Abstract:
A method and system is disclosed for controlling problematic vibrations in an aircraft having. The method and system have the ability to cancel problematic rotary wing helicopter vibrations using independent active force generator power and with distributed communications therebetween.

Description:
CROSS REFERENCE 
       [0001]    This application is a Continuation Application of, claims the benefit of, and incorporates by reference, U.S. patent application Ser. No. 12/288,867, filed Oct. 24, 2008, now U.S. Pat. No. 8,090,482, which claims the benefit of and incorporates by reference, U.S. Provisional Patent Application No. 60/982,612 filed on Oct. 25, 2007. 
     
    
     FIELD OF INVENTION 
       [0002]    The present invention relates to a method/system for controlling problematic vibrations. More particularly the invention relates to a method and system for controlling aircraft vehicle vibrations, particularly a method and system for canceling problematic rotary wing helicopter vibrations. 
       BACKGROUND OF THE INVENTION 
       [0003]    Helicopter vibrations are particularly troublesome in that they can cause fatigue and wear on the equipment and occupants in the aircraft. In vehicles such as helicopters, vibrations are particularly problematic in that they can damage the actual structure and components that make up the vehicle in addition to the contents of the vehicle. 
         [0004]    There is a need for a system and method of accurately and economically canceling vehicle vibrations. There is a need for a system and method of accurately and economically controlling vibrations. There is a need for an economically feasible method of controlling vibrations in a helicopter so that the vibrations are efficiently cancelled and minimized. There is a need for a robust system of controlling vibrations in a helicopter so that the vibrations are efficiently cancelled and minimized. There is a need for an economic method/system for controlling problematic helicopter vibrations. 
       SUMMARY OF THE INVENTION 
       [0005]    In an embodiment the invention includes an aircraft with troublesome vibrations. The aircraft includes an aerostructure. The aircraft includes a power source outputting a plurality of electromagnetic force generator power outputs. The aircraft includes at least a first distributed active vibration electromagnetic force generator. The first distributed active vibration electromagnetic force generator includes a first distributed electronic control system. The first distributed active vibration electromagnetic force generator includes a first electromagnetically driven mass. The first distributed active vibration electromagnetic force generator is fixed to the aerostructure at a first distributed active vibration control system site with the first driven mass driven relative to said first fixed aerostructure site. The aircraft includes at least a second distributed active vibration electromagnetic force generator. The second distributed active vibration electromagnetic force generator includes a second distributed electronic control system. The second distributed active vibration electromagnetic force generator includes a second electromagnetically driven mass. The second distributed active vibration electromagnetic force generator is fixed to the aerostructure at a second distributed active vibration control system site with the second driven mass driven relative to said second fixed aerostructure site. The aircraft includes a plurality of electrical power distribution lines, the electrical power distribution lines connecting the electromagnetic force generators with the power source with the electromagnetic force generator power outputs outputted to the electromagnetic force generator. The aircraft includes a distributed force generator data communications network, the distributed force generator data communications system network linking together the at least first and second distributed electronic control systems wherein the distributed electronic control systems communicate force generator vibration control data through the distributed force generator data communications network independently of the electrical power distribution lines to minimize the troublesome vibrations. 
         [0006]    In an embodiment the invention includes a method of making an aircraft with suppressed inflight troublesome vibrations. The method includes providing an aircraft comprised of an aerostructure and providing at least a first distributed active vibration electromagnetic force generator, the first distributed active vibration electromagnetic force generator including a first distributed electronic control system and a first electromagnetically driven mass. The method includes fixing the first distributed active vibration electromagnetic force generator to the aerostructure at a first distributed active vibration control system site. The method includes providing at least a second distributed active vibration electromagnetic force generator, the second distributed active vibration electromagnetic force generator including a second distributed electronic control system and a second electromagnetically driven mass. The method includes fixing the second distributed active vibration electromagnetic force generator to the aerostructure at a second distributed active vibration control system site. The method includes connecting the at least first and second electromagnetic force generators with a plurality of electrical power distribution lines to a power source. The method includes providing a distributed force generator data communications network, the distributed force generator data communications network linking together the at least first and second distributed electronic control systems. The method includes communicating force generator vibration control data through the distributed force generator data communications network independently of the electrical power distribution lines to minimize the troublesome vibrations. 
         [0007]    In an embodiment the invention includes a method of making a vibration control system for suppressing troublesome vibrations. The method includes providing a structure with at least one rotating machine creating troublesome vibrations. The method includes providing at least a first distributed active vibration electromagnetic force generator, the first distributed active vibration electromagnetic force generator including a first distributed electronic control system and a first electromagnetically driven mass. The method includes fixing the first distributed active vibration electromagnetic force generator to the structure at a first distributed active vibration control system site. The method includes providing at least a second distributed active vibration electromagnetic force generator, the second distributed active vibration electromagnetic force generator including a second distributed electronic control system and a second electromagnetically driven mass. The method includes fixing the second distributed active vibration electromagnetic force generator to the structure at a second distributed active vibration control system site. The method includes connecting the at least first and second electromagnetic force generators with electrical power distribution lines to a power source. The method includes providing a distributed force generator data communications network, the distributed force generator data communications network linking together the at least first and second distributed electronic control systems. The method includes communicating force generator vibration control data through the distributed force generator data communications network to minimize the troublesome vibrations. 
         [0008]    In an embodiment the invention includes a vehicle vibration control system for suppressing troublesome vehicle vibrations in a vehicle structure. Preferably the vehicle structure is connected with at least one rotating machine creating troublesome vibrations. The vehicle vibration control system includes at least a first distributed active vibration electromagnetic force generator, the first distributed active vibration electromagnetic force generator including a first distributed electronic control system and a first electromagnetically driven mass, the first distributed active vibration electromagnetic force generator fixed to the vehicle structure at a first distributed active vibration control system site. The vehicle vibration control system includes at least a second distributed active vibration electromagnetic force generator, the second distributed active vibration electromagnetic force generator including a second distributed electronic control system and a second electromagnetically driven mass, the second distributed active vibration electromagnetic force generator fixed to the vehicle structure at a second distributed active vibration control system site. The vehicle vibration control system includes electrical power distribution lines, the electrical power distribution lines connecting the electromagnetic force generators with a power source and providing the electromagnetic force generators with electromagnetic force generator power outputs. The vehicle vibration control system includes a distributed force generator data communications network, the distributed force generator data communications network linking together the at least first and second distributed electronic control systems wherein the distributed electronic control systems communicate force generator vibration control data through the distributed force generator data communications network independently of the electrical power distribution lines to minimize the troublesome vibrations. 
         [0009]    In an embodiment the invention includes a method of suppressing troublesome vibrations. The method comprises providing a structure with vibrations. The method comprises providing at least a first distributed active vibration electromagnetic force generator, the first distributed active vibration electromagnetic force generator including a first distributed electronic control system and a first electromagnetically driven mass. The method comprises fixing the first distributed active vibration electromagnetic force generator to the structure. The method comprises providing at least a second distributed active vibration electromagnetic force generator, the second distributed active vibration electromagnetic force generator including a second distributed electronic control system and a second electromagnetically driven mass. The method comprises fixing the second distributed active vibration electromagnetic force generator to the structure. The method comprises connecting the at least first and second electromagnetic force generators with electrical power distribution lines to a power source. The method comprises providing a distributed force generator data communications network, the distributed force generator data communications network linking together the at least first and second distributed electronic control systems and a plurality of distributed networked accelerometers sensing the troublesome vibrations. The method comprises communicating force generator vibration control data through the distributed force generator data communications network to minimize the troublesome vibrations. 
         [0010]    It is to be understood that both the foregoing general description and the following detailed description are exemplary of the invention, and are intended to provide an overview or framework for understanding the nature and character of the invention as it is claimed. The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate various embodiments of the invention, and together with the description serve to explain the principals and operation of the invention. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0011]      FIG. 1  illustrates a distributed active vibration control system with electromagnetic force generators for suppressing vibrations. 
           [0012]      FIG. 2  illustrates a distributed active vibration control system with electromagnetic force generators mounted to an aerostructure vehicle body structure experiencing and transmitting troublesome vibrations. 
           [0013]      FIG. 3  illustrates a rotary wing aircraft with a distributed active vibration control system with electromagnetic force generators for suppressing vibrations. 
           [0014]      FIG. 4  illustrates a distributed active vibration control system with electromagnetic force generators for suppressing vibrations. 
           [0015]      FIG. 5  illustrates a distributed active vibration control system with electromagnetic force generators for suppressing vibrations. 
           [0016]      FIG. 6  illustrates a distributed active vibration electromagnetic force generator mounted to a structure with the distributed active vibration electromagnetic force generator containing a first distributed electronic control system and an at least first electromagnetically driven mass. 
           [0017]      FIG. 7A-C  illustrates a distributed active vibration electromagnetic force generator containing a first distributed electronic control system and an at least first electromagnetically driven mass. 
           [0018]      FIG. 8  illustrates a distributed electronic control system. 
           [0019]      FIG. 9  illustrates a distributed electronic control system with a circular force generator (CFG) outputting clockwise circular forces. 
           [0020]      FIG. 10  illustrates a distributed electronic control system with a circular force generator (CFG) outputting counter-clockwise circular forces. 
           [0021]      FIG. 11  illustrates distributed electronic control systems adjacent CFG pairs counter-clockwise corotating masses clockwise corotating masses controlled to generate a biaxial local force. 
           [0022]      FIG. 12  illustrates a distributed active vibration control system with electromagnetic force generators for suppressing vibrations with circular force generators paired into biaxial force generators. 
           [0023]      FIG. 13  illustrates a distributed active vibration control system with electromagnetic force generators for suppressing vibrations with circular force generators. 
           [0024]      FIG. 14  illustrates a distributed active vibration control system with a migrating master system control authority. 
           [0025]      FIG. 15  illustrates a distributed active vibration control system with a distributed master system control authority. 
           [0026]      FIG. 16  illustrates a distributed active vibration control system with circular force generators with fixing bases mounted to an aerostructure. 
           [0027]      FIG. 17  shows a distributed active vibration control system with circular force generators with fixing bases mounted to an aerostructure, illustrating the axis of rotation of the electromagnetically driven masses. 
           [0028]      FIG. 18  illustrates a distributed active vibration control system with electromagnetic force generators for suppressing vibrations with contained/integrated/proximal distributed electronic control system drive electronics. 
           [0029]      FIG. 19A-C  illustrates distributed active vibration control systems with electromagnetic force generators for suppressing vibrations with a communications bus and electronics modules. 
           [0030]      FIG. 20A-B  illustrates distributed active vibration control systems with electromagnetic force generators for suppressing vibrations with a communications bus and electronics modules. 
           [0031]      FIG. 21A-C  illustrates distributed active vibration control systems with electromagnetic force generators for suppressing vibrations. 
           [0032]      FIG. 22A-B  illustrates linear motor electromagnetically driven sprung mass resonant inertial shakers. 
           [0033]      FIG. 23  illustrates a linear motor electromagnetically driven sprung mass resonant force generator and electronic control system. 
           [0034]      FIG. 24A-E  illustrates a linear motor electromagnetically driven sprung mass resonant force generator and electronic control system. 
       
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0035]    Additional features and advantages of the invention will be set forth in the detailed description which follows, and in part will be readily apparent to those skilled in the art from that description or recognized by practicing the invention as described herein, including the detailed description which follows, the claims, as well as the appended drawings. 
         [0036]    Reference will now be made in detail to the present preferred embodiments of the invention, examples of which are illustrated in the accompanying drawings. 
         [0037]    In an embodiment the invention includes an aircraft  20  with at least one rotating machine  22  creating troublesome vibrations. The aircraft  20  is comprised of an aerostructure  24 . In preferred embodiments the aerostructure  24  is the frame or structural body of vehicle experiencing and transmitting the troublesome vibrations, and most preferably is a nonextensible structural body of the vehicle, preferably a nonrotating vehicle structure connected with the rotating machine  22 . 
         [0038]    The rotary wing aircraft helicopter  20  includes an active vibration control system power converter source  26  for outputting electromagnetic force generator power outputs. The aerostructure nonrotating frame  24  includes a plurality of distributed active vibration control system nodal sites  28  for mounting of force generators wherein generated forces are inputted into the aerostructure to suppress the troublesome vibrations. 
         [0039]    The aircraft includes at least a first distributed active vibration electromagnetic force generator  30 , the first distributed active vibration electromagnetic force generator  30  including a first distributed electronic control system  32  and a first electromagnetically driven mass  34 , the first distributed active vibration electromagnetic force generator  30  fixed to the frame aerostructure  24  at a first distributed active vibration control system nodal site  28 . 
         [0040]    The aircraft includes at least a second distributed active vibration electromagnetic force generator  30 , the second distributed active vibration electromagnetic force generator  30  including a second distributed electronic control system  32  and a second electromagnetically driven mass  34 , the second distributed active vibration electromagnetic force generator fixed to the aerostructure  24  at a second distributed active vibration control system nodal site  28  preferably distal from the first distributed active vibration control system nodal site  28 . 
         [0041]    Preferably the aircraft includes at least a third distributed active vibration electromagnetic force generator  30 , the third distributed active vibration electromagnetic force generator  30  including a third distributed electronic control system  32  and a third electromagnetically driven mass  34 , the third distributed active vibration electromagnetic force generator  30  fixed to the aerostructure  24  at a third distributed active vibration control system nodal site  28 , preferably distal from the first and second force generator aerostructure mounting force input nodal sites  28  where the first and second force generators  30  input their generated forces into the aerostructure  24 . 
         [0042]    Preferably the aircraft includes at least two force generators  30  fixed at two force generator aerostructure mounting force input nodal sites  28 , and preferably at least three separated distributed active vibration control system force generators  30  fixed to the aerostructure at three separated force generator aerostructure mounting force input nodal sites  28 . In preferred embodiments the aircraft includes at least four separated distributed active vibration control system force generators  30  fixed to the aerostructure at four separated force generator aerostructure mounting force input nodal sites  28 . In preferred embodiments the aircraft includes at least five separated distributed active vibration control system force generators  30  fixed to the aerostructure at five separated force generator aerostructure mounting force input nodal sites  28 . In preferred embodiments the aircraft includes at least six separated distributed active vibration control system force generators  30  fixed to the aerostructure at six separated force generator aerostructure mounting force input nodal sites  28 . In embodiments the distributed active vibration control system force generators  30  fixed to the aerostructure proximate to each other in pairs, preferably to provide a local area biaxial force generator, most preferably with a first counterclockwise circular force generator CFG  30  paired proximate to a second clockwise circular force generator CFG  30  to provide a local aerostructure biaxial force generator (Biaxial FG). Preferably the aircraft vehicle distributed vibration control system is an expandable aircraft vehicle distributed vibration control system with N nodal sites  28  with N distributed active vibration control system force generators  30 , with the system expandable by adding an additional Nth force generator  30  fixed at the Nth nodal site  28 , preferably with the system limited by aircraft space/weight limits and electrical power available on the aircraft. 
         [0043]    Preferably the distributed active vibration electromagnetic force generators  30  include a first containment chamber  32 ′ containing the first distributed electronic control system  32 . Preferably the distributed active vibration electromagnetic force generators  30  include a containment chamber  34 ′ containing the at least first electromagnetically driven mass  34 . In preferred embodiments the second containment chamber  34 ′ is an adjacent second containment chamber, preferably separated from first containment chamber  32 ′. In preferred embodiments the second containment chamber  34 ′ contains first electromagnetically driven mass  34  and second corotating electromagnetically driven mass  36 . Preferably the distributed active vibration electromagnetic force generators  30  include a common fixing base  38  joining the adjacent first distributed electronic control system containment chamber and the a second electromagnetically driven mass containment chamber, the fixing base  38  providing for mounting of the distributed active vibration electromagnetic force generators  30  to the aerostructure  24  and the inputting of the generated force into the aerostructure  24 . In a preferred embodiment the fixing base  38  has a fixing base plane in alignment with the corotating electromagnetically driven masses  34  and  36  parallel planes of rotation in the containment chamber  34 ′ and with the planar fixing base plane normal to the axis of rotation of the corotating electromagnetically driven masses  34  and  36  of the distributed active vibration electromagnetic force generator  30 . The distributed force generators  30  are packaged with the distributed electronic control systems and the electromagnetically driven masses contained with the mounting fixing base to be fixed to the aerostructure at the nodal sites  28  such as with mechanical fixtures such as bolts, with the moving mass force outputted through the base  38  into the aerostructure  24 , with the moving masses contained in second containment chamber  34 ′ and distributed electronic control systems contained in separated and adjacent first containment chambers  32 ′. 
         [0044]    The aircraft includes a plurality of electrical power distribution lines  40 , the electrical power distribution lines  40  connecting the electromagnetic force generators  30  with the power source  26  with the electromagnetic force generator power outputs outputted to the electromagnetic force generators. 
         [0045]    The aircraft includes a distributed expandable force generator data communications network  50 , the distributed force generator data communications network  50  linking together the at least first and second distributed electronic control systems  32  wherein the distributed electronic control systems  32  communicate force generator vibration control data through the distributed force generator data communications network  50  independently of the electrical power distribution lines  40  to minimize the troublesome vibrations. Preferably each node has a unique address on the network  50 , with the force generating data distributed through the network  50  with the unique network address, preferably the unique node address# along with the force data, such as a magnitude and phase of a force to be generated by the electromagnetic force generator  30  having the unique data communications node network address (or the unique data communications node network address with a real and imaginary force generation values). In preferred embodiments the distributed expandable force generator data communications network  50  is a wired data communications network, and preferably is comprised of a communication bus and with a harness interface connector connecting each electromagnetic force generator&#39;s distributed electronic control system  32  with the network  50 , with the distributed electronic control systems  32  both sending and receiving force generating system data through the network  50 . In preferred embodiments the distributed expandable force generator data communications network  50  is a Controller Area Network, with the distributed electronic control systems  32  including microcontrollers communicating with each other through the network along with the microcontrollers in the system controller. Preferably the distributed electronic control systems  32  also communicate system health data such as whether a force generator  30  is healthy or not healthy. Preferably the force generator network node address and its accompanying force generation data (network node#_magnitude_phase) flows throughout the network  50  and is shared on the network with all network nodes and all electromagnetic force generators  30 . 
         [0046]    In an embodiment the aircraft includes a master system controller  52 , the master system controller  52  connected to the distributed force generator data communications network  50  wherein the master system controller  52  provides a plurality of authority commands to the at least first and second distributed electronic control systems  32 , with the at least first and second distributed electronic control systems  32  executing a plurality of subordinate local force generator operation commands. Preferably the subordinate local force generator operation commands depend on the type of force generator. In preferred embodiments the force generators  30 , are rotating mass force generators, preferably with the subordinate local force generator operation commands commanding electromagnetic motor rotations of corotating electromagnetically driven masses  34  and  36 . In preferred embodiments an electromagnetic force generator&#39;s distributed electronic control system  32  receive its network node address and its accompanying force generation data (network node#_magnitude_phase) from which its microcontroller computes electromagnetic motor rotations for the corotating electromagnetically driven masses  34  and  36  to output a desired circular force into aerostructure  24  through the fixing base  38 , with the force generators  30  preferably comprised of circular force generators outputting circular forces into aerostructure  24  at their respective fixing base nodal sites  28 . 
         [0047]    In an embodiment the aircraft includes a migrating master system control authority, the migrating master system control authority movable between the at least first and second distributed electronic control systems  32  of the plurality of force generators  30 , with the migrating master system control authority providing a plurality of authority commands to the distributed electronic control systems  32  to execute a plurality of subordinate local force generator operation commands such as shown in the FIG. (Migrating Master System Control Authority), preferably without a separate distinct physical head master System Controller. With the migrating master system control authority at any one point in time preferably the system has a master control authority taking up temporary residence in a distributed electronic control system  32 , which includes executable software and/or firmware commands that provide a physically headless control system with distributed control of the system with the ability of backup command with migration movement of authority. Preferably the system includes distributed networked accelerometers  54 , with the distributed networked accelerometers including microcontrollers having accelerometer network links  56  with the distributed expandable force generator data communications network  50 . The accelerometers input and output vibration measurement data into the force generator data communications network, preferably with the plurality of accelerometers inputting data into the network (and receiving data from the network) with the accelerometers each having a unique network node address #, with the accelerometers including an accelerometer distributed network electronic control system for data interfacing with the network. In a preferred embodiment the accelerometer network links  56  are wired links, and preferably the accelerometers are powered through the communications bus wired network links  56 . In an alternative embodiment the accelerometers are wireless networked accelerometers providing wireless transmission of accelerometer data measurements sent to the network  50  for determination on how to minimize troublesome vibrations with the accelerometers powered by alternative means such as with batteries or with power supplied from aircraft power supply outlets or power supply  26 . 
         [0048]    In an embodiment the aircraft includes a distributed master system control authority. The distributed master system control authority is distributed among the at least first and second distributed electronic control systems  32  utilizing the network  50  with the distributed master system control authority providing a plurality of authority commands to the individual distributed electronic control systems  32  to execute a plurality of subordinate local force generator operation commands, such as shown in the FIG. (Distributed Master System Control Authority). Preferably at any one point in time the system has a master control authority spread out in at least two distributed electronic control systems  32 , and includes executable software and/or firmware commands that provide a physically headless system with distributed control of the system with backup control with the plurality of distributed electronic control systems  32  on the network  50 . Preferably the system includes distributed networked accelerometers  54 , with the distributed networked accelerometers including microcontrollers having accelerometer network links  56  with the distributed expandable force generator data communications network  50 . The accelerometers input and output vibration measurement data into the force generator data communications network, preferably with the plurality of accelerometers inputting data into the network (and receiving data from the network) with the accelerometers each having a unique network node address #, with the accelerometers including an accelerometer distributed network electronic control system for data interfacing with the network. In a preferred embodiment the accelerometer network links  56  are wired links, and preferably the accelerometers are powered through the communications bus wired network links  56 . In an alternative embodiment the accelerometers are wireless networked accelerometers providing wireless transmission of accelerometer data measurements sent to the network  50  for determination on how to minimize troublesome vibrations with the accelerometers powered by alternative means such as with batteries or with power supplied from aircraft power supply outlets or power supply  26 . 
         [0049]    In an embodiment the aircraft includes at least a first distributed networked accelerometer  54 . The accelerometer outputs can be inputted directly into the network  50  or into system controller  52 . Preferably the at least first distributed networked accelerometer  54  has an accelerometer network link  56  with the distributed expandable force generator data communications network  50 . The accelerometers are fixed to the aircraft, preferably fixed to the aerostructure  24 , and measure vibrations in the aerostructure. The accelerometers sense and measure the troublesome vibrations created by the rotating machinery  22  and the forces generated by the force generators  30  that are outputted into aerostructure  24  and are transmitted through the aerostructure and are measurable by the accelerometer. The accelerometer measurements of vibrations are used as control inputs to drive down and minimize the troublesome vibrations. The accelerometers input and output vibration measurement data into the force generator data communications network, preferably with the plurality of accelerometers inputting data into the network (and receiving data from the network) with the accelerometers each having a unique network node address #, with the accelerometers including an accelerometer distributed network electronic control system for data interfacing with the network. In a preferred embodiment the accelerometer network links  56  are wired links, and preferably the accelerometers are powered through the communications bus wired network links  56 . In an alternative embodiment the accelerometers are wireless networked accelerometers providing wireless transmission of accelerometer data measurements sent to the network  50  for determination on how to minimize troublesome vibrations with the accelerometers powered by alternative means such as with batteries or with power supplied from aircraft power supply outlets or power supply  26 . The accelerometer data measurements are shared through the network  50  and used in the system controllers, processors, and electronic control systems in the determination of controlling the electromagnetic driving of the moving masses to generate the forcesto minimize the troublesome vibrations. 
         [0050]    In preferred embodiments the first distributed electronic control system  32  executes a plurality of local force generator operation rotating motor commands to rotate at least its first electromagnetic motor to move its at least first mass  34 , and the second distributed electronic control system  32  executes a plurality of local force generator operation rotating motor commands to rotate at least its first electromagnetic motor to move its at least first mass  34 . Preferably the plurality of distributed active vibration force generators  30  are circular force generating distributed active vibration force generators with the distributed electronic control systems  32  executing a plurality of local force generator operation rotating motor control commands to drive first motor (Motor_ 1 ) to corotate mass  34  and second motor (Motor_ 2 ) such as shown in FIG. (Distributed Electronic Control System) to corotate mass  36  to generate a circular force which is outputted through the base  38  into aerostructure  24  as a rotating circular force. As shown in FIG. (Distributed Electronic Control System CFG (Circular Force Generator) Outputting Counter Clockwise Circular Force) the distributed electronic control systems  32  has a network bus interface with the data communications network bus through which force generation data is communicated, with the distributed electronic control systems  32  executing a plurality of local force generator operation commands. The circular force generator processor command generation outputs commands to first motor controls (Motor_ 1  Controls) and second motor controls (Motor_ 2  Controls). The first motor controls control a first motor drive (Motor_ 1  Drive) to counterclockwise rotate first mass  34  with first motor (Motor_ 1 ). The second motor controls control a second motor drive (Motor_ 2  Drive) to counterclockwise rotate second corotating mass  36  with second motor (Motor_ 2 ). Motor  1  and Motor  2  are corotated to generate a counterclockwise circular force. As shown in FIG. (Distributed Electronic Control System CFG (Circular Force Generator) Outputting Clockwise Circular Force) the distributed electronic control systems  32  has a network bus interface with the data communications network bus through which force generation data is communicated, with the distributed electronic control systems  32  executing a plurality of local force generator operation commands. The circular force generator processor command generation outputs commands to first motor controls (Motor_ 1  Controls) and second motor controls (Motor_ 2  Controls). The first motor controls control a first motor drive (Motor_ 1  Drive) to clockwise rotate first mass  34  with first motor (Motor_ 1 ). The second motor controls control a second motor drive (Motor_ 2  Drive) to clockwise rotate second corotating mass  36  with second motor (Motor_ 2 ). Motor  1  and Motor  2  are corotated to generate a clockwise circular force. 
         [0051]    As shown in FIG. (Adjacent CFG Pairs CounterClockwise Corotating Masses—Clockwise Corotating Masses Controlled to Generate Biaxial Local Force) the distributed electronic control systems  32  have a network bus interfaces with the data communications network  50  through which force generation data is communicated, with the distributed electronic control systems  32  executing a plurality of local force generator operation commands. The upper circular force generator processor command generation outputs commands to first motor controls (Motor_ 1  Controls) and second motor controls (Motor_ 2  Controls). The first motor controls control a first motor drive (Motor_ 1  Drive) to counterclockwise rotate first mass  34  with first motor (Motor_ 1 ). The second motor controls control a second motor drive (Motor_ 2  Drive) to counterclockwise rotate second corotating mass  36  with second motor (Motor_ 2 ). Motor  1  and Motor  2  are corotated to generate a counterclockwise circular force. The lower distributed electronic control system executes a plurality of local force generator operation commands, with the circular force generator processor command generation outputs commands to first motor controls (Motor_ 1  Controls) and second motor controls (Motor_ 2  Controls). The first motor controls control a first motor drive (Motor_ 1  Drive) to clockwise rotate first mass  34  with first motor (Motor_ 1 ). The second motor controls control a second motor drive (Motor_ 2  Drive) to clockwise rotate second corotating mass  36  with second motor (Motor_ 2 ). Motor  1  and Motor  2  are corotated to generate a clockwise circular force. With these two controlled circular force generators  30  fixed proximate to each other on aerostructure  24  the vibration control system through data network  50  produces a local area biaxial force, with the pair of adjacent CFGs  30  communicating through the network  50  to provide a local biaxial force generator in aerostructure  24 . 
         [0052]    Preferably the at least first distributed active vibration electromagnetic force generator  30  inputs a first circular force into the aerostructure frame  24  at a first distributed active vibration control system nodal site  28 , and the at least second distributed active vibration electromagnetic force generator  30  inputs a second circular force into the aerostructure frame  24  at a second distributed active vibration control system nodal site  28 . 
         [0053]    Preferably the at least first distributed active vibration electromagnetic force generator  30  includes a fixing base  38  and a first containment chamber  32 ′ containing the first distributed electronic control system  32  and a second containment chamber  34 ′ containing the at least first electromagnetically driven mass  34  and the at least second distributed active vibration electromagnetic force generator  30  includes a fixing base  38  and a first containment chamber  32 ′ containing the second distributed electronic control system  32  and a second containment chamber  34 ′ containing the at least second electromagnetically driven mass  34 . Preferably the distributed force generators are packaged with base  38  to be fixed to the aerostructure  24  with the moving mass force outputted through the base  38  into the aerostructure  24 , with the at least one moving mass contained in second containment chamber and the distributed electronic control system contained in the separated and adjacent first containment chamber. 
         [0054]    In an embodiment the invention includes a method of making an aircraft with suppressed inflight troublesome vibrations. The method includes providing an aircraft  20  comprised of an aerostructure  24 . Preferably the aerostructure is comprised of the aircraft frame. Preferably the aerostructure is comprised of the structural body of aircraft vehicle experiencing and transmitting vibrations. The aircraft includes at least one rotating machine  22  creating troublesome vibrations. Preferably the aerostructure  24  is the nonrotating aircraft vehicle structure connected with the rotating machinery  22  creating troublesome vibrations with the aerostructure  24  experiencing the troublesome vibrations. The method includes providing at least first distributed active vibration electromagnetic force generator  30 , the first distributed active vibration electromagnetic force generator  30  including a first distributed electronic control system  32  and a first electromagnetically driven mass  34 . The method includes fixing the first distributed active vibration electromagnetic force generator  30  to the aerostructure  24  at a first distributed active vibration control system nodal site  28 . The method includes providing at least a second distributed active vibration electromagnetic force generator  30 , the second distributed active vibration electromagnetic force generator  30  including a second distributed electronic control system  32  and a second electromagnetically driven mass  34 . The method includes fixing the second distributed active vibration electromagnetic force generator  30  to the aerostructure  24  at a second distributed active vibration control system nodal site  28 . In a preferred embodiment the second distributed active vibration control system nodal site  28  is fixed distal from the first distributed active vibration control system nodal site. In an alternative preferred embodiment the first and second distributed active vibration electromagnetic force generator  30  are an adjacent pair of counterclockwise-clockwise circular force generators with proximate nodal sites  28  fixed to aerostructure  24  to provide for a biaxial force generator pairing. The method includes connecting the at least first and second electromagnetic force generators  30  with a plurality of electrical power distribution lines  40  to a power source  26 . Preferably the power source directly outputs a plurality of electromagnetic force generator power outputs to the force generators  30 . The method includes providing distributed expandable force generator data communications network  50 , the distributed force generator data communications network  50  linking together the at least first and second distributed electronic control systems  32 . The method includes communicating force generator vibration control data through the distributed force generator data communications network  50  independently of the electrical power distribution lines  40  to minimize the troublesome vibrations, wherein the force generator vibration control data is transmitted and shared through the communications network  50 . The data communications network  50  provides for a separate and independent control of the electromagnetic force generators  30  from the electrical power lines  40  powering the force generators  30 , with the power lines  40  preferably only transmitting power and not control signals. In an embodiment the distributed electronic control system  32  is contained proximate the first electromagnetically driven mass  34 . In an embodiment the distributed electronic control system  32  is contained proximate the first electromagnetically driven mass  34  in the same containment chamber. In an embodiment the distributed electronic control system  32  is contained in a distributed electronic control system containment chamber, and the electromagnetically driven mass  34  is contained in an electromagnetically driven mass containment chamber. In an embodiment the distributed electronic control system containment chamber  32 ′ is proximate and adjacent the electromagnetically driven mass containment chamber  34 ′. In an embodiment the distributed electronic control system containment chamber  32 ′ is segregated from the electromagnetically driven mass containment chamber  34 ′. In an embodiment the distributed electronic control system  32  is contained proximate the first electromagnetically driven mass  34  in an adjacent separated containment chamber. In an embodiment the distributed electronic control system  32  is contained in separated containment chamber that is not on a shared base with  38  with the driven mass  34 . In a preferred embodiment the distributed electronic control system  32  is proximate to moving mass  34  with the moving mass movement generating a cooling air flow pattern proximate the distributed electronic control system electronics  32 , preferably with the containment chamber containing proximate members  32  and  34  including cooling airflow passage conduits. In an embodiment two electromagnetic force generators  30  share a joint distributed electronic control system  32  contained in a joint distributed electronic control system containment chamber  32 ′ proximate both of the electromagnetic force generators  30 . As shown in  FIG. 19B , in an embodiment two electromagnetic force generators  30  share a joint distributed electronic control system  32  contained in a joint distributed electronic control system containment chamber  32 ′ proximate both of the containment chambers  34 ′ of both of the electromagnetic force generators  30 , preferably a pair of a clockwise rotating circular force generator CFG and a counter-clockwise rotating circular force generator CFG. 
         [0055]    In an embodiment the invention includes a method of making an aircraft vehicle vibration control system for suppressing troublesome vibrations. The method includes providing an aircraft vehicle structure  24 . The aircraft vehicle structure  24  is connected with at least one rotating machine  22  creating troublesome vibrations. Preferably the structure  24  is comprised of the aircraft vehicle frame. Preferably the structure is comprised of the structural body of aircraft vehicle experiencing and transmitting the troublesome vibrations to be suppressed. Preferably the structure  24  is the nonrotating aircraft vehicle structure connected with the rotating machinery  22  creating troublesome vibrations with the structure  24  experiencing the troublesome vibrations. The method includes providing at least first distributed active vibration electromagnetic force generator  30 , the first distributed active vibration electromagnetic force generator  30  including first distributed electronic control system  32  and first electromagnetically driven mass  34 . The method includes fixing the first distributed active vibration electromagnetic force generator  30  to the structure frame  24  at a first distributed active vibration control system nodal site  28 . The method includes providing at least second distributed active vibration electromagnetic force generator  30 , the second distributed active vibration electromagnetic force generator  30  including second distributed electronic control system  32  and second electromagnetically driven mass  34 . The method includes fixing the second distributed active vibration electromagnetic force generator  30  to the structure frame  24  at second distributed active vibration control system nodal site  28 . The method includes connecting the at least first and second electromagnetic force generators  30  with electrical power distribution lines  40  to power source  26 . The method includes providing distributed expandable force generator data communications network  50 , the distributed force generator data communications network  50  linking together the at least first and second distributed electronic control systems  32 , and communicating force generator vibration control data through the distributed force generator data communications network  50  independently of the electrical power distribution lines  40  to minimize the troublesome vibrations, wherein the force generator vibration control data is transmitted and shared through the communications network. 
         [0056]    In an embodiment the invention includes an aircraft vehicle vibration control system for suppressing troublesome vehicle vibrations in a vehicle structure. Preferably the aircraft vehicle vibration control system suppresses the troublesome vehicle vibrations in the nonrotating vehicle structure  24  connected with the aircraft rotating machinery  22  creating the troublesome vibrations. The vehicle vibration control system includes the at least first distributed active vibration electromagnetic force generator  30 . The first distributed active vibration electromagnetic force generator  30  including the first distributed electronic control system  32  and the first electromagnetically driven mass  34 . The first distributed active vibration electromagnetic force generator  30  is fixed to the vehicle structure  24 . 
         [0057]    The vehicle vibration control system includes the at least second distributed active vibration electromagnetic force generator  30 , the second distributed active vibration electromagnetic force generator  30  including second distributed electronic control system  32  and second electromagnetically driven mass  34 , the second distributed active vibration electromagnetic force generator  30  fixed to the vehicle structure  24 . 
         [0058]    The vehicle vibration control system includes the plurality of electrical power distribution lines  40 , the electrical power distribution lines  40  connecting the electromagnetic force generators  30  with power source  26  and providing the electromagnetic force generators  30  with their electromagnetic force generator power outputs. The vehicle vibration control system includes the distributed expandable force generator data communications network  50 , the distributed force generator data communications network  50  linking together the at least first and second distributed electronic control systems  32  wherein the distributed electronic control systems  32  communicate force generator vibration control data through the distributed force generator data communications network  50  independently of the electrical power distribution lines  40  to minimize the troublesome vibrations. 
         [0059]    In an embodiment the invention includes a method of suppressing troublesome vibrations. The method includes providing an aircraft vehicle structure  24  with troublesome vibrations. The method includes providing at least first distributed active vibration electromagnetic force generator  30 , the first distributed active vibration electromagnetic force generator  30  including a first distributed electronic control system  32  and a first electromagnetically driven mass  34 . The method includes fixing the first distributed active vibration electromagnetic force generator  30  to the structure  24  at a first distributed active vibration control system nodal site. The method includes providing at least second distributed active vibration electromagnetic force generator  30 , the second distributed active vibration electromagnetic force generator  30  including second distributed electronic control system  32  and second electromagnetically driven mass  34 . The method includes fixing the second distributed active vibration electromagnetic force generator  30  to the structure  24  at a second distributed active vibration control system nodal site. The method includes connecting the at least first and second electromagnetic force generators  30  with the plurality of electrical power distribution lines  40  to power source  26 . The method includes providing distributed expandable force generator data communications network  50 , the distributed force generator data communications network  50  linking together the at least first and second distributed electronic control systems  32  and the plurality of accelerometers sensing the troublesome vibrations. The method includes communicating force generator vibration control data through the distributed force generator data communications network  50  independently of the electrical power distribution lines  40  to minimize the troublesome vibrations, wherein the force generator vibration control data is transmitted and shared through the communications network  50 . 
         [0060]    In embodiments the force generator  30  includes a sprung mass resonant actuator force generator  30  with a having a natural resonant frequency. The force generator  30  includes linear motor electromagnetically driven sprung mass  34  with the mass  34  driven by linear motor commands. Preferably the distributed electronic control system  32  executes a plurality of local force generator operation linear motor commands to the resonant the actuator to drive the resonant actuator about the resonant frequency when commanded by a received command signal through the data communications network  50 , and preferably the resonant actuator  30  has a feedback output with the feedback output fed back into the resonant actuator electronic control system  32  wherein the resonant actuator electronic control system  32  adjusts the electrical drive current based on the resonant actuator feedback. As shown in  FIG. 22-24  the resonant actuator  30  is an electromagnetically driven sprung mass  34  suspended on resilient metal flexures  132 . As shown in  FIG. 24A-D , the EM (ElectroMagnetic) driven mass  34  is preferably suspended on a horizontal beam stack of multiple layers of resilient flexures  132 , which are preferably supported by two vertical side resilient flexures post plates, to provide a sprung mass that can be electromagnetically driven to oscillate at its natural resonant frequency. Preferably the resonant actuator sprung mass is driven by modulating an electromagnetic field so the sprung mass is attracted and repelled by the EM field at its resonant frequency. Preferably the resonant actuator sprung mass includes a permanent magnet  128  in alignment with an electromagnetic coil  130 , wherein a electrical drive current supplied to the EM coil  130  drives the sprung mass at resonance. In preferred embodiments a plurality of linear motor electromagnetically driven sprung mass force generators  30  are connected on the data communications network  50 , with at least a first force generator having a first force generation maximum and the at least a second force generator having a second force generation maximum, with the second force generation maximum greater than the first force generation maximum, with the force generators having different force generation maximums operating on the data communications network  50  to minimize vibrations in the aircraft. 
         [0061]    The vibration control system preferably receives accelerometer signals and a tachometer signal (preferably representative of the rotating machinery  22 ). The vibration control system preferably utilizes an adaptive vibration control algorithm such that the force generators  30  generate forces that are inputted into the structure  24  that they are fixed to minimize the accelerometer signals. 
         [0062]    It will be apparent to those skilled in the art that various modifications and variations can be made to the invention without departing from the spirit and scope of the invention. Thus, it is intended that the invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. It is intended that the scope of differing terms or phrases in the claims may be fulfilled by the same or different structure(s) or step(s).