and sensing device 18 is
preferably performed using digital means in order to minimize EMI.
As will be described in further detail below, each of these devices
is packaged in a self-contained EMI shielding unit, altogether
eliminating exposure of analog signals to EMI during operation of
the system 10. Also, communication between the devices is
preferably accomplished wirelessly, so that cables, which may
otherwise limit the placement of the devices at key locations, are
eliminated. As will be described in detail below, vibration
analysis and programming of the master actuating device 14 can be
accomplished remotely through the use of a specialized
communications means.
[0033] Referring now to FIG. 2, a self-contained unit 20, which can
be interchangeably used as a master actuating device 14, a slave
actuating device 16, or a sensing device 18, will now be described.
The unit 20 comprises a thin plate of piezo material (in
particular, lead zirconium titanate (PZT)) 22, which, depending on
the interfacing electronic circuitry, can either function as a
strain actuator to induce planar strains in the carrier structure
(i.e., the portion of the equipment to which the actuator 12 is
affixed) or a strain sensor to sense plane strains within the
carrier structure. The piezo plate 22 may be formed of a single PZT
layer, but preferably is formed of multiple PZT layers (e.g., two
or four layers). The piezo plate 22 mechanically interfaces with
the carrier structure via a thin stainless steel base plate 24 that
is permanently mounted to the carrier structure.
[0034] The unit 20 also comprises a printed circuit board (PCB) 26
that carries the electronic circuitry used to interface with the
piezo plate 22 to perform either of the vibration actuating or
sensing functions. In the embodiment illustrated in FIG. 2, the PCB
26 is shown carrying the electronic circuitry that enables the unit
20 to perform the functions of the master actuating device 14.
However, as will be described in further detail below, the PCB 26
can easily be replaced with another PCB (not shown) that will
enable the unit 20 to perform the functions of the slave actuating
device 16 or the sensing device 18. To ensure that the unit 20 can
effectively be used in electronically dense manufacturing
environments, the unit 20 further comprises a stainless steel EMI
shield 28 to reduce EMI interference with adjacent electronic
devices.
[0035] The unit 20 further comprises a protective case 30 and
associated cover 32, which are preferably composed of an
electrically insulative material, such as clear acrylic, thereby
reducing the risk that the electronic circuitry contained in the
PCB 26 will be damaged by electrostatic or other stray electrical
current events. The case 30, which when mounted to the base plate
24, also facilitates firm contact between the piezo plate 22 and
base plate 24, while providing full protection from accidental
impacts that may otherwise damage the fragile piezo plate 22,
thereby allowing the unit 20 to be shipped and stored with little
risk of breakage.
[0036] In particular, the piezo plate 22 is suitably bonded within
a recess 34 formed in the lower section of the base plate 24. This
recess 34 serves to both properly seat the piezo plate 22 relative
to the case 30, which will be suitably bonded onto the base plate
24, and to make the portion of the base plate 24 through which the
piezo plate 22 interfaces with the carrier structure thinner,
thereby maximizing the mechanical transfer function between the
piezo plate 22 and the carrier structure. An aperture 36 is formed
at the bottom of the case 30 for receiving the piezo plate 22,
thereby encasing the piezo plate 22 between the base plate 24 and
case 30 when bonded together. This robust mechanical packaging
feature also eliminates the need to encase the piezo plate 22 in
polyimide, thereby improving strain transfer characteristics with
the carrier structure and increasing electromechanical
efficiency.
[0037] It should be noted that, while the case piezo plate 22 and
case 30 are irreversibly bonded to the base plate 24, there should
be no need for field removal of the piezo plate 22, and in fact, it
would be undesirable to handle the piezo plate 22 that is not
bonded to the base plate 24 due to its fragility. Thus, once the
piezo plate 22, base plate 24, and case 30 are integrated into a
permanent unit, it is not anticipated that the unit 20 will be
removed from the equipment 12. However, should it become necessary
to de-bond the unit 20 from the equipment 12, the unit 20 is
designed, such that the PCB 26, which is the highest-cost component
of the unit 20, can be easily removed from the unit 20 to protect
it. Thus, although the piezo plate 22, base plate 24, and case 30
will likely be destroyed during the de-bonding process, the loss to
the owner will be limited.
[0038] To this end, the PCB 26 is mounted within the case 30 in an
easily removable manner. In particular, the PCB 26 and EMI shield
28, which are separated from each other by spacers 38, are mounted
to the top surface of a ledge 40 located at the bottom of the case
30 via bolts (not shown) above the piezo plate 22. The EMI shield
28 comprises a small aperture (not shown) through which a cable
(such as flexible connecting ribbon) (not shown) can be threaded
between the PCB 26 and the piezo plate 22. One end of the ribbon is
hardwired to the appropriate location on the piezo plate 22, and
its free end is removably mated with a pin connector (not shown) on
the PCB 26. Thus, it can be appreciated that the PCB 26 can be
removed from the unit 20 simply by removing the cover 32 from the
case 30, removing the bolts from the PCB/EMI shield assembly, and
disconnecting the ribbon from the pin connector. In the case where
it is desired to replace the PCB 26 with another PCB, either
because it is damaged or faulty, or because it is desired to
transform the functionality of unit 20 between a master actuating
device 14, slave actuating device 16, and sensing device 18, the
new PCB can be reinstalled into the unit 20 simply be mounting the
PCB/EMI assembly within the case 30 using the bolts, reconnecting
the connecting ribbon to the pin connector of the new PCB, and
placing the cover 32 back onto the case 30.
[0039] Referring now to FIGS. 3-5, the detailed electronic
componentry of each of the master actuating device 14, slave
actuating device 16, and sensing device 18 will be described. As
discussed above, this electronic componentry will be carried by a
PCB, such as the PCB 26 illustrated in FIG. 2.
[0040] Referring first to FIG. 3, the master actuating device 14
comprises a digital signal processor 50, which includes
programmable memory, such as flash memory, for storing a vibration
suppression algorithm in the form of embedded software and for
collecting data, such as test vector data and sensing data that
will be used by the digital signal processor 50 to perform
feedforward and feedback control. The digital signal processor 50
is configured for generating digital control signals in accordance
with the vibration suppression algorithm, which signals will
ultimately be used by the master actuating device 14, as well as
the slave actuating devices 16, to induce vibrations in the
structure. In the embodiment illustrated in FIG. 3, the digital
control signals are used to control a high-voltage amplifier. In
particular, the master actuating device 14 further includes a
digital-to-analog (D/A) converter 52 for converting the digital
control signals into low voltage analog control signals, and a high
voltage switching amplifier 54 (e.g., 50-100V), for converting the
low voltage analog control signals into high-voltage low current
analog signals (e.g., a sine sweep or band-limited white noise)
used to stimulate the on-board piezo device (i.e., the piezo plate
22 illustrated in FIG. 2). It should be appreciated that other
types of high-voltage amplifiers other than switching amplifiers
can be used. For example, a high-voltage linear amplifier can be
used, in which case, a pulse-width-modulating (PWM) element,
instead of the D/A converter 52, can be used between the digital
signal processor 50 and the high-voltage amplifier.
[0041] The master actuating device 14 comprise an optional
microcontroller 56, which when combined with the digital signal
processor 50, allows the master actuating device 14 to implement
more advanced control techniques, such as non-linear and adaptive
control. The microcontroller 56 also provides a means for
controlling the functioning of the digital signal processor 50,
e.g., uploading vibration suppression algorithms or other control
data. The master actuating device 14 may also include displays and
indicators 58 to allow the microcontroller 56 to provide status,
such as proper operation and faults, and mode selectors 60, such as
buttons or contacts, to control the modes of the master actuating
device 14 via the microcontroller 56.
[0042] The master actuating device 14 includes various means for
communicating with other devices. In particular, the master
actuating device 14 includes an intra-system communications
interface 62 for transmitting the digital control signals to the
slave actuating devices 16 and receiving digital sensing signals
from the sensing device 18. In the illustrated embodiment, the
communications interface 62 is a wireless high-speed digital
communications interface, such as CAN or I2C. However, an analog
interface can be used to communicate with the other devices
primarily for self test and other utility purposes. In actual
operation, such an interface would not be as desirable, since it
will expose the analog signals to EMI. In any event, the
communications interface 62 may be bidirectional to allow for
Multi-Input/Multi-Output system identification. The master
actuating device 16 optionally includes a hardwired interface 64
for receiving analog vibration response information from prior art
sensing devices, and an analog-to-digital (A/D) converter 66 for
converting the analog information into digital information for use
by the digital signal processor 50. The master actuating device 14
also includes an external interface 68 for communicating with an
external personal computer (PC), e.g., to facilitate uploading of
the vibration suppression algorithm and other information from the
PC to the master actuating device 14, and downloading of vibration
response information from the master actuating device 16 to the PC.
The external interface 68 may be wired, e.g., a USB port, or
wireless, utilizing industry standard protocols, such as Bluetooth
or Zigby.
[0043] In the illustrated embodiment, the master actuating device
14 comprises a low voltage, preferably rechargeable, battery 70
(e.g., 12 volts) that supplies the electronics with the required
direct current (DC) power. In this manner, the master actuating
device 14 need not be connected to an external power source,
thereby eliminating the need for external cables altogether. To the
extent that the use of a battery is not desirable, power can be
supplied from an external source via a slip ring, thereby obviating
the need for cables. It should be noted, however, that even if a
cable is used, it will typically be much smaller than the high
voltage cables required in prior art architectures.
[0044] In an optional embodiment, the high-voltage switching
amplifier 54 is electrically isolated from the remaining circuitry
of the master actuating device 14 to prevent ground loops from
occurring when some of the voltage applied to the piezo device
leaks into the master actuating device 14. In particular, if the
output of the high-voltage switching amplifier 54 uses the same
ground as the remaining circuitry within the master actuating
device 14, the master actuating device 14 can experience a current
or voltage spike, thereby causing it to at least temporarily
malfunction and potentially trigger a system wide shutdown.
[0045] For example, FIG. 8 illustrates an optional embodiment
wherein the high-voltage switching amplifier 54 is electrically
isolated from various other components of the master actuating
device 14. Both the power lines and the control lines are
electrically isolated between the amplifier 54 and other components
of the master actuating device 14. In particular, DC power is
supplied from the battery 70 (or other power source) to the
switching amplifier 54 through an isolated flyback bias supply 72,
which in the illustrated embodiment, transforms a 48V supply into
120V supplied to the switching amplifier 54, and 5V supplied to the
circuitry of the master actuating device 14, including the
switching amplifier 54. Control signals are supplied from the
digital signal processor 50 to the D/A converter 52, and thus, the
switching amplifier 54, through a galvanic (magnetic) coupler 74.
It can be appreciated that other types of non-electrical couplers
can be used, e.g., optocouplers, to transmit signals from the
digital signal processor 50 to the switching amplifier 54. Thus,
because the power and control lines connected to the switching
amplifier 54 are electrically isolated from the components of the
master actuating device 14, any voltage leakage from the piezo
element will not result in a ground loop.
[0046] Referring now to FIG. 4, the slave actuating device 16 is
similar to the master actuating device 14, with the exception that
the slave actuating device 16 only comprises the circuitry needed
to transform the digital control signal into the high voltage low
current analog signal. That is, the slave actuating device 16 only
includes an intra-system communications interface 80 (similar to
the one used by the master actuating device 14) for receiving the
digital control signals transmitted by the master actuating device
14, a microcontroller 82 for controlling the data received on the
communications interface 80, a D/A converter 84 for converting the
digital control signals from the microcontroller 82 into low
voltage analog control-signals, and a high-voltage switching
amplifier 86 for converting the low voltage analog control signals
into high voltage low current analog signals used to stimulate the
on-board piezo device. Like the master actuating device 14
illustrated in FIG. 8, the high-voltage switching amplifier 86 may
be electrically isolated from various components within the slave
actuating device 16 to prevent or minimize the adverse effects
caused by voltage or current spikes at the piezo device.
[0047] Referring now to FIG. 5, the sensing device 18 comprises a
high impedance charge amplifier 90 for sensing the charge induced
in the on-board piezo device by the strain exerted on the piezo
device by the structural vibrations, and converting it to a low
voltage analog signal. The sensing device 18 further comprises an
A/D converter 92 for converting the low voltage analog signal into
a digital signal representative of the magnitude and phase of the
piezo strain. The sensing device 18 further includes a
microcontroller 94 for controlling the sensing data from the A/D
converter 92, and an intra-system communications interface 96
(similar to the one used by the master actuating device 14) for
transmitting the sensing data to the master actuating device 14.
The sensing device 18 may optionally include an external
communications interface 98 (similar to the one used in the master
actuating device 14) for communicating with an external PC, e.g.,
to facilitate downloading of vibration response information from
the sensing device 18 to the PC. This feature may be useful when it
is merely desired to acquire vibration response information for
subsequent analysis, or when the master actuating device 14, which
is configured for downloading vibration response information to the
PC, is otherwise not installed or operational.
[0048] In the afore-described embodiments of the slave actuating
device 16 and sensing device 18, power is provided either using a
battery or a wired connection from the master actuating device 14.
In the case where it is desirable to supply both power and
communications from the master actuating device 14 to the slave
actuating devices 16 and sensing device 18 through a wired
connection, or both power and communications from an external
device to the master actuating device 14, a Power over Ethernet
(POE) methodology can be used in accordance with IEEE 802.3af to
deliver the power/communications signals. IEEE 802.3af provides the
capability of deliver both power and data over standard Ethernet
cabling, such as CAT5 or CAT6 cable. This eliminates the need for
separate signal and power cables and enables the use of commonly
available standard CAT5 cable equipped with a standard RJ45
plug.
[0049] Referring to FIG. 6, a communications system 100 can be used
to facilitate analysis of the structural dynamics of the equipment
12, implementation of the control aspects of the system 10 based on
this analysis, and evaluation of the performance of the system 10,
all from a remote site. In particular, the communications system
100 comprises a local computer 102 (such as a personal computer
(PC)) residing at the customer or local site (i.e., the site at
which the equipment 12 is located), and a remote computer 104 (such
as a PC) located at a vibration analysis laboratory, such as
IPTRADE Inc, located in Newton, Mass. The local computer 102 is
connected to the master actuating device 14 via the external
communications interface 68 (shown in FIG. 3), and is connected to
the remote computer 104 via a secure Virtual Private Network (VPN)
connection 106. If multiple computers are located at the remote
site, the communications system 100 may optionally include a main
server 108 connected to the computers via an intranet 110 to
facilitate communication between the local computer 102 and one or
more of the remotes computer 104. To provide further data security,
the communications system 100 may include a firewall 112 connected
between the secure VPN connection 106 and the main server 108 via
an intranet 114.
[0050] A specialized software package is installed on the local
computer 102 to facilitate communications between the master
actuating device 14 and the remote computer 104. In particular, the
software package enables a secure link between the local computer
102 and the remote computer 104, establishes a direct and secure
communications link between the remote computer 104 and the master
actuating device 14, and enables control engineers at the remote
site to control the master actuating device 14 to perform such
tasks as system identification, control design, control
implementation, and performance evaluation. Thus, it can be
appreciated that, with the exception of physically installing the
system 10 onto the equipment 12, a control engineer physically
located at the remote site can operate the system 10 in the same
manner as if he or she were present at the local site.
[0051] Referring still to FIG. 6, one scenario for implementing the
system 10 will be described. In this scenario, it is determined
that a structural component on the equipment 12, such as a robotic
end effector, has an unacceptable vibration level. Using finite
element analysis, it is determined that the areas of high strain
arising from the structural vibrations can be accurately covered
using three actuating devices: a master actuating device 14 and two
slave actuating devices 16. The sensing device 18 is used to sense
vibrations in the equipment 12. Alternatively, a third party
sensor, such as an accelerometer or capacitive distance probe, can
be used to sense the vibrations, or more alternatively, both types
of sensors can be used. After deploying the sensing device 18, as
well as the master actuating device 14 in the case where the
sensing device 18 is not capable of directly communicating with the
local computer 102, an engineer at the local site activates the
specialized software package installed on the local computer 102 to
establish a secure link to the main server 108, and thus, the
remote computer 104.
[0052] The control engineer at the remote site can then implement a
data acquisition protocol to acquire vibration response information
from the sensing device 18. In particular, a first prompt is
transmitted from the remote computer 104 to the local computer 102
via the secure VPN connection 106, which prompts the sensing device
18 to automatically collect and download vibration response
information to the local computer 102 via the master actuating
device 14. In response to the first prompt, or alternatively in
response to another prompt from the remote computer 104, the
vibration response information is then acquired at the remote
computer 104 from the local computer 102 via the secure VPN
connection 106, thereby allowing the control engineer to obtain an
accurate picture of the structural dynamics of the equipment 10.
Alternatively, although requiring more coordination between the
remote and local sites, personnel at the remote site can remotely
prompt the sensing device 18 to automatically collect and download
vibration response information to the local computer 102, and the
downloaded information is then transmitted from the local computer
102 to the remote computer 102 under control of personnel at the
local site. In either event, once the vibration response
information is acquired at the remote site, the control engineer
can create and simulate a vibration suppression algorithm, and
predict the key locations on the equipment 12 where the actuating
devices should be mounted.
[0053] After the slave actuating devices 16, and if not installed
yet, the master actuating device 14, are deployed at the key
locations, a second prompt, along with the vibration suppression
algorithm, is transmitted from the remote computer 104 to the local
computer 102 via the secure VPN connection 106, where it is
automatically uploaded to the master actuating device 14. The slave
actuating devices 16, and if not installed yet, the master
actuating device 14, are then installed at the most advantageous
locations on the equipment 12 based on the analysis performed by
the remote control engineer.
[0054] Next, a third prompt is transmitted from the remote computer
104 to the local computer 102, thereby operating the master
actuating device 14, along with the slave actuating devices 16, and
collecting closed-loop vibration response information at the
sensing device 18, which is then downloaded to the local computer
102 via the master actuating device 14. In response to the third
prompt, or alternatively another prompt from the remote computer
104, the sensed closed-loop vibration response information is then
acquired at the remote computer 104 from the local computer 102 via
the secure VPN connection 106. Alternatively, although requiring
more coordination between the remote and local sites, personnel at
the remote site can remotely prompt operation of the actuating
devices and collection and downloading of the vibration response
information, and the downloaded information can then be transmitted
from the local computer 102 to the remote computer 102 under
control of personnel at the local site. In either case, the control
engineer at the remote site compares the vibration response
information to the simulated performance, and based on this
comparison, fine-tunes the vibration suppression algorithm. A
fourth prompt, along with the modified vibration suppression
algorithm, is then transmitted from the remote computer 104 to the
local computer 102 via the secure VPN connection 106, where it is
automatically uploaded and "burned" onto the flash memory within
the master actuating device 14. If using a wired connection, the
local computer 102 is disconnected from the master actuating device
14, allowing the devices to be operated as a stand-alone system
10.
[0055] While the physical implementation of hardware during the
data acquisition and testing phase of the system 10 must still be
accomplished by personnel at the local site, it should be
appreciated that the methodology described with respect to FIG. 6
allows the control, operation, and data acquisition at the local
site to be accomplished from the remote site without interaction,
or with minimal interaction, with personnel at the local site.
[0056] Referring now to FIG. 7, another scenario for implementing
the system 10 will be described. In this scenario, a reliable model
of the structure of the equipment 12 in question does not exist or
is not considered reliable, thereby requiring an experimental
determination of the structural dynamics and high strain areas of
the vibration mode shapes. In this case, the engineer at the local
site deploys a master actuating device 14 in conjunction with a
plurality of sensing devices 18 (in this case, three). As in the
other scenario, third party sensors can be used alone or in
combination with one or more sensing devices 18. The control
engineer at the remote site then transmits a prompt from the remote
computer 104 to the local computer 102 via the VPN connection 106,
which prompts the master actuating device 14 to generate a probing
signal, such as a sine wave sweep, thereby causing the on-board
piezo device to induce the probe signal into the structure. The
sensing devices 18 collect and download vibration response
information to the local computer 102 via the master actuating
device 14. The response information is then acquired at the remote
computer 104 from the local computer 102 via the secure VPN
connection 106, where the control engineer uses the information to
implement the system 10 in the same manner described above.
Notably, if the sensing devices 18 are physically located at key
actuating locations, at least some of them can be replaced with
slave actuating devices 16, as illustrated in FIG. 6. This can be
easily accomplished, e.g., by exchanging the PCBs, while keeping
the collocated piezo devices attached to the carrier structure,
thus avoiding any time consuming and mechanically difficult removal
and attachment operations, as discussed above with respect to FIG.
2.
[0057] It should be appreciated that the methodologies discussed
with respect to FIGS. 6 and 7 can be implemented in computer
software that can be executed in the local computer 102 to perform
the functions at the local site, and implemented in computer
software that can be executed in the remote computer 104 to perform
the functions at the remote site.
[0058] Although particular embodiments of the present invention
have been shown and described, it should be understood that the
above discussion is not intended to limit the present invention to
these embodiments. It will be obvious to those skilled in the art
that various changes and modifications may be made without
departing from the spirit and scope of the present invention. Thus,
the present invention is intended to cover alternatives,
modifications, and equivalents that may fall within the spirit and
scope of the present invention as defined by the claims.
* * * * *