Device and related method for controlling vibration of a multi-rotor vehicle

Abstract

Devices and related methods for controlling vibrations of a multi-rotor vehicle. Example devices include a vibration level detector that determines a vibration level of a frame of the vehicle based on data received from sensors of the vehicle, the vehicle including rotors. The device includes a rotor operation analyzer that determines an operation parameter of the rotors based on the vibration level. The device includes a communicator that sends an instruction including the operation parameter to a controller of the rotors.

Description

Technical Field

[0001] The present disclosure generally relates to vibration suppression, and more particularly, to devices and related methods for controlling vibrations of a multi-rotor vehicle. Background Art

[0002] Rotors of vehicles such as aircraft generate vibrations during the spin of, for example, the blades of the rotor. The vibrations generated during the operation of the rotor may cause one or more parts of the vehicle's frame to vibrate. Some vehicles include two or more rotors coupled to the vehicle frame. Summary of the Invention

[0003] Example devices include a vibration level detector that determines a vibration level of a frame of the vehicle based on data received from sensors of the vehicle. The vehicle includes rotors. The example devices include a rotor operation analyzer that determines operation parameters of the rotors based on the vibration level. The example devices include a communicator that sends instructions including the operation parameters to a controller of the rotors.

[0004] Another example device includes a sensor that generates sensor data during the operation of a rotor of a vehicle. The example device includes a controller that determines a vibration level of at least a portion of the vehicle based on the sensor data and sends instructions to the rotor to maintain or adjust operation parameters of the rotor based on the vibration level.

[0005] Another example device includes: a rotor operation analyzer that determines operation parameters of a rotor of an aircraft based on a vibration mode of a frame of the aircraft; and a communicator that sends instructions including the operation parameters to the rotor. Brief Description of the Drawings

[0006] Figure 1A A side view of an example multi-rotor vehicle is illustrated in accordance with the teachings of the present disclosure, the example multi-rotor vehicle including sensors for measuring operating conditions of the vehicle and a vibration manager for controlling vibrations generated by the rotors.

[0007] Figure 1B is Figure 1A a perspective view of a portion of the frame of the vehicle.

[0008] Figure 2 is Figure 1A a block diagram of an example implementation of the vibration manager.

[0009] Figure 3 is a representation of what can be executed to implement based on data generated by the Figure 1A sensors of the Figure 2Flowchart of machine-readable instructions of an example vibration manager.

[0010] Figure 4 represents machine-readable instructions that may be executed to implement based on the operating state of a vehicle Figure 2 Flowchart of machine-readable instructions of an example vibration manager.

[0011] Figure 5 represents machine-readable instructions that may be executed to implement based on the speed of the rotors of a vehicle Figure 2 Flowchart of machine-readable instructions of an example vibration manager.

[0012] Figure 6 Schematic diagram of an example frame of a multi-rotor aircraft.

[0013] Figure 7 illustrates the elimination of Figure 1A and Figure 2 by an example vibration manager of the frame's vibration modes according to the teachings of the present disclosure Figure 6 Graph of the vibration modes of the frame.

[0014] Figure 8 Another schematic diagram of an example frame of a multi-rotor aircraft.

[0015] Figure 9 illustrates the elimination of Figure 1A and Figure 2 by an example vibration manager of the frame's vibration modes according to the teachings of the present disclosure Figure 8 Graph of the vibration modes of the frame.

[0016] Figure 10 is configured to execute Figure 3 , Figure 4 and / or Figure 5 instructions to implement Figure 2 Block diagram of an example processing platform of a vibration manager.

[0017] These figures are not drawn to scale. Alternatively, the thickness of each layer or region may be enlarged in the drawings. Generally, the same reference numerals will be used throughout the drawings and the accompanying written description to refer to the same or similar parts. Detailed Description

[0018] The rotors of a vehicle such as an aircraft generate vibrations during, for example, the spinning of the rotor blades while the aircraft is in flight or while the aircraft is on the ground before takeoff or after landing. The vibrations generated by the rotors can be transmitted to the frame of the aircraft. Excessive vibrations can cause wear and / or damage to the aircraft frame and equipment over time.

[0019] Some known methods for suppressing vibrations caused by the operation of rotors include adding dampers to the rotors and / or the vehicle frame. However, the dampers can only suppress vibrations at specific frequencies based on the tuning of the dampers. Additionally, the dampers can add weight to the aircraft. Other known vibration mitigation methods include increasing the stiffness of the materials used to form the rotors and / or the frame and / or otherwise adding weight to the aircraft to structurally change the resonance or natural vibration modes of the rotors and / or the frame. Thus, the known methods for suppressing vibrations result in structural changes to the aircraft.

[0020] The examples disclosed herein control vibrations caused by the operation of one or more rotors of a vehicle such as an aircraft by controlling the rotational speed and / or rotational phase of the rotors. Based on sensor data generated by sensors coupled to the rotors and / or the aircraft frame, the examples disclosed herein evaluate the vibrations experienced by the aircraft. In some examples, the sensors include accelerometers (e.g., triaxial accelerometers) and / or position sensors to generate data indicative of the vibrations experienced by the aircraft. In some examples, the sensors include angular position sensors and angular velocity sensors to collect data on operating parameters of the rotors such as phase and speed. If the vibrations experienced by the aircraft exceed a predefined threshold, the examples disclosed herein selectively adjust one or more operating parameters of the rotors, such as the rotor speed and / or rotational phase between two or more rotors, to reduce and / or suppress the vibrations. Thus, the examples disclosed herein control vibrations caused by the operation of the rotors without modifying the weight of the aircraft and / or otherwise structurally changing the body of the aircraft.

[0021] Some examples disclosed herein monitor changes in the vibration level at a specific sensor location after an adjustment to a rotor operating parameter to determine the effectiveness of the adjustment and to identify whether additional adjustments are needed. Some examples disclosed herein evaluate the impact of an adjustment to a rotor operating parameter on the performance of the aircraft with respect to, for example, thrust, climb ability, endurance, etc. If the flight performance of the aircraft is adversely affected by an adjustment to the operation of the rotors, the examples disclosed herein re-evaluate the adjustment to the rotors to optimize vibration suppression and vehicle performance.

[0022] As mentioned above, some examples disclosed herein dynamically monitor aircraft vibrations based on sensor data generated at specific locations on the aircraft. Some other examples disclosed herein automatically control vibrations based on the operating state of the vehicle, the rotor speed, and / or known vibration patterns of the vehicle frame. For example, some examples disclosed herein identify the operating state of the vehicle (e.g., takeoff, landing, cruise, hover, on the ground) and adjust the speed of the rotors during the corresponding operating state based on the vehicle state and known vibration patterns of the vehicle. Some other examples monitor the speed of the rotors and selectively adjust the speed of the rotors as the rotors pass through known resonance frequencies at a specific speed to prevent or reduce vibrations.

[0023] Figure 1A A side view of an example aircraft (e.g., a rotorcraft) 100 in which examples disclosed herein may be implemented is illustrated. Figure 1B Is a perspective view of a portion of the frame 101 of the aircraft 100. Figure 1A And Figure 1B The example aircraft 100 includes a plurality of rotors (e.g., propellers) supported by the frame 101. In Figure 1A And Figure 1B The example, the aircraft 100 includes a first rotor 102, a second rotor 103, a third rotor 104, a fourth rotor 105, a fifth rotor 106, a sixth rotor 107, a seventh rotor 108, and an eighth rotor 109. In Figure 1A And Figure 1B The example, the first rotor 102 and the second rotor 103 are coaxial, the third and fourth rotors 104, 105 are coaxial, the fifth rotor 106 and the sixth rotor 107 are coaxial, and the seventh rotor 108 and the eighth rotor 109 are coaxial. The example aircraft 100 may include additional or fewer rotors. Additionally, the arrangement of the rotors may be different from the Figure 1A And Figure 1B Examples shown. Although Figure 1A And Figure 1B The aircraft 100 illustrated in is a multi-rotor aircraft, however, the examples disclosed herein may be implemented with other types of aerial vehicles (e.g., single-rotor helicopters) that include additional rotors or fewer rotors.

[0024] Each of the rotors 102, 103, 104, 105, 106, 107, 108, 109 includes one or more blades 110 that rotate about a respective axis passing through the rotors 102, 103, 104, 105, 106, 107, 108, 109 during operation of the rotors 102, 103, 104, 105, 106, 107, 108, 109. The rotors 102, 103, 104, 105, 106, 107, 108, 109 of the example aircraft 100 in addition to includingFigure 1A and Figure 1B In addition to those shown in, additional blades 110 may also be included. In Figure 1A and Figure 1B example, the operation of rotors 102, 103, 104, 105, 106, 107, 108, 109 is controlled by one or more motors 112 that are coupled to the rotors 102, 103, 104, 105, 106, 107, 108, 109 during operation. The motors 112 control, for example, the rotational speed of the blades 110 (e.g., revolutions per minute (RPM)). The motors 112 control the rotors 102, 103, 104, 105, 106, 107, 108, 109 respectively based on instructions received from one or more motor controllers ( Figure 2 ).

[0025] Example aircraft 100 includes one or more first sensors 118 to collect data regarding the operation of the rotors 102, 103, 104, 105, 106, 107, 108, 109 during the flight of the aircraft 100 and / or while the aircraft 100 is on the ground but the rotors 102, 103, 104, 105, 106, 107, 108, 109 are active (e.g., before takeoff, during landing). The first sensors 118 may include angular velocity sensors and / or angular position sensors. The first sensors 118 generate data regarding operating parameters such as whether the rotors are active, rotor speed, blade position, etc.

[0026] Example aircraft 100 includes one or more second sensors 119 to detect vibrations of the aircraft 100. The second sensors 119 may include, for example, accelerometers (e.g., triaxial accelerometers), gyroscopes, and / or position sensors. The second sensors 119 generate data that can be used to detect vibrations of the aircraft at the location of the second sensors 119. Example aircraft 100 may include, in addition to those shown in Figure 1A and Figure 1B additional types of sensors and / or additional numbers of sensors.

[0027] In Figure 1A and Figure 1BIn the example, the first sensor 118 and / or the second sensor 119 may be coupled to the frame 101 and / or any one of the rotors 102, 103, 104, 105, 106, 107, 108, 109. In some examples, the position of the second sensor 119 is based on the position where vibration is expected to be experienced by the aircraft 100 and / or the position where vibration has been previously observed (e.g., based on prior sensor data and / or an analysis model). For example, the second sensor 119 may be coupled to the frame 101 close to the motors 112 that control the rotors 102, 103, 104, 105, 106, 107, 108, 109 to record the vibration generated by the operation of the motors 112. The example aircraft 112 may further include additional sensors 118, 119 in addition to those shown in Figure 1A and Figure 1B . Additionally, the sensors 118, 119 may be positioned at different locations from those shown in Figure 1A and Figure 1B .

[0028] In Figure 1A and Figure 1B 's example, the data generated by the sensors 118, 119 is sent (e.g., via one or more wired or wireless connections) to the vibration manager 120. The vibration manager 120 may be implemented by one or more processors of the aircraft 100. The example vibration manager 120 analyzes the sensor data regarding the vibration experienced by the aircraft 100 at the location of the aircraft 100 where the second sensor 119 is included (e.g., at the frame 101 close to the motors 112 of the rotors 102, 103, 104, 105, 106, 107, 108, 109). The example vibration manager 120 determines whether the vibration experienced by the aircraft 100 during the operation of the rotors 102, 103, 104, 105, 106, 107, 108, 109 is acceptable relative to a specific predefined threshold level of vibration of the aircraft 100 and / or its components. If the example vibration manager 120 determines that the vibration experienced by the aircraft 100 exceeds the threshold, the vibration manager 120 generates instructions for the controllers of the motors 112, 114 to adjust one or more operating parameters of the rotors 106, 108, such as the rotor speed and / or the rotation phase between the rotors 106, 108. When adjusting the speed and / or phase of the rotors 102, 103, 104, 105, 106, 107, 108, 109, the example vibration manager 120 causes the vibration of the aircraft 100 at the sensor location to change to reduce or suppress the vibration.

[0029] For example, the vibration manager 120 analyzes the accelerometer data generated by the second sensor 119 and the angular velocity data generated by the first sensor 118 for the first rotor 106 to evaluate the vibrations experienced by the aircraft 100 at a particular rotor speed of the first rotor 106. If the example vibration manager 120 determines that the vibrations experienced by the aircraft 100 exceed a threshold, the vibration manager 120 generates an instruction to adjust the speed (e.g., RPM) of the first rotor 102. The vibration manager 120 can generate instructions for the operation of one and / or two or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109. For example, the vibration manager 120 can generate instructions to rotate the blades 110 of the first rotor 102 and the second rotor 103 in-phase or out-of-phase with respect to each other in terms of the position of the blades. For example, when the blade 110 of the first rotor 102 is at a first radial position, the blade 110 of the second rotor 103 can be at a corresponding radial position (in-phase) or a different radial position (out-of-phase) based on the respective speeds of the rotors 102, 103. In some examples, the vibration manager 120 adjusts the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to eliminate or reduce the vibrations experienced at different locations of the aircraft 100.

[0030] After adjusting the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109, the example vibration manager 120 continues to sample the sensor data generated by the second sensor 119 to evaluate the effect of the rotor adjustment in terms of the vibrations experienced by the aircraft 100. For example, the vibration manager 120 determines whether the vibration data generated by the second sensor 119 (e.g., accelerometer) after the rotor adjustment meets a vibration level threshold. If the vibration manager 120 determines that the vibration level threshold is not met, the vibration manager 120 determines an adjustment and / or readjustment of the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to reduce the vibrations experienced by the aircraft 100 (e.g., readjust the rotor speed or rotor phase).

[0031] In some examples, the vibration manager 120 analyzes the impact of adjustments to the operating parameters of rotors 102, 103, 104, 105, 106, 107, 108, 109 on the flight performance of the aircraft 100. For example, the vibration manager 120 analyzes the impact of changes in the speed of the rotors on parameters such as thrust, endurance, range, etc. In some examples, the vibration manager 120 evaluates changes in the operating parameters of rotors 102, 103, 104, 105, 106, 107, 108, 109 in view of conditions such as the aircraft payload, climb capability, etc. In some examples, the vibration manager 120 adjusts or readjusts the rotor operating parameters based on the impact of previous adjustments on performance. In some cases, the vibration manager 120 adjusts the behavior of rotors 102, 103, 104, 105, 106, 107, 108, 109 and / or avoids implementing changes in the operation of rotors 102, 103, 104, 105, 106, 107, 108, 109 when such changes would adversely affect the performance of the aircraft 100. Thus, the vibration manager 120 balances the suppression of changes due to rotors 102, 103, 104, 105, 106, 107, 108, 109 with aircraft performance to manage the vibration level without unduly affecting the operation of the aircraft.

[0032] Figure 2 Yes Figure 1A is a block diagram of an exemplary implementation of the vibration manager 120. As mentioned above, the vibration manager 120 receives rotor operation data 200 from a first sensor 118 (e.g., an angular velocity sensor, an angular position sensor) during flight of the aircraft 100 and / or while the aircraft 100 is on the ground. The rotor operation data 200 may include, for example, angular velocity data and / or angular position data (e.g., for rotor blades 110). The vibration manager 120 receives vibration data 202 indicating vibration at a location of the aircraft 100 from a second sensor 119 (e.g., an accelerometer, a gyroscope, a position sensor), where the second sensor 119 is located at that location.

[0033] Sensor data 200, 202 may be sent from the respective first sensor 118 and second sensor 119 to the vibration manager 120 substantially continuously or at a predefined sampling interval based on, for example, the sensor type and user settings for the sensors 118, 119 and / or the vibration manager 120. In some examples, the sensor data 200, 202 is sampled by the vibration manager 120 substantially in real time (e.g., within milliseconds of being collected by the sensors 118, 119) to allow the vibration manager 120 to address vibrations currently experienced by the aircraft 100. The sensor data 200, 202 is stored in the database 203. In some examples, the vibration manager 120 includes the database 203. In other examples, the database 203 is located external to the vibration manager 120 at a location accessible to the vibration manager 120 as shown in Figure 2 The sensor data 200, 202 may be stored in the database 203 based on, for example, the location where the sensor data 200, 202 is generated, the proximity of the second sensors 118, 119 to specific rotors 102, 103, 104, 105, 106, 107, 108, 109, etc. The database 203 may store other types of sensor data received from the sensors 118, 119.

[0034] Figure 2 An example vibration manager 120 includes a vibration level detector 204. The vibration level detector 204 analyzes the vibration data 202 to determine whether the vibrations experienced by the aircraft 100 at one or more locations where the vibration data 202 is collected meet a specific (e.g., predefined) vibration level threshold 206 at those locations. The vibration level threshold 206 may be based on reference data (e.g., test data, historical data) collected for the aircraft 100 or another vehicle or derived from an analysis model. In Figure 2 The example, the vibration level threshold 206 is stored in the database 203.

[0035] The vibration level threshold 206 defines an acceptable vibration value, level, or range (e.g., frequency) for the aircraft 100 based on the aircraft type, expected payload, fatigue and / or failure characteristics of one or more components of the aircraft 100, etc. The example vibration level detector 204 compares the vibration data 202 with the vibration level threshold 206 to determine whether the vibrations detected at the location of the aircraft 100 including the second sensor 119 exceed the vibration level threshold 206. In some examples, the vibration level detector 204 monitors the vibration data 202 for a specific period of time before determining whether the vibration data 202 exceeds the threshold 206 to minimize false alarm situations.

[0036] Figure 2An example vibration manager 120 includes a rotor operation analyzer 208. In some examples, the vibration level detector 204 determines that the vibration data 202 exceeds the vibration level threshold 206, and thus, the aircraft 100 is experiencing excessive vibration. In such examples, the rotor operation analyzer 208 analyzes the rotor operation data 200 of the rotors 106, 108 to identify the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 that are causing the excessive vibration. For example, the rotor operation analyzer 208 analyzes the rotor operation data 200, which includes RPM data and / or rotor phase position data that is time-aligned with the vibration data 202 indicating excessive vibration generated at a particular aircraft position.

[0037] In Figure 2 an example, the rotor operation analyzer 208 determines one or more adjustments to be made to the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to suppress the vibration. The rotor operation parameter adjustment may include a change in the rotor speed (e.g., increasing or decreasing the RPM) for one or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109. In some examples, the rotor operation analyzer 208 determines that the speed of one or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109 should be adjusted to synchronize or desynchronize the rotational phases of the corresponding blades of two or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109. For example, the rotor operation analyzer 208 may determine that the blades 110 of the first rotor 102 and the second rotor 103 should rotate in phase such that when the blade 110 of the first rotor 102 is at a particular radial position relative to the axis of the first rotor 102, the blade 110 of the second rotor 103 is at a corresponding radial position relative to the corresponding axis of the second rotor 103. As another example, the rotor operation analyzer 208 may determine that the blades 110 of the first rotor 102 and the third rotor 104 should rotate out of phase such that when the blade 110 of the first rotor 102 is at a particular radial position relative to the axis of the first rotor 106, the blade 110 of the third rotor 104 is at a different radial position relative to the corresponding axis of the third rotor 104.

[0038] In Figure 2In an example, the rotor operation analyzer 208 determines adjustments to rotor operation parameters based on vibration data 202 and one or more rotor operation rules 210. The rotor operation rules 210 define values and / or settings for rotor operation parameters (e.g., speed, phase) based on vibration data 200 and characteristics of the rotor such as the number of blades to suppress vibration. For example, the rotor operation rules 210 may define the amount by which the RPM for each rotor 106, 108 should be increased or decreased based on the value of the vibration data 202 and / or the amount by which the vibration data 202 exceeds a vibration level threshold 206. The rotor operation rules 210 may define whether the operation parameters for one or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109 should be adjusted based on, for example, the location where vibration is detected and / or known vibration patterns (e.g., resonance frequencies) at those locations. In some examples, the rotor operation rules 210 are based on characteristics of the rotor such as the number of blades, which may affect the rotational phase of the rotor and the elimination of vibration of the vehicle frame resulting from the adjustment of the rotational phase. The rotor operation rules 210 may be based on, for example, user input, test data, historical data, analysis models, etc. In Figure 2 In an example, the rotor operation rules 210 are stored in a database 203.

[0039] Figure 2 In an example, the vibration manager 120 includes a communicator 212. The communicator 212 generates instructions 214 based on the adjustments to the operation parameters determined by the rotor operation analyzer 208. The communicator 212 sends the instructions 214 to one or more motor controllers 216 associated with the motors 114, 116 of the respective rotors 102, 103, 104, 105, 106, 107, 108, 109. Based on the instructions 214, the motor controllers 216 implement adjustments to the operation parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 (e.g., changes in the speed at which the rotors 102, 103, 104, 105, 106, 107, 108, 109 rotate) to suppress vibration. In some examples, the communicator 212 sends data related to rotor operation to the ground and / or to other vehicles.

[0040] The first sensor 118 and the second sensor 119 continue to generate sensor data 200, 202 after the adjustment of the operation parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109. The vibration level detector 204 of the example vibration manager 120 accesses the vibration data 202 generated by the second sensor 119 after the adjustment of the rotor operation parameters at a predefined sampling interval (e.g., every millisecond). The vibration level detector 204 identifies changes in the vibration data 202 as a result of changes in the behavior of the rotors. InFigure 2 In the example of Figure 2 , if the vibration level detector 204 determines that the vibration data 202 exceeds the vibration level threshold 206 after the adjustment of the rotor operating parameters, the rotor operation analyzer 208 adjusts or readjusts the speed and / or phase of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to suppress vibration. Thus, the example vibration manager 120 uses the vibration data 202 as feedback to further improve the adjustment of the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109.

[0041] In Figure 2 the example of Figure 2 , the vibration manager 120 communicates with one or more vehicle management control systems 220. The vehicle management control system 220 may include sensors, processors, etc. for monitoring and / or controlling one or more components of the aircraft 100 (such as engines, rotors 102, 103, 104, 105, 106, 107, 108, 109, flaps, etc.). In Figure 2 the example of Figure 2 , the vibration manager 120 accesses the vehicle performance data 222 from the vehicle management control system 220. Based on the current operation of the aircraft 100 as monitored by the vehicle management control system 220, the vehicle performance data 222 includes parameters for the aircraft 100, such as flight mode (e.g., takeoff, cruise, hover), endurance, range, climb ability, lift, thrust, payload, etc. In some examples, some of the vehicle performance data is based on user input.

[0042] Figure 2 The example vibration manager 120 in Figure 2 includes a vehicle performance analyzer 218. In Figure 2 the example of Figure 2 , the vehicle performance analyzer 218 analyzes the vehicle performance data 222 to determine the impact of the adjustment of the rotor operating parameters on the performance of the aircraft 100. In particular, the vehicle performance analyzer 218 evaluates whether the adjustment of the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 has adversely affected the performance of the aircraft 100. For example, the vehicle performance analyzer 218 determines whether a change in the rotational speed of the rotors 102, 103, 104, 105, 106, 107, 108, 109 has resulted in insufficient thrust generated by the rotors 102, 103, 104, 105, 106, 107, 108, 109 for the flight conditions of the aircraft 100.

[0043] If the vehicle performance analyzer 218 determines that a change in the rotor operating parameters based on the vehicle performance data adversely affects flight performance, the rotor operation analyzer 208 adjusts and / or readjusts the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109. For example, if reducing the RPM of the first rotor 102 adversely affects the thrust force generated by the aircraft 100, the rotor operation analyzer 208 may determine that the RPM of the first rotor 102 should be readjusted (e.g., increased relative to the initial adjustment amount) regardless of the potential increase in vibration experienced by the aircraft 100. Thus, the exemplary vibration manager 120 performs optimization regarding vehicle performance and suppression of vibrations experienced by the aircraft 100 due to the operation of the rotors 102, 103, 104, 105, 106, 107, 108, 109.

[0044] In some examples, as part of optimizing flight performance using vibration suppression, the rotor operation analyzer 208 evaluates how to apply the operating parameter adjustments to the respective rotors 102, 103, 104, 105, 106, 107, 108, 109. As an example, the rotor operation analyzer 208 may determine that each of the rotors 102, 103, 104, 105, 106, 107, 108, 109 should rotate at an angular velocity of 628 rad / s to reduce vibration. In such examples, the motor controller 216 causes the first rotor 102 and the second rotor 104 to rotate at 628 rad / s. However, after analyzing the vibration data 202 and / or the vehicle performance data 222 generated after adjusting the rotational speeds of the first rotor 102 and the third rotor 104 to 628 rad / s, the rotor operation analyzer 208 may determine that the rotation of each of the rotors 102, 104 at 628 rad / s causes one or more locations of the aircraft 100 to vibrate at a resonant frequency. In such examples, the rotor operation analyzer 208 determines that the rotational speed for each of the rotors 102, 104 should be adjusted such that the first rotor 102 rotates at 596 rad / s and the third rotor 104 rotates at 659 rad / s. Thus, as part of optimizing vehicle performance and vibration suppression, the rotor operation analyzer 208 evaluates the manner in which the adjustments to the operating parameters are applied to the rotors 102, 103, 104, 105, 106, 107, 108, 109.

[0045] In the examples disclosed above, Figure 2The vibration manager 120 actively controls the rotors 106, 108 based on vibration sensor data 202 generated by the second sensor 119 at a specific location of the aircraft 100 and sent to the vibration manager 120 substantially in real time (e.g., within milliseconds of being collected). In some other examples, the vibration manager 120 generates instructions 214 to control the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 based on vehicle performance data 222 indicating the operating state of the aircraft 100 (e.g., cruise, takeoff, hover) and known vehicle frame resonance data 224. The known vehicle frame resonance data 224 includes resonance patterns for one or more portions of the frame 101 of the aircraft 100 ( Figure 1A , Figure 1B ) associated with different vehicle operating states based on test data, historical data, analysis models, etc. for the aircraft 100 or another vehicle. In some examples, the known vehicle frame resonance data 224 is based on characteristics of the rotors such as the number of blades. In such examples, the rotor operation analyzer 208 of the vibration manager 120 determines, based on rotor operation rules 210, whether, for example, two or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109 should rotate in phase or out of phase during cruise to avoid vibrating the aircraft 100 at known resonance frequencies.

[0046] In some other examples, the vibration manager 120 uses the rotor operation data 200 and the vehicle resonance data 224 to control the rotors 102, 103, 104, 105, 106, 107, 108, 109 as the rotors 102, 103, 104, 105, 106, 107, 108, 109 rotate at a speed associated with a known resonance frequency of the aircraft 100. For example, based on the rotor operation data 200 indicating the rotational speeds of the rotors 102, 103, 104, 105, 106, 107, 108, 109 associated with a known resonance frequency of the aircraft 100, the rotor operation analyzer 208 instructs (e.g., via the instructions 214) the motor controller 216 to rotate two or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109 out of phase with each other to prevent the aircraft 100 from vibrating at the known resonance frequency as the rotors operate at a specific speed. Thus, the exemplary vibration manager 120 can manage the operating parameters of the rotors based on different data inputs to suppress vibration.

[0047] Although an example manner of implementing Figure 2 the vibration manager 120 of Figure 1A is illustrated, it can be combined, divided, rearranged, omitted, eliminated, and / or implemented in any other way. Figure 2One or more of the components, processes, and / or apparatuses illustrated in. Additionally, it can be implemented by hardware, software, firmware, and / or any combination of hardware, software, and / or firmware Figure 2 Example database 203, example vibration level detector 204, rotor operation analyzer 208, example communicator 212, example vehicle performance analyzer 218, and / or more generally example vibration manager 120. Thus, for example, it can be implemented by Figure 2 Any of example database 203, example vibration level detector 204, rotor operation analyzer 208, example communicator 212, example vehicle performance analyzer 218, and / or more generally example vibration manager 120: one or more analog or digital circuits, logic circuits, programmable processors, programmable controllers, graphics processing units (GPUs), digital signal processors (DSPs), application specific integrated circuits (ASICs), programmable logic devices (PLDs), and / or field programmable logic devices (FPLDs). When any of the apparatus or system claims of this patent are read to cover pure software and / or firmware implementations, example database 203, example vibration level detector 204, rotor operation analyzer 208, example communicator 212, and / or example vehicle performance analyzer 218 are hereby expressly defined to include non-transitory computer readable storage devices or storage disks, such as memories including software and / or firmware, digital versatile disks (DVDs), compact disks (CDs), Blu-ray disks, etc. Further, Figure 2 Example vibration manager 120 of Figure 2 In addition to or instead of those illustrated in Figure 2 Those illustrated in may further include one or more components, processes, and / or apparatuses, and / or may include more than one of any or all of the illustrated components, processes, and apparatuses. As used herein, the phrase "in communication" (including its variations) encompasses direct and / or indirect communication through one or more intermediate components, and does not require direct physical (e.g., wired) communication and / or constant communication, but rather additionally includes selective communication at periodic intervals, scheduled intervals, aperiodic intervals, and / or one-time events.

[0048] In Figure 3 , Figure 4 And Figure 5 Illustrated are flowcharts representing example hardware logic, machine-readable instructions, hardware-implemented state machines, and / or any combination thereof that can be used to implement Figure 1A , Figure 1B And Figure 2 Example vibration manager 120. Machine-readable instructions can be for use by a computer processor (such as in connection with Figure 10The executable program or a part of the executable program executed by the processor 612 shown in the exemplary processor platform 1000 under discussion. The program may be embodied in software stored on a non-transitory computer-readable storage medium such as a CD-ROM, floppy disk, hard disk drive, DVD, Blu-ray disc, or a memory associated with the processor 1012, but the entire program and / or parts thereof may alternatively be executed by a device other than the processor 1012 and / or embodied in firmware or dedicated hardware. Additionally, although reference is made to Figure 3 , Figure 4 and Figure 5 for describing the exemplary program in terms of the flowcharts illustrated therein, many other methods for implementing the exemplary vibration manager 120 may alternatively be used. For example, the order of execution of the blocks may be changed, and / or some of the described blocks may be changed, eliminated, or combined. Additionally or alternatively, any one or all of these blocks may be implemented by one or more hardware circuits (e.g., discrete and / or integrated analog and / or digital circuits, FPGAs, ASICs, comparators, operational amplifiers (op-amps), logic circuits, etc.) configured to perform the corresponding operations without executing software or firmware.

[0049] As mentioned above, executable instructions (e.g., computer and / or machine-readable instructions) stored on a non-transitory computer and / or machine-readable medium may be used to implement Figure 3 , Figure 4 and Figure 5 's example processes, the non-transitory computer and / or machine-readable medium such as a hard disk drive, flash memory, read-only memory, compact disc, digital versatile disc, cache, random access memory, and / or any other storage device or storage disk that stores information for any duration (e.g., for an extended period of time, permanently, briefly, for temporary buffering, and / or for caching of information). As used herein, the term non-transitory computer-readable medium is expressly defined to include any type of computer-readable storage device and / or storage disk and to exclude propagated signals and to exclude transmission media.

[0050] Figure 3 is a flowchart of an example method 300 for controlling vibrations experienced by a vehicle (e.g., Figure 1A and Figure 1B 's aircraft 100 including rotors 102, 103, 104, 105, 106, 107, 108, 109) having one or more rotors at one or more locations located on the frame of the vehicle (e.g., on the frame 101 of the aircraft 100) based on vibration data collected by one or more sensors coupled to the frame. Figure 3 's example method 300 may be performed by Figure 1A andFigure 2 Example implementation of vibration manager 120.

[0051] Example method 300 begins by accessing sensor data collected at different locations on a vehicle, such as an aircraft, during operation of the vehicle's rotors (block 302). For example, vibration manager 120 receives rotor operation data 200 indicating operation parameters (e.g., speed) of rotors 102, 103, 104, 105, 106, 107, 108, 109 from a first sensor 118 (e.g., an angular velocity sensor, an angular position sensor). Vibration manager 120 receives vibration data 202 indicating vibrations experienced by the aircraft 100 at a location on a frame 101 including the second sensor 119 from a second sensor 119 (e.g., an accelerometer, a gyroscope). Sensor data 200, 202 is stored in database 203. Vibration manager 120 is able to access the sensor data at a predefined sampling interval (e.g., every millisecond).

[0052] Example method 300 includes comparing the vehicle's vibration sensor data to a vibration level threshold and determining whether the vibration sensor data meets the vibration level threshold (blocks 304, 306). For example, Figure 2 vibration level detector 204 compares vibration data 202 to a vibration level threshold 206 stored in database 203. Vibration level threshold 206 defines an acceptable vibration value or range (e.g., frequency) based on vehicle type, expected payload, fatigue and / or failure characteristics of one or more components of aircraft 100, etc. Figure 2 Vibration level detector 204 determines whether the vibration data meets threshold 206 based on whether the data exceeds threshold 206 by a certain amount, falls below threshold 206, etc.

[0053] At Figure 3In the example, if the vibration sensor data does not meet the threshold (e.g., the vibration sensor data exceeds the threshold), the example method 300 includes adjusting one or more operating parameters of the rotor (block 308). For example, the rotor operation analyzer 208 determines the adjustment of the operating parameters of the rotors 102, 103, 104, 105, 106, 107, 108, 109 based on the rotor operation data 200 received from the first sensor 118, the analysis of the vibration sensor data 202 by the vibration level detector 204, and the rotor operation rules 210. The rotor operation analyzer 208 can implement the adjustment by adjusting the rotational speed of one or more rotors, adjusting the rotational phase of one or more rotors, or by adjusting both the rotational speed and the rotational phase for one or more rotors. As an example, the rotor operation analyzer 208 can adjust the speed (e.g., RPM) of one or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109. In some examples, the rotor operation analyzer 208 modifies the speed of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to adjust the rotational positions of the blades of two or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109 such that the rotors rotate in-phase or out-of-phase with respect to each other. The communicator 212 of the example vibration manager 120 sends instructions 214 including the adjustment of the operating parameters to the motor controllers 216 of the rotors 102, 103, 104, 105, 106, 107, 108, 109.

[0054] Figure 3 The example method 300 includes comparing the vibration sensor data of the vehicle generated after the adjustment of the operating parameters of the rotor with a vibration level threshold (block 310). For example, the vibration level detector 204 compares the vibration sensor data generated after the adjustment of the rotor operating parameters to determine whether the adjustment has reduced the vibration level below the threshold 206.

[0055] Figure 3 The example method 300 includes evaluating the performance of the vehicle after the adjustment of the operating parameters of the rotor (block 312). For example, the vehicle performance analyzer 218 analyzes the vehicle performance data 222 generated by the vehicle management control system 220 after the adjustment of the rotor operating parameters with respect to parameters such as thrust, lift, range, endurance, etc. In particular, the vehicle performance analyzer 218 determines whether the vehicle performance data 222 indicates that the performance of the aircraft 100 has been adversely affected by the change in the rotor operating parameters. For example, the vehicle performance analyzer 218 identifies whether the endurance of the aircraft 100 has decreased in view of the adjustment of the rotational speed of the rotors 102, 103, 104, 105, 106, 107, 108, 109 based on the vehicle performance data 222.

[0056] In Figure 3 the example, if the vibration level and / or performance of the vehicle is unacceptable after adjustment of the rotor operating parameters (block 314), then the example method 300 returns to adjusting (i.e., readjusting) the rotor operating parameters and evaluating the adjustment (blocks 308-314). For example, the rotor operation analyzer 208 may adjust the synchronization of the rotations of two or more of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to further reduce the vibration of the aircraft 100.

[0057] Figure 3 The example method 300 continues to analyze the vibration sensor data, determines whether adjustment of the rotor operating parameters is needed to suppress the vibration of the vehicle, and evaluates the adjustment with respect to the vibration level and / or vehicle performance until no further vibration sensor data is received (block 316). In some examples, as long as the vehicle is in operation (e.g., the method 300 is executed continuously or substantially continuously during the operation of the vehicle), Figure 3 the method 300 analyzes the vibration sensor data, determines whether a vibration level threshold is met, and adjusts (or avoids adjusting) the rotor operating parameters. When there is no further vibration sensor data for analysis (e.g., when the vehicle is no longer in operation), Figure 3 the example method 300 ends (block 318).

[0058] Figure 4 is a flowchart of an example method 400 for controlling the vibration experienced at one or more locations on a frame of a vehicle (e.g., on the frame 101 of the aircraft 100) of a vehicle including one or more rotors (e.g., Figure 1A and Figure 1B the aircraft 100 including the rotors 102, 103, 104, 105, 106, 107, 108, 109) based on the operating state of the vehicle. Figure 4 The example method 400 of Figure 1A and Figure 2 may be implemented by the example vibration manager 120.

[0059] Figure 4 The example method 400 of Figure 4 starts with accessing vehicle performance data of a vehicle including one or more rotors (block 402). For example, the vibration manager 120 receives vehicle performance data 222 from the vehicle management control system 220 of the aircraft 100.

[0060] Figure 4 Example method 400 includes setting operating parameters of the rotors to avoid known vehicle vibration resonance modes associated with the operating state of the vehicle (block 406). For example, the rotor operation analyzer 208 determines adjustments to the speed and / or phase synchronization of rotors 102, 103, 104, 105, 106, 107, 108, 109 based on known vehicle resonance data 224 and rotor operation rules 210 to prevent the aircraft 100 from vibrating at known resonance frequencies. The communicator 212 of the example vibration manager 120 sends instructions 214 including the operating parameter settings to the motor controllers 216 of rotors 106, 108. When no further vehicle performance data is received (e.g., when the vehicle is no longer operating) Figure 4 Example method 400 ends (blocks 408, 410).

[0061] Figure 5 is for controlling vibrations experienced by a vehicle (e.g., Figure 1A and Figure 1B aircraft 100 including rotors 102, 103, 104, 105, 106, 107, 108, 109) at one or more locations on the frame of the vehicle (e.g., on the frame 101 of aircraft 100). Figure 5 Example method 500 of Figure 1A and Figure 2 can be implemented by the example vibration manager 120.

[0062] Figure 5 Example method 500 of Figure 5 starts with accessing rotor operation data of a vehicle including one or more rotors (block 502). For example, the vibration manager 120 receives rotor operation data 200 from a first sensor (e.g., an angular velocity sensor) of the aircraft 100.

[0063] Figure 5Example method 500 includes setting the operating parameters of the rotors to avoid known vehicle vibration resonance modes associated with the speed at which the rotors are operating (block 506). For example, the rotor operation analyzer 208 determines adjustments to the phase synchronization of rotors 102, 103, 104, 105, 106, 107, 108, 109 based on rotor operation data 200, known vehicle resonance data 224, and rotor operation rules 210 to prevent the aircraft 100 from vibrating at known resonance frequencies when the rotors are operating at a specific speed. The communicator 212 of the example vibration manager 120 sends instructions 214 including the operating parameter settings to the motor controllers 216 of rotors 102, 103, 104, 105, 106, 107, 108, 109. When no further rotor operation data is received (e.g., when the vehicle is no longer operating), Figure 5 example method 500 ends (blocks 508, 510).

[0064] Figure 6 is a schematic diagram of an example frame 600 of an aircraft (e.g., Figure 1A and Figure 1B aircraft 100) that includes a first rotor 602, a second rotor 604, a third rotor 606, and a fourth rotor 608. The directions in which rotors 602, 604, 606, 608 rotate are indicated by Figure 6 corresponding arrows 610, 612, 614, 616. In Figure 6 the example, Figure 1A and Figure 2 the vibration manager 120 causes the blades 618 of the first rotor 602 to rotate out of phase with the blades 620 of the third rotor 606 (e.g., by sending instructions to motors 112 and motor controllers 216 associated with rotors 602, 604, 606, 608). Similarly, the vibration manager 120 causes the blades 622 of the second rotor 604 to rotate out of phase with the blades 624 of the fourth rotor 608. In Figure 6 the example, the vibration manager 120 instructs rotors 602, 604, 606, 608 to rotate at the same rotational speed (RPM). The example frame 600 includes sensors 626 coupled to the frame 600 to monitor the vibration of the frame 600 during the operation of rotors 602, 604, 606, 608.

[0065] Figure 7 is a graph 700 showing the elimination of the vibration of the frame 600 as a result of the out-of-phase rotation of the corresponding blades 618, 620 of the first rotor 602 and the third rotor 606 of Figure 6 as Figure 6 an example. For example, point 702 in graph 700 represents the vibration that would be caused by the frame 600 at, for example, a frequency associated with Figure 6Elimination of vibrations experienced at a position corresponding to the position of sensor 626 in

[0066] Figure 8 is a schematic diagram of an example frame 800 of an aircraft (e.g., Figure 1A and Figure 1B aircraft 100) that includes a first rotor 802, a second rotor 804, a third rotor 806, and a fourth rotor 808. In Figure 8 the example, the first rotor 802 and the second rotor 804 are coaxial and the third rotor 806 and the fourth rotor 808 are coaxial. In Figure 8 the example, Figure 1A and Figure 2 the vibration manager 120 causes the blades 810 of the first rotor 802 to rotate out of phase with the blades 812 of the second rotor 804 (e.g., by sending instructions to motors 112 and motor controllers 216 associated with rotors 602, 604, 606, 608). In Figure 8 the example, the vibration manager 120 instructs the rotors 802, 804 to rotate at the same rotational speed (RPM). The example frame 800 includes sensors 814 coupled to the frame 800 to monitor vibrations of the frame 800 during operation of the rotors 802, 804.

[0067] Figure 9 is a graph 900 showing the elimination of vibrations of the Figure 8 frame 800 as a result of the out-of-phase rotation of the respective blades 810, 812 of the first rotor 802 and the third rotor 804 of Figure 8 For example, the point 902 in graph 900 represents the elimination of vibrations that would be experienced by the frame 800 at a position such as a position corresponding to the position of sensor 814 in Figure 8 Elimination of vibrations experienced at a position corresponding to the position of sensor 626 in

[0068] Thus, by controlling the Figure 6 and Figure 8 operating parameters of the rotors 602, 604, 606, 608, 802, 804, 806, 808 of Figure 1A and Figure 2 the example vibration manager 120 prevents or substantially reduces vibrations experienced by the vehicle frame. Although discussed in conjunction with adjustment of the rotational phase of the rotors Figure 6 , Figure 7 , Figure 8 and Figure 9 the example, in some examples, the vibration manager 120 may additionally or alternatively adjust the rotational speed of one or more of these rotors.

[0069] Figure 10 is capable of executing instructions to implementFigure 3 , Figure 4 and / or Figure 5 method and / or implement Figure 1A , Figure 1B and Figure 2 block diagram of an example processor platform 1000 of a vibration manager 120. The processor platform 1000 can be, for example, a server, a personal computer, a workstation, a self-learning machine (e.g., a neural network), a mobile device (e.g., a cell phone, a smart phone, a tablet such as an iPad TM tablet), a personal digital assistant (PDA), an Internet appliance, or any other type of computing device.

[0070] The example processor platform 1000 illustrated includes a processor 1012. The illustrated example processor 1012 is hardware. For example, processor 1012 can be implemented by one or more integrated circuits, logic circuits, microprocessors, GPUs, DSPs, or controllers from any desired family or manufacturer. The hardware processor can be a semiconductor-based (e.g., silicon-based) device. In this example, the processor implements an example vibration level detector 204, an example rotor operation analyzer 208, an example communicator 212, and an example vehicle performance analyzer 218.

[0071] The illustrated example processor 1012 includes local memory 1013 (e.g., a cache). The illustrated example processor 1012 communicates with main memory including volatile memory 1014 and non-volatile memory 1016 via a bus 1018. Volatile memory 1014 can be implemented by synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM), dynamic random access memory and / or any other type of random access memory device. Non-volatile memory 1016 can be implemented by flash memory and / or any other desired type of memory device. Access to main memory 1014, 1016 is controlled by a memory controller.

[0072] The illustrated example processor platform 1000 also includes interface circuit 1020. Interface circuit 1020 can be implemented by any type of interface standard, such as an Ethernet interface, a universal serial bus (USB), interface, a near field communication (NFC) interface, and / or a PCI express interface.

[0073] In the illustrated example, one or more input devices 1022 are connected to interface circuit 1020. Input device 1022 allows a user to send data and / or commands into processor 1012. The input device may be implemented by, for example, an audio sensor, a microphone, a camera (still or video), a keyboard, a button, a mouse, a touch screen, a touchpad, a trackball, an isopoint, and / or a voice recognition system.

[0074] One or more output devices 1024 are also connected to interface circuit 1020 of the illustrated example. Output device 1024 may be implemented by, for example, a display device (e.g., a light emitting diode (LED), an organic light emitting diode (OLED), a liquid crystal display (LCD), a cathode ray tube display (CRT), an in-plane switching (IPS) display, a touch screen, etc.), a haptic output device, a printer, and / or a speaker. Accordingly, interface circuit 1020 of the illustrated example generally includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor.

[0075] Interface circuit 1020 of the illustrated example also includes a communication device, such as a transmitter, a receiver, a transceiver, a modem, a residential gateway, a wireless access point, and / or a network interface for facilitating the exchange of data with an external machine (e.g., any kind of computing device) via network 1026. The communication may be via, for example, an Ethernet connection, a digital subscriber line (DSL) connection, a telephone line connection, a coaxial cable system, a satellite system, a line-of-sight wireless system, a cellular telephone system, etc.

[0076] Processor platform 1000 of the illustrated example also includes one or more mass storage devices 1028 for storing software and / or data. Examples of such mass storage devices 1028 include a floppy disk drive, a hard disk drive, a compact disk drive, a Blu-ray disk drive, a redundant array of independent disks (RAID) system, and a digital versatile disk (DVD) drive.

[0077] Encoded instructions 1032 may be stored in mass storage device 1028, in volatile memory 1014, in non-volatile memory 1016, and / or on a removable non-transitory computer-readable storage medium such as a CD or DVD. Figure 10 of

[0078] In view of the foregoing, it should be appreciated that example devices, methods, and systems have been disclosed for adjusting operating parameters (e.g., speed) of one or more rotors of a vehicle such as an aircraft to suppress vibrations that occur during operation of the rotors in the aircraft frame. Some examples disclosed herein respond to such vibrations by dynamically adjusting the operating parameters of the rotors to suppress vibrations detected by sensors coupled to the aircraft during operation of the aircraft. Some other examples disclosed herein adjust the operating parameters of the rotors based on the operating state of the vehicle and / or the rotational speed of the rotors to avoid known resonant vibration modes that occur during operation of the rotors. Some examples disclosed herein optimize the operation of the rotors for the performance of the vehicle to suppress vibrations without adversely affecting the performance of the vehicle.

[0079] An example device disclosed herein includes a vibration level detector that determines a vibration level of a frame of a vehicle based on data received from sensors of the vehicle. The vehicle includes rotors. The example device includes: a rotor operation analyzer that determines an operating parameter of the rotors based on the vibration level; and a communicator that sends an instruction including the operating parameter to a controller of the rotors.

[0080] In some examples, the vibration level detector determines the vibration level by performing a comparison of data received from the sensors with a vibration level threshold.

[0081] In some examples, the operating parameter includes the rotational speed of the rotors.

[0082] In some examples, the operating parameter is a rotational phase.

[0083] In some examples, the device further includes a vehicle performance analyzer that analyzes vehicle performance data. In such examples, the rotor operation analyzer determines the operating parameter based on the vehicle performance data.

[0084] In some such examples, the rotor operation analyzer determines an adjustment to the operating parameter based on the vehicle performance data.

[0085] In some examples, the vibration level detector determines a second vibration level of the frame based on data received from the sensors after sending an instruction to the controller of the rotors. In such examples, the rotor operation analyzer maintains or adjusts the operating parameter based on the second vibration level.

[0086] Another example device disclosed herein includes: a sensor that generates sensor data during operation of a rotor of a vehicle; and a controller that determines a vibration level of at least a portion of the vehicle based on the sensor data and sends an instruction to the rotor to maintain or adjust an operating parameter of the rotor based on the vibration level.

[0087] In some examples, the sensor is coupled to a frame of the vehicle proximate to the rotor.

[0088] In some examples, the sensor is a first sensor and the device further includes a second sensor that generates data indicative of the rotational speed of the rotor.

[0089] In some examples, the controller sends a command to the rotor that includes a first adjustment to the operating parameter of the rotor. The rotor operates based on the first adjustment. The controller determines the vibration level of the vehicle based on the sensor data generated during the operation of the rotor based on the first adjustment.

[0090] In some examples, the command is a first command and the controller generates a second command that includes a second adjustment to the operating parameter of the rotor that is different from the first adjustment.

[0091] In some examples, the rotor is a first rotor and the command is a first command, and the controller sends a second command to a second rotor of the vehicle to maintain or adjust the operating parameter of the second rotor based on the vibration level and the first command.

[0092] In some examples, the controller sends the first command to the first rotor and the second command to the second rotor to synchronize or desynchronize the rotational phases between the first rotor and the second rotor.

[0093] In some examples, the controller generates a command based on the vibration level and performance data of the vehicle during the operation of the rotor.

[0094] An example device includes: a rotor operation analyzer that determines an operating parameter of a rotor of an aircraft based on the vibration of the frame of the aircraft; and a communicator that sends a command including the operating parameter to the rotor.

[0095] In some examples, the rotor operation analyzer determines the operating parameter based on the rotational speed of the rotor during the operation of the rotor.

[0096] In some examples, the rotor operation analyzer determines the operating parameter based on the operating state of the aircraft.

[0097] In some examples, the rotor is a first rotor and the rotor operation analyzer determines an operating parameter for a second rotor of the aircraft based on the operating parameter for the first rotor.

[0098] In some examples, the rotor operation analyzer determines the operating parameter to change the vibration of the frame.

[0099] "Comprising" and "including" are used herein as open - ended terms. Thus, whenever a claim employs any form of "comprising" or "including" (e.g., contains, includes, comprising, having, etc.) as a preamble or within any kind of claim recitation, it should be understood that additional elements, terms, etc. may exist without falling outside the scope of the corresponding claim or recitation. As used herein, when the phrase "at least" is used as a transitional term in, for example, the preamble of a claim, it is open - ended in the same manner as the terms "comprising" and "including" are open - ended. The term "and / or" when used, for example, in the form such as A, B, and / or C, refers to any combination or subset of A, B, C, such as (1) only A, (2) only B, (3) only C, (4) A together with B, (5) A together with C, (6) B together with C, and (7) A together with B and with C. As used herein in the context of describing a structure, component, article, object, and / or thing, the phrase "at least one of A and B" is intended to refer to embodiments including any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. Similarly, as used herein in the context of describing a structure, component, article, object, and / or thing, the phrase "at least one of A or B" is intended to refer to embodiments including any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. As used herein in the context of describing the execution or performance of a process, instruction, action, activity, and / or step, the phrase "at least one of A and B" is intended to refer to embodiments including any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B. Similarly, as used herein in the context of describing the execution or performance of a process, instruction, action, activity, and / or step, the phrase "at least one of A or B" is intended to refer to embodiments including any of the following: (1) at least one A, (2) at least one B, and (3) at least one A and at least one B.

[0100] In addition, the present disclosure includes examples according to the following clauses:

[0101] Clause 1. A device, the device comprising:

[0102] A vibration level detector that determines a vibration level of a frame of a vehicle based on data received from a sensor of the vehicle, the vehicle including a rotor;

[0103] A rotor operation analyzer that determines an operation parameter of the rotor based on the vibration level; and

[0104] A communicator that sends an instruction including the operation parameter to a controller of the rotor.

[0105] Clause 2. The device according to Clause 1, wherein the vibration level detector determines the vibration level by performing a comparison of the data received from the sensor with a vibration level threshold.

[0106] Clause 3. The device according to Clause 1, wherein the operating parameter includes the rotational speed of the rotor.

[0107] Clause 4. The device according to Clause 1, wherein the operating parameter is the rotational phase.

[0108] Clause 5. The device according to Clause 1, the device further comprising a vehicle performance analyzer for analyzing vehicle performance data, the rotor operation analyzer determining the operating parameter based on the vehicle performance data.

[0109] Clause 6. The device according to Clause 5, wherein the rotor operation analyzer determines an adjustment to the operating parameter based on the vehicle performance data.

[0110] Clause 7. The device according to Clause 1, wherein the vibration level detector determines a second vibration level of the frame based on data received from the sensor after sending the instruction to the controller of the rotor, the rotor operation analyzer maintaining or adjusting the operating parameter based on the second vibration level.

[0111] Clause 8. A device, the device comprising:

[0112] A sensor that generates sensor data during operation of a rotor of a vehicle; and

[0113] A controller that:

[0114] Determines a vibration level of at least a portion of the vehicle based on the sensor data; and

[0115] Sends an instruction to the rotor to maintain or adjust an operating parameter of the rotor based on the vibration level.

[0116] Clause 9. The device according to Clause 8, wherein the sensor is coupled to the frame of the vehicle close to the rotor.

[0117] Clause 10. The device according to Clause 8, wherein the sensor is a first sensor and further includes a second sensor that generates data indicative of the rotational speed of the rotor.

[0118] Clause 11. The device according to Clause 8, wherein the controller sends an instruction to the rotor, the instruction including a first adjustment to the operating parameter of the rotor, the rotor operating based on the first adjustment, and wherein the controller determines the vibration level of the vehicle based on sensor data generated during operation of the rotor based on the first adjustment.

[0119] Clause 12. The device according to Clause 11, wherein the instruction is a first instruction and the controller generates a second instruction including a second adjustment to the operating parameter of the rotor that is different from the first adjustment.

[0120] Clause 13. The device according to Clause 8, wherein the rotor is a first rotor and the instruction is a first instruction, and the controller sends a second instruction to a second rotor of the vehicle to maintain or adjust the operating parameter of the second rotor based on the vibration level and the first instruction.

[0121] Clause 14. The device according to Clause 13, wherein the controller sends the first instruction to the first rotor and the second instruction to the second rotor to synchronize or desynchronize the rotational phases between the first rotor and the second rotor.

[0122] Clause 15. The device according to Clause 8, wherein the controller generates the instruction based on the vibration level and performance data of the vehicle during operation of the rotor.

[0123] Clause 16. A device, comprising:

[0124] A rotor operation analyzer that determines the operating parameter of the rotor of the aircraft based on the vibration of the frame of the aircraft; and

[0125] A communicator that sends an instruction including the operating parameter to the rotor.

[0126] Clause 17. The device according to Clause 16, wherein the rotor operation analyzer determines the operating parameter based on the rotor rotation speed during operation of the rotor.

[0127] Clause 18. The device according to Clause 16, wherein the rotor operation analyzer determines the operating parameter based on the operating state of the aircraft.

[0128] Clause 19. The device according to Clause 16, wherein the rotor is a first rotor and the rotor operation analyzer determines the operating parameter for a second rotor of the aircraft based on the operating parameter for the first rotor.

[0129] Clause 20. The apparatus according to Clause 16, wherein the rotor operation analyzer determines the operation parameters to change the vibration of the frame.

[0130] Although certain example methods, apparatuses, and articles have been disclosed herein, the scope of coverage of this patent is not limited thereto. On the contrary, this patent covers all methods, apparatuses, and articles that fall entirely within the scope of the claims of this patent.

Claims

1. An apparatus for controlling vibrations of an aerial vehicle, the apparatus comprising: a vibration level detector configured to determine a vibration level of a frame of the aerial vehicle based on data received from sensors of the aerial vehicle, the aerial vehicle including rotors; a rotor operation analyzer configured to determine an operation parameter of the rotors based on the vibration level; and a communicator configured to send an instruction including the operation parameter of the rotors to a controller of the rotors, wherein the apparatus further includes a vehicle performance analyzer configured to analyze vehicle performance data to determine an impact of an adjustment of the operation parameter of the rotors on the performance of the aerial vehicle, the performance of the vehicle including thrust, ascending ability, endurance, range, flight mode, lift, and payload, wherein the apparatus is configured to avoid implementing the change in the case where the change in the operation parameter of the rotors would adversely affect the performance of the aerial vehicle of the aircraft.

2. The device according to claim 1, wherein, The vibration level detector is configured to determine the vibration level by performing a comparison of the data received from the sensors with a vibration level threshold.

3. The device according to claim 1, wherein The operation parameter includes a rotational speed of the rotors.

4. The device according to claim 1, wherein, The operation parameter is a rotation phase.

5. The device according to claim 1, wherein The rotor operation analyzer is configured to determine the adjustment to the operation parameter based on the vehicle performance data.

6. The apparatus according to claim 1, wherein The vibration level detector is configured to determine a second vibration level of the frame based on data received from the sensors after sending the instruction to the controller of the rotors, and the rotor operation analyzer maintains or adjusts the operation parameter based on the second vibration level.

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