Patent ID: 8314585
Filing Date: 2012-11-20
Classification: G05B

Abstract:
1. A servo system for controlling movement of a flexible structure having a plurality of masses and an element coupling two of the masses, the element functioning as a spring when the flexible structure is subject to a linear or rotational input at or above a first frequency at which the element exhibits flexure, the servo system comprising: a first pair of sensors disposed relative to a first of the two masses, a first of the first pair of sensors to sense a first acceleration of the first mass, a second of the first pair of sensors to sense a second acceleration of the first mass; a second pair of sensors disposed relative to a second of the two masses, a first of the second pair of sensors to sense a second acceleration of the second mass, a second of the second pair of sensors to sense a second acceleration of the second mass, the first pair of sensors being spaced a first predetermined distance apart relative to the first mass, the second pair of sensors being spaced a second predetermined distance apart relative to the second mass; a motor having a movement input and operatively configured to output one of a linear or rotational force on the first mass based on a movement signal present on the movement input; and a servo controller operatively configured to receive the first and second accelerations from the first pair of sensors and the first and second accelerations from the second pair of sensors, generate a first collective acceleration based on a difference between the first and second accelerations sensed by the first pair of sensors divided by the first predetermined distance, generate a second collective acceleration based on a difference between the first and second accelerations sensed by the second pair of sensors divided by the second predetermined distance, generate a compensation feedback signal based on the sum of the first collective acceleration and the second collective acceleration, and output the movement signal to the movement input of the motor based on the compensation feedback signal.