Device and related method for controlling vibration of a multirotor vehicle

Abstract

An apparatus and related method for controlling vibration of a multirotor vehicle. An example apparatus includes 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 apparatus includes a rotor operation analyzer that determines operating parameters of the rotors based on the vibration level. The apparatus includes a communicator that transmits instructions including the operating parameters to a controller of the rotors.

Description

Technical Field

[0001] The present disclosure relates generally to vibration suppression and, more particularly, to apparatus and related methods for controlling vibrations in multirotor vehicles. Background Art

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

[0003] An example device includes 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 includes a rotor. The example device includes a rotor operation analyzer that determines an operating parameter of the rotor based on the vibration level. The example device includes a communicator that sends an instruction including the operating parameter to a controller of the rotor.

[0004] Another example apparatus 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 instructions to the rotor to maintain or adjust an operating parameter of the rotor based on the vibration level.

[0005] Another example apparatus includes a rotor operations analyzer that determines operating parameters of a rotor of an aircraft based on vibration patterns of a frame of the aircraft, and a communicator that sends instructions including the operating parameters to the rotor. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0009] Figure 3 It means that it can be executed based on Figure 1A The data generated by the sensors is realized Figure 2A flow diagram of machine-readable instructions for an example vibration manager.

[0010] Figure 4 It means that it can be executed to achieve the following based on the vehicle's operating state. Figure 2 A flow diagram of machine-readable instructions for an example vibration manager.

[0011] Figure 5 This means that it can be implemented based on the speed of the vehicle's rotors. Figure 2 A flow diagram of machine-readable instructions for an example vibration manager.

[0012] Figure 6 is a schematic diagram of an example framework for a multirotor aircraft.

[0013] Figure 7 is an example of a method according to the teachings of the present disclosure. Figure 1A and Figure 2 Example of vibration manager elimination Figure 6 Graph of the vibration modes of the frame.

[0014] Figure 8 is another schematic diagram of an example framework of a multirotor aircraft.

[0015] Figure 9 is an example of a method according to the teachings of the present disclosure. Figure 1A and Figure 2 Example of vibration manager elimination Figure 8 Graph of the vibration modes of the frame.

[0016] Figure 10 is constructed to execute Figure 3 、 Figure 4 and / or Figure 5 Instructions to achieve Figure 2 Block diagram of an example processing platform for a vibration manager.

[0017] These figures are not drawn to scale. Alternatively, the thickness of each layer or region may be exaggerated in the accompanying 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 vehicles such as aircraft generate vibrations during, for example, the rotor blades spinning 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 aircraft's frame. Excessive vibrations can cause wear and / or damage to the aircraft's frame and equipment over time.

[0019] Some known methods for damping vibrations caused by rotor operation include adding dampers to the rotor and / or vehicle frame. However, dampers can only damp vibrations at specific frequencies based on the damper's tuning. Furthermore, dampers can add weight to the aircraft. Other known vibration mitigation methods include increasing the stiffness of the material used to form the rotor and / or frame and / or otherwise adding weight to the aircraft to structurally alter the resonant or natural vibration modes of the rotor and / or frame. Consequently, known methods for damping vibrations result in structural changes to the aircraft.

[0020] The examples disclosed herein control the vibrations experienced by a vehicle, such as an aircraft, due to the operation of one or more rotors of the 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., three-axis accelerometers) and / or position sensors to generate data indicating 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 such as phase and speed of the rotors. 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 rotor speed and / or rotational phase between two or more rotors, to reduce and / or suppress the vibrations. Therefore, the examples disclosed herein control the 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 vibration levels at specific sensor locations after adjustments to rotor operating parameters to determine the effectiveness of the adjustments and identify whether additional adjustments are needed. Some examples disclosed herein evaluate the impact of adjustments to rotor operating parameters on aircraft performance, such as thrust, lift, and endurance. If the aircraft's flight performance is adversely affected by adjustments to rotor operation, the examples disclosed herein re-evaluate the rotor adjustments 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 vehicle's operating state, rotor speed, and / or known vibration patterns of the vehicle frame. For example, some examples disclosed herein identify the vehicle's operating state (e.g., takeoff, landing, cruising, hovering, on the ground) and adjust the rotor speed during the corresponding operating state based on the vehicle state and the vehicle's known vibration patterns. Some other examples monitor the rotor speed and selectively adjust the rotor speed to prevent or reduce vibrations as the rotor passes through a known resonant frequency at a specific speed.

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

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

[0025] The example aircraft 100 includes one or more first sensors 118 to collect data about the operation of the rotors 102, 103, 104, 105, 106, 107, 108, 109 during 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 about operating parameters, such as whether the rotors are active, rotor speed, blade position, etc.

[0026] The example aircraft 100 includes one or more second sensors 119 to detect vibrations of the aircraft 100. The second sensor 119 may include, for example, an accelerometer (e.g., a three-axis accelerometer), a gyroscope, and / or a position sensor. The second sensor 119 generates data that can be used to detect vibrations of the aircraft at the location of the second sensor 119. In addition to including Figure 1A and Figure 1B Additional types of sensors and / or additional numbers of sensors may also be included beyond those shown.

[0027] exist Figure 1A and Figure 1BIn the example of FIG1 , first sensor 118 and / or second sensor 119 may be coupled to frame 101 and / or any of rotors 102, 103, 104, 105, 106, 107, 108, 109. In some examples, the location of second sensor 119 is based on where vibrations are expected to be experienced by aircraft 100 and / or where vibrations have been previously observed (e.g., based on prior sensor data and / or analytical models). For example, second sensor 119 may be coupled to frame 101 proximate motor 112 that controls rotors 102, 103, 104, 105, 106, 107, 108, 109 to record vibrations generated by operation of motor 112. Example aircraft 112 may include, in addition to Figure 1A and Figure 1B In addition to the one shown in FIG, additional sensors 118, 119 may be included. In addition, the sensors 118, 119 may be positioned in the same Figure 1A and Figure 1B At different positions shown in .

[0028] exist Figure 1A and Figure 1B In the example embodiment, data generated by sensors 118, 119 is sent (e.g., via one or more wired or wireless connections) to a vibration manager 120. Vibration manager 120 may be implemented by one or more processors of aircraft 100. Example vibration manager 120 analyzes the sensor data regarding vibration experienced by aircraft 100 at a location of aircraft 100 including second sensor 119 (e.g., at frame 101 proximate to motor 112 of rotors 102, 103, 104, 105, 106, 107, 108, 109). Example vibration manager 120 determines whether the vibration experienced by aircraft 100 during operation of rotors 102, 103, 104, 105, 106, 107, 108, 109 is acceptable relative to a specific predefined threshold level of vibration of aircraft 100 and / or its components. If the example vibration manager 120 determines that the vibration experienced by the aircraft 100 exceeds a threshold value, 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 rotor speed and / or rotational phase between the rotors 106, 108. In 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, vibration manager 120 analyzes accelerometer data generated by second sensor 119 and angular velocity data generated by first sensor 118 for first rotor 106 to assess the vibration experienced by aircraft 100 at a particular rotor speed of first rotor 106. If example vibration manager 120 determines that the vibration experienced by aircraft 100 exceeds a threshold, vibration manager 120 generates instructions for adjusting the speed (e.g., RPM) of first rotor 102. Vibration manager 120 may generate instructions regarding the operation of one of rotors 102, 103, 104, 105, 106, 107, 108, 109 and / or two or more of rotors 102, 103, 104, 105, 106, 107, 108, 109. For example, vibration manager 120 may generate instructions to rotate blades 110 of first rotor 102 and second rotor 103 in phase or out of phase with respect to the position of the blades. For example, when blades 110 of first rotor 102 are at a first radial position, blades 110 of second rotor 103 may be at a corresponding radial position (in phase) or a different radial position (out of phase) based on the respective speeds of rotors 102, 103. In some examples, vibration manager 120 adjusts operating parameters of rotors 102, 103, 104, 105, 106, 107, 108, 109 to eliminate or mitigate vibrations experienced at different locations on aircraft 100.

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

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

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

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

[0034] Figure 2 The example vibration manager 120 includes a vibration level detector 204. The vibration level detector 204 analyzes the vibration data 202 to determine whether 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 for the aircraft 100 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 analytical model. Figure 2 In the example of FIG. 2 , vibration level thresholds 206 are stored in 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 to the vibration level threshold 206 to determine whether the vibration detected at the location of the aircraft 100 including the second sensor 119 exceeds 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 instances of false positives.

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

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

[0038] exist Figure 2In the example of FIG2 , rotor operation analyzer 208 determines adjustments to rotor operating parameters based on vibration data 202 and one or more rotor operating rules 210. Rotor operating rules 210 define values ​​and / or settings for rotor operating parameters (e.g., speed, phase) to suppress vibration based on vibration data 200 and characteristics of the rotor, such as the number of blades. For example, rotor operating rules 210 may define an amount by which the RPM for each rotor 106, 108 should be increased or decreased based on the value of vibration data 202 and / or the amount by which vibration data 202 exceeds vibration level threshold 206. Rotor operating rules 210 may define whether operating parameters for one or more of rotors 102, 103, 104, 105, 106, 107, 108, 109 should be adjusted based on, for example, the locations at which vibrations are detected and / or known vibration modes (e.g., resonant frequencies) at those locations. In some examples, rotor operating rules 210 are based on characteristics of the rotor, such as the number of blades, which can affect the rotational phase of the rotor and the cancellation of vehicle frame vibrations resulting from adjustments to the rotational phase. Rotor operating rules 210 can be based on, for example, user input, test data, historical data, analytical models, etc. Figure 2 In the example of FIG, rotor operating rules 210 are stored in database 203 .

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

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

[0041] exist Figure 2 In the example of FIG, the vibration manager 120 communicates with one or more vehicle management and control systems 220. The vehicle management and control systems 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.). Figure 2 In the example of FIG, vibration manager 120 accesses vehicle performance data 222 from vehicle management and control system 220. Vehicle performance data 222 includes parameters for aircraft 100 such as flight mode (e.g., takeoff, cruise, hover), endurance, range, ascent capability, lift, thrust, payload, etc. based on current operation of aircraft 100 as monitored by vehicle management and control system 220. In some examples, some of the vehicle performance data is based on user input.

[0042] Figure 2 The example vibration manager 120 includes a vehicle performance analyzer 218. Figure 2 In the example of FIG2 , vehicle performance analyzer 218 analyzes vehicle performance data 222 to determine the effects of adjustments to rotor operating parameters on the performance of aircraft 100. In particular, vehicle performance analyzer 218 assesses whether adjustments to operating parameters of rotors 102, 103, 104, 105, 106, 107, 108, 109 have adversely affected the performance of aircraft 100. For example, vehicle performance analyzer 218 determines whether changes in the rotational speeds of rotors 102, 103, 104, 105, 106, 107, 108, 109 have resulted in insufficient thrust being generated by rotors 102, 103, 104, 105, 106, 107, 108, 109 for the flight conditions of aircraft 100.

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

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

[0045] In the examples disclosed above, Figure 2The vibration manager 120 of the present invention 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 in substantially 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 an 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 known vehicle frame resonance data for the frame 101 of the aircraft 100 associated with different vehicle operating states based on test data, historical data, analytical models, etc. for the aircraft 100 or another vehicle. Figure 1A 、 Figure 1B ) to determine a resonant mode of one or more portions of rotors 102, 103, 104, 105, 106, 107, 108, 109. In some examples, known vehicle frame resonance data 224 is based on a characteristic of the rotor, such as the number of blades. In such examples, rotor operation analyzer 208 of vibration manager 120 determines, based on rotor operation rules 210, whether two or more of rotors 102, 103, 104, 105, 106, 107, 108, 109 should rotate in phase or out of phase during cruise to avoid vibrating aircraft 100 at a known resonant frequency.

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

[0047] Although Figure 2 The implementation is illustrated in Figure 1A The vibration manager 120 is an example of an embodiment of the present invention, but may be combined, divided, rearranged, omitted, eliminated and / or implemented in any other manner. Figure 2Furthermore, the present invention may be implemented by hardware, software, firmware and / or any combination of hardware, software and / or firmware. Figure 2 The example database 203, the example vibration level detector 204, the rotor operation analyzer 208, the example communicator 212, the example vehicle performance analyzer 218, and / or more generally the example vibration manager 120. Thus, for example, this can be achieved by Figure 2 Any of the example database 203, the example vibration level detector 204, the rotor operations analyzer 208, the example communicator 212, the example vehicle performance analyzer 218, and / or more generally the example vibration manager 120, is implemented as 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 encompass pure software and / or firmware implementations, the example database 203, the example vibration level detector 204, the rotor operations analyzer 208, the example communicator 212, and / or the example vehicle performance analyzer 218 are hereby expressly defined as comprising a non-transitory computer-readable storage device or storage disk, such as a memory, a digital versatile disk (DVD), a compact disk (CD), a Blu-ray disk, etc., comprising the software and / or firmware. Further, Figure 2 Example vibration manager 120 except Figure 2 In addition to or in place of those exemplified in Figure 2 Those illustrated in the foregoing may also include one or more elements, processes, and / or devices, and / or may include more than one of any or all of the illustrated elements, processes, and devices. As used herein, the phrase "in communication" (including variations thereof) encompasses direct communication 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, non-periodic intervals, and / or one-time events.

[0048] exist Figure 3 、 Figure 4 and Figure 5 The representation can be used to implement Figure 1A 、 Figure 1B and Figure 2 Flowchart of example hardware logic, machine readable instructions, hardware implemented state machine and / or any combination thereof of an example vibration manager 120. The machine readable instructions may be a flowchart for executing the state machine of the example vibration manager 120 by a computer processor (such as described below with respect to FIG. Figure 10The example processor platform 1000 discussed herein may be an executable program or portion of an executable program executed by the processor 612 shown in the example processor platform 1000. The program may be embodied in software stored on a non-transitory computer-readable storage medium such as a CD-ROM, floppy disk, hard drive, DVD, Blu-ray disk, or memory associated with the processor 1012, but the entire program and / or portions thereof can alternatively be executed by a device other than the processor 1012 and / or embodied in firmware or dedicated hardware. Furthermore, although reference is made to Figure 3 、 Figure 4 and Figure 5 The flowcharts illustrated in the example program describe an example process, however, many other methods of implementing the example vibration manager 120 may alternatively be used. For example, the order of execution of the blocks may be changed, and / or some of the blocks described may be changed, eliminated, or combined. Additionally or alternatively, any 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, the present invention may be implemented using executable instructions (e.g., computer and / or machine readable instructions) stored on a non-transitory computer and / or machine readable medium. Figure 3 、 Figure 4 and Figure 5 The present invention provides an example process of a non-transitory computer and / or machine readable medium such as a hard drive, flash memory, read-only memory, compact disk, digital versatile disk, 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, transiently, 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 propagating signals and to exclude transmission media.

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

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

[0052] The example method 300 includes comparing vibration sensor data of the vehicle to a vibration level threshold and determining whether the vibration sensor data meets the vibration level threshold (blocks 304, 306). Figure 2 Vibration level detector 204 compares vibration data 202 to vibration level thresholds 206 stored in database 203. Vibration level thresholds 206 define acceptable vibration values ​​or ranges (e.g., frequencies) based on aircraft type, expected payload, fatigue and / or failure characteristics of one or more components of aircraft 100, and the like. Figure 2 The vibration level detector 204 determines whether the vibration data satisfies the threshold 206 based on whether the data exceeds the threshold 206 by a certain amount, falls below the threshold 206 , etc.

[0053] exist Figure 3In the example of FIG300 , if the vibration sensor data does not meet the threshold (e.g., the vibration sensor data exceeds the threshold), example method 300 includes adjusting one or more operating parameters of the rotors (block 308). For example, rotor operation analyzer 208 determines an adjustment to an operating parameter of rotors 102, 103, 104, 105, 106, 107, 108, 109 based on rotor operation data 200 received from first sensor 118, analysis of vibration sensor data 202 by vibration level detector 204, and rotor operation rules 210. Rotor operation analyzer 208 may implement the adjustment by adjusting the rotational speed of one or more rotors, adjusting the rotational phase of one or more rotors, or adjusting both the rotational speed and the rotational phase for one or more rotors. As an example, rotor operation analyzer 208 may adjust the speed (e.g., RPM) of one or more rotors 102, 103, 104, 105, 106, 107, 108, 109. In some examples, rotor operations analyzer 208 modifies the speed of rotors 102, 103, 104, 105, 106, 107, 108, 109 to adjust the rotational position of blades of two or more of rotors 102, 103, 104, 105, 106, 107, 108, 109 to rotate the rotors in phase or out of phase with each other. Communicator 212 of example vibration manager 120 sends instructions 214 including adjustments to operating parameters to motor controllers 216 of rotors 102, 103, 104, 105, 106, 107, 108, 109.

[0054] Figure 3 The example method 300 includes comparing vibration sensor data of the aircraft generated after an adjustment to an operating parameter of the rotor to a vibration level threshold (block 310). For example, the vibration level detector 204 compares the vibration sensor data generated after an adjustment to the operating parameter of the rotor 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 adjustments to the rotor operating parameters (block 312). For example, the vehicle performance analyzer 218 analyzes vehicle performance data 222 generated by the vehicle management control system 220 after adjustments to the rotor operating parameters with respect to parameters such as thrust, lift, range, endurance, etc. Specifically, 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 changes in the rotor operating parameters. For example, the vehicle performance analyzer 218 identifies, based on the vehicle performance data 222, whether the endurance of the aircraft 100 has decreased due to adjustments to the rotational speeds of the rotors 102, 103, 104, 105, 106, 107, 108, 109.

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

[0057] Figure 3 The example method 300 continues analyzing the vibration sensor data, determining whether adjustments to rotor operating parameters are needed to suppress vibrations of the vehicle, and evaluating the adjustments with respect to vibration levels and / or vehicle performance until no further vibration sensor data is received (block 316). In some examples, the method 300 is continuously or substantially continuously performed during operation of the vehicle as long as the vehicle is in operation (e.g., the method 300 is continuously or substantially continuously performed during operation of the vehicle). Figure 3 Method 300 analyzes the vibration sensor data, determines whether a vibration level threshold is met, and adjusts (or refrains from adjusting) rotor operating parameters. When no further vibration sensor data is available for analysis (e.g., when the vehicle is no longer operating), Figure 3 The example method 300 ends (block 318).

[0058] Figure 4 is a method for controlling a vehicle comprising one or more rotors (e.g., Figure 1A and Figure 1B Flowchart of an example method 400 for analyzing vibrations experienced by an aircraft 100 including rotors 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 at one or more locations on the vehicle's frame (eg, on frame 101 of aircraft 100 ). Figure 4 The example method 400 may be performed by Figure 1A and Figure 2 An example vibration manager 120 implementation of FIG.

[0059] Figure 4 The example method 400 begins by accessing vehicle performance data for a vehicle including one or more rotors (block 402 ). For example, the vibration manager 120 receives the vehicle performance data 222 from the vehicle management control system 220 of the aircraft 100 . Figure 4 The example method 400 includes identifying an operational state of the vehicle based on vehicle performance data (block 404). For example, the rotor operation analyzer 208 of the vibration manager 120 determines whether the aircraft 100 is taking off, cruising, hovering, etc. based on the vehicle performance data 222.

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

[0061] Figure 5 is used to control a vehicle (e.g., Figure 1A and Figure 1B Flowchart of an example method 500 for analyzing vibrations experienced by an aircraft 100 including rotors 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 at one or more locations on a frame of the vehicle (eg, located on frame 101 of aircraft 100 ). Figure 5 The example method 500 may be performed by Figure 1A and Figure 2 An example vibration manager 120 implementation of FIG.

[0062] Figure 5 The example method 500 begins by accessing rotor operation data of a vehicle including one or more rotors (block 502 ). For example, the vibration manager 120 receives the rotor operation data 200 from a first sensor (eg, an angular velocity sensor) of the aircraft 100 . Figure 5 Example method 500 includes identifying a speed of the rotor based on rotor operation data (block 504 ). For example, rotor operation analyzer 208 of vibration manager 120 determines the speed at which rotors 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 are rotating based on rotor operation data 200 .

[0063] Figure 5The example method 500 includes setting operating parameters of the rotors to avoid a known vehicle vibration resonance mode associated with the speed at which the rotors are operating (block 506). For example, the rotor operation analyzer 208 determines, based on the rotor operation data 200, the known vehicle resonance data 224, and the rotor operation rules 210, adjustments to the phase synchronization of the rotors 102, 103, 104, 105, 106, 107, 108, 109 to prevent the aircraft 100 from vibrating at the known resonant frequency when the rotors are operating at a particular speed. The communicator 212 of the example vibration manager 120 sends the instructions 214 including the operating parameter settings to the motor controllers 216 of the 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 The example method 500 ends (blocks 508, 510).

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

[0065] Figure 7 is shown as Figure 6 The result of the respective blades 618, 620 of the first rotor 602 and the third rotor 606 rotating out of phase is Figure 6 For example, point 702 in graph 700 represents the vibration cancellation that will be caused by frame 600 in a situation such as Figure 6The location of the sensor 626 corresponds to the location at which the vibration experienced is eliminated.

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

[0067] Figure 9 is shown as Figure 8 The first rotor 802 and the third rotor 804 have their respective blades 810 and 812 rotating out of phase. Figure 8 For example, point 902 in graph 900 represents a point that would be removed by frame 800 in a manner such as Figure 8 The location of the sensor 814 corresponds to the location at which the vibration experienced is eliminated.

[0068] Therefore, by controlling Figure 6 and Figure 8 operating parameters of rotors 602, 604, 606, 608, 802, 804, 806, 808, 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 adjusting the rotational phase of the rotor Figure 6 、 Figure 7 、 Figure 8 and Figure 9 Examples include, however, in some examples, vibration manager 120 may additionally or alternatively adjust the rotational speed of one or more of the rotors.

[0069] Figure 10 Is able to execute instructions to achieve Figure 3 、 Figure 4 and / or Figure 5 Methods and / or implementations Figure 1A 、 Figure 1B and Figure 2 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 smartphone, an iPad, etc.). TM tablet), personal digital assistant (PDA), Internet appliance, or any other type of computing device.

[0070] The illustrated example processor platform 1000 includes a processor 1012. The illustrated example processor 1012 is hardware. For example, the 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 the example vibration level detector 204, the example rotor operation analyzer 208, the example communicator 212, and the example vehicle performance analyzer 218.

[0071] The processor 1012 of the illustrated example includes a local memory 1013 (e.g., a cache). The processor 1012 of the illustrated example communicates with a main memory including a volatile memory 1014 and a non-volatile memory 1016 via a bus 1018. The volatile memory 1014 may be comprised of synchronous dynamic random access memory (SDRAM), dynamic random access memory (DRAM),

[0072] The processor platform 1000 of the illustrated example also includes an interface circuit 1020. The interface circuit 1020 can be implemented by any type of interface standard, such as an Ethernet interface, a universal serial bus (USB),

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

[0074] One or more output devices 1024 are also connected to the interface circuit 1020 of the illustrated example. Output device 1024 can be implemented, for example, by 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 tactile output device, a printer, and / or a speaker. Therefore, the interface circuit 1020 of the illustrated example typically includes a graphics driver card, a graphics driver chip, and / or a graphics driver processor.

[0075] The interface circuitry 1020 of the illustrated example also includes communication devices, such as transmitters, receivers, transceivers, modems, residential gateways, wireless access points, and / or network interfaces for facilitating the exchange of data with external machines (e.g., any kind of computing device) via a network 1026. 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] The 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 floppy disk drives, hard disk drives, compact disk drives, Blu-ray disk drives, redundant array of independent disks (RAID) systems, and digital versatile disk (DVD) drives.

[0077] The data may be stored in mass storage 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 The encoding instruction 1032.

[0078] From the foregoing, it should be appreciated that example apparatuses, 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 of the aircraft frame that occur during operation of the rotors. Some examples disclosed herein respond to vibrations detected by sensors coupled to the aircraft during operation of the aircraft by dynamically adjusting the operating parameters of the rotors to suppress the vibrations. 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 generated during operation of the rotors. Some examples disclosed herein optimize the operation of the rotors to suppress vibrations without adversely affecting the performance of the vehicle, depending on 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 a rotor. The example device includes a rotor operation analyzer that determines operating parameters of the rotor based on the vibration level; and a communicator that sends instructions including the operating parameters to a controller of the rotor.

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

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

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

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

[0084] In some such examples, the rotor operations analyzer determines adjustments to operating parameters based on 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 sensor after sending the command to the controller of the rotor. In such examples, the rotor operations analyzer maintains or adjusts the operating parameters based on the second vibration level.

[0086] Another example apparatus 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 instructions to the rotor to maintain or adjust operating parameters of the rotor based on the vibration level.

[0087] In some examples, the sensor is coupled to the 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 a rotational speed of the rotor.

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

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

[0091] In some examples, 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 an operating parameter of the second rotor based on the vibration level and the first instruction.

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

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

[0094] An example apparatus includes a rotor operations analyzer that determines operating parameters of a rotor of an aircraft based on vibrations of a frame of the aircraft, and a communicator that sends instructions including the operating parameters to the rotor.

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

[0096] In some examples, the rotor operations analyzer determines the operating parameters based on an operating state of the aircraft.

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

[0098] In some examples, the rotor operations analyzer determines operating parameters to alter vibrations of the frame.

[0099] "Include" and "comprising" are used as open-ended terms in this document. Thus, whenever a claim adopts any form of "include" or "comprising" (e.g., including, comprising, containing, including, having, etc.) as a preamble or within any type of claim recitation, it should be understood that additional elements, terms, etc. may be present without falling outside the scope of the corresponding claim or recitation. As used herein, when the phrase "at least" is used as a transition term, such as in the preamble of a claim, it is open-ended in the same manner that the terms "include" and "comprising" are open-ended. The term "and / or" when used, for example, in a form such as A, B, and / or C, refers to any combination or subset of A, B, and C, such as (1) A only, (2) B only, (3) C only, (4) A and B together, (5) A and C together, (6) B and C together, and (7) A and B and C together. As used herein in the context of describing structures, components, articles, objects, and / or things, 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 structures, components, articles, objects, and / or things, 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 performance or execution of processes, instructions, actions, activities, and / or steps, 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 an embodiment that includes 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] Additionally, this disclosure includes examples according to the following clauses:

[0101] Clause 1. A device comprising:

[0102] 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 including the rotor;

[0103] a rotor operations analyzer that determines an operating parameter of the rotor based on the vibration level; and

[0104] A communicator transmits instructions including the operating parameters to a controller of the rotor.

[0105] Clause 2. The apparatus of 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 apparatus of clause 1, wherein the operating parameter comprises a rotational speed of the rotor.

[0107] Clause 4. The apparatus of clause 1, wherein the operating parameter is a rotational phase.

[0108] Clause 5. The apparatus of clause 1, further comprising a vehicle performance analyzer that analyzes vehicle performance data, the rotor operation analyzer determining the operating parameter based on the vehicle performance data.

[0109] Clause 6. The apparatus of clause 5, wherein the rotor operations analyzer determines adjustments to the operating parameters based on the vehicle performance data.

[0110] Clause 7. An apparatus 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, and the rotor operation analyzer maintains or adjusts the operating parameters based on the second vibration level.

[0111] Clause 8. A device comprising:

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

[0113] A controller that:

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

[0115] Commands are sent to the rotor to maintain or adjust operating parameters of the rotor based on the vibration level.

[0116] Clause 9. The apparatus of clause 8, wherein the sensor is proximate to a frame where the rotor is coupled to the vehicle.

[0117] Clause 10. The apparatus of clause 8, wherein the sensor is a first sensor and further comprising a second sensor that generates data indicative of a rotational speed of the rotor.

[0118] Clause 11. The apparatus of clause 8, wherein the controller sends an instruction to the rotor comprising a first adjustment to an 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 apparatus of clause 11, wherein the instruction is a first instruction and the controller generates a second instruction comprising a second adjustment to an operating parameter of the rotor that is different from the first adjustment.

[0120] Clause 13. The apparatus of 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 an operating parameter of the second rotor based on the vibration level and the first instruction.

[0121] Clause 14. The apparatus of clause 13, wherein the controller sends the first instruction to the first rotor and sends the second instruction to the second rotor to synchronize or desynchronize a rotational phase between the first rotor and the second rotor.

[0122] Clause 15. The apparatus of clause 8, wherein the controller generates the instructions 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 operations analyzer that determines operating parameters of a rotor of the aircraft based on vibrations of the frame of the aircraft; and

[0125] A communicator transmits instructions including the operating parameters to the rotor.

[0126] Clause 17. The apparatus of clause 16, wherein the rotor operations analyzer determines the operating parameter based on the rotor rotational speed during operation of the rotor.

[0127] Clause 18. The apparatus of clause 16, wherein the rotor operations analyzer determines the operating parameters based on an operating state of the aircraft.

[0128] Clause 19. The apparatus of clause 16, wherein the rotor is a first rotor and the rotor operations analyzer determines operating parameters for a second rotor of the aircraft based on the operating parameters for the first rotor.

[0129] Clause 20. The apparatus of clause 16, wherein the rotor operations analyzer determines the operating parameters to alter vibrations of the frame.

[0130] Although certain example methods, apparatus, and articles of manufacture have been disclosed herein, the scope of coverage of this patent is not limited thereto. On the contrary, this patent covers all methods, apparatus, and articles of manufacture fairly falling within the scope of the claims of this patent.

Claims

1. A device for controlling vibration of an aerial vehicle, the device 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 a rotor; a rotor operations analyzer configured to determine an operating parameter of the rotor based on the vibration level; and a communicator configured to send instructions including the operating parameters of the rotor to a controller of the rotor, The apparatus further comprises a vehicle performance analyzer configured to analyze vehicle performance data to determine an effect of adjustments to the operating parameters of the rotor on performance of the aerial vehicle, the performance of the vehicle comprising thrust, lift capability, endurance, range, flight mode, lift, and payload, wherein the apparatus is configured to avoid implementing changes to the operating parameters of the rotor if such changes would adversely affect the performance of the aerial vehicle being an 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 sensor with a vibration level threshold.

3. The device according to claim 1, wherein The operating parameters include a rotational speed of the rotor.

4. The apparatus according to claim 1, wherein The operating parameter is the rotation phase.

5. The apparatus according to claim 1, wherein The rotor operations analyzer is configured to determine the adjustment to the operating 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 sensor after sending the command to the controller of the rotor, and the rotor operations analyzer maintains or adjusts the operating parameter based on the second vibration level.

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