Patent Description:
<CIT> discloses a permanent magnet coupler with a low speed and low power driving motor. <CIT> discloses an anti-overheating mechanism. <CIT> discloses a device for simulating the force of a drive element.

Sensors can be used in a variety of industries to monitor equipment. As an example, torque sensors can be used to monitor rotating machine components (e.g., shafts) and output signals representative of torque applied to the monitored components. By comparing measured torques to design specifications, it can be determined whether monitored components are operating within these specifications.

In some instances, existing perturbator systems can require a known torque perturbation to be applied to the system. This arrangement requires axial, rotational, and torsional force to be applied to a rotating shaft with a controlled waveform and amplitude in order to properly calibrate any sensors of the system. Additionally, multiple separate actuators may be required in order to apply the axial, rotational, and torsional forces to the rotating shaft. Also, when an actuator is applied to the rotating shaft, the system may have to compensate for loses due to the added weight and friction from the actuator contacting the shaft, which could affect the perturbation data being collected by the sensors of the system.

Implementations of the present invention present perturbator systems and corresponding methods that generate perturbations with a known waveform and amplitude to calibrate a torsional, axial and radial force sensor.

A system is provided as defined in claim <NUM>.

The first rotor is arranged concentrically within the second rotor.

In another implementation, the first and second magnets can interact with the third and fourth magnets to create a torsional force.

The first rotor is non-rotatably secured to a first rotating shaft, and the second rotor is non-rotatably secured to a second rotating shaft.

In another implementation, the first, second, third, and fourth magnets can be arranged within the same axial plane perpendicular to an axis of rotation.

In another implementation, the first rotor and the second rotor can be conically-shaped.

In another implementation, the first and second magnets can interact with the third and fourth magnets to create an axial and torsional force.

In another implementation, the first, second, third, and fourth magnets can be arranged at an angle between a range of <NUM>° to <NUM>° from an axis of rotation.

In another implementation, the first magnet, the second magnet, the third magnet, and the fourth magnet can be electromagnets configured to alter each of their respective magnetic fields.

In another implementation, the first rotor can be arranged axially to the second rotor and the first and second magnets can interact with the third and fourth magnets to create an axial force.

In another implementation, the first and second magnets can be arranged in a first axial plane, and the third and fourth magnets can be arranged in a second axial plane, where the first axial plane is distal to the second axial plane.

The system further includes a first drive motor configured to rotate the first shaft, a second drive motor configured to rotate the second shaft, and a sensor configured to measure the axial, torsional, and radial forces applied to the first shaft.

In another implementation, the first rotor can further include a fifth magnet and a sixth magnet, and the second rotor can further include a seventh magnet and an eighth magnet.

In another implementation, the first, second, fifth, and sixth magnets can be arranged <NUM>° from each other about the first rotor, and the third, fourth, seventh, and eighth magnets can be arranged <NUM>° from each other about the second rotor.

A method of perturbation generation is provided as defined in claim <NUM>.

In another implementation, the first rotor rotates in a first direction at a first speed, and the second rotor rotates in a second direction at a second speed resulting in torsional forces in the first, third, fifth force and radial forces in the second, fourth, sixth force in a frequency domain.

In another implementation, wherein the pole orientation of the at least one magnet has been altered, and the first rotor rotates in a first direction at a first speed and the second rotor rotates in a second direction at a second speed resulting in torsional forces in the first, second, third force and radial forces at the second, fourth, sixth force in a frequency domain.

In another implementation, the first force and the second force can be torsional forces.

In another implementation, the first force and the second force can be axial forces.

In another implementation, the first or second rotor is stopped.

In another implementation, the first direction can be opposite the second direction.

The drawings are intended to depict only typical aspects of the subject matter disclosed herein, and therefore should not be considered as limiting the scope of the invention as defined in the claims.

Perturbation systems for generating perturbations for calibrating torsional, axial, and radial force sensors can be used to calibrate the sensors prior to installation into a system. In order to calibrate sensors, known perturbations need to be applied to a system for the sensors to detect. Applying know perturbations to a system at a high enough frequency to replicate specific force on a real-world system can be problematic. As used herein, a perturbation is defined as a radial, axial, or torsional force applied to the system. In general, the characteristics of a perturbation system include creating perturbations with known amplitude and wave forms in order to compare the recorded data from the sensors with the known values. Accordingly, improved perturbation systems and methods for generating perturbations in a system are provided. The improved perturbation system can include permanent and/or electromagnets magnets arranged within a perturbator, where the perturbator includes two rotors which can rotate relative to one another. As a result, such systems and methods are able to produce known perturbations along the system components to be measured by the sensors by the aligning and misaligning of the magnets within the rotors of the perturbator.

Implementations of the present invention are primarily discussed in the context of perturbation generation systems, but can be used for drive systems where the magnets couple mechanical elements in drive trains or where magnets can be used to detect misalignment of system components rotating at different speeds.

<FIG> illustrates one exemplary implementation of a perturbator system <NUM> containing a frame <NUM>. The system <NUM> also can include a drive motor <NUM>, a drive motor <NUM>, a sensor <NUM>, a sensor <NUM>, a shaft <NUM>, a shaft <NUM>, and a shaft <NUM>. The sensors <NUM>, <NUM> can be used to determine torsional, axial, and radial perturbations through the shafts <NUM>, <NUM> due to the perturbator <NUM>. As described below, the perturbator <NUM> can generate axial and torsional perturbations through the shafts <NUM>, <NUM> due to magnets arranged within the perturbator <NUM>. The perturbator <NUM> includes two separate rotors which can be rotated relative to one another, with one rotor being driven by the drive motor <NUM> via shafts <NUM>, <NUM>, and the other rotor being driven by the drive motor <NUM> via the shaft <NUM>. The frame <NUM> can support additional components within the system <NUM> to allow for the testing and calibration of the sensors <NUM>, <NUM>. The drive motors <NUM> and <NUM> rotate in similar and/or opposite directions in order to create the required frequency of perturbations.

<FIG> illustrates one exemplary implementation of the perturbator <NUM> of <FIG>. The perturbator <NUM> includes an inner rotor <NUM> and an outer rotor <NUM>. The inner rotor <NUM> is concentrically arranged within the outer rotor <NUM> and can rotate relative to the outer rotor <NUM>. Additionally, the inner rotor <NUM> can rotate relative to the outer rotor <NUM>. The inner rotor <NUM> can include a body <NUM> and a hub <NUM>, where the hub <NUM> can be configured to non-rotatably secure the inner rotor <NUM> to the shaft <NUM>. The hub <NUM> can include an aperture <NUM> which the shaft <NUM> can be inserted in to order to transmit rotational power from the drive motor <NUM> to the inner rotor <NUM>. Additionally, the inner rotor <NUM> can include a cover <NUM>, which can be secured to the outer surface of the body <NUM> of the inner rotor <NUM>. In an exemplary implementation, the cover <NUM> can be used to further secure magnets within the body <NUM> of the inner rotor <NUM> during rotation of the inner rotor <NUM> due to a centrifugal force. The cover <NUM> can also be concentrically arranged within the outer rotor <NUM> and secured to the inner hub <NUM> via screws <NUM>.

In addition to the inner hub <NUM>, the outer hub <NUM> can include a body <NUM> and a hub <NUM>, where the hub <NUM> can be configured to non-rotatably secure the outer rotor <NUM> to the shaft <NUM>. The hub <NUM> can include an aperture (not shown) which the shaft <NUM> can be inserted in to transmit rotational power from the drive motor <NUM> to the outer rotor <NUM>. The body <NUM> can include an aperture <NUM>, which can allow the inner hub <NUM> to be concentrically arranged within the outer hub <NUM>. Additionally, the outer rotor <NUM> can include a cover <NUM>, which can be secured to the outer surface of the body <NUM> of the outer rotor <NUM>. The cover <NUM> can include an aperture <NUM> to allow the inner rotor <NUM> to be inserted within the outer rotor <NUM>. In an exemplary implementation, the cover <NUM> can be used to further secure magnets within the body <NUM> of the outer rotor <NUM> during rotation of the outer rotor <NUM> due to a centrifugal force. The cover <NUM> can be secured to the outer rotor <NUM> via screws <NUM>.

<FIG> illustrates a cross-sectional view taken along line <NUM>-<NUM> in <FIG>, and depicts the concentric arrangement of the inner hub <NUM> and the outer hub <NUM>. In an exemplary implementation, the inner hub <NUM> can include magnet 126A and magnet 126B arranged within the body <NUM> of the inner hub, and the outer hub <NUM> can include magnet 128A and magnet 128B arranged within the body <NUM> of the outer hub <NUM>. The magnet 126A can be arranged <NUM>° relative to the magnet 126B on the inner rotor <NUM>. Additionally, the magnet 128A can be arranged <NUM>° relative to the magnet 128B on the outer rotor <NUM>. As depicted in <FIG>, the magnets 126A, 126B, 128A, 128B can be arranged within the same axial plane along the axis of rotation AR. In some embodiments, the magnets within the hubs are permanent magnets with a set pole orientation and magnetic field strength. In other embodiments, the magnets within the hubs are electromagnets which can vary in pole orientation and magnetic field strength. The electromagnets are configured to alter the pole orientation and magnetic field strength in order to test varying radial, axial, and torsional forces between the two hubs without changing the magnets within the hubs. The electromagnets are powered by an external power source (not shown) which can be integral with the system or arranged external.

As the magnets 126A, 126B align with the magnets 128A, 128B, respectively, a torque force is generated between the inner rotor <NUM> and the outer rotor <NUM> as the similar and/or opposite poles of the magnets 126A, 126B, 128A, 128B align with one another. In an exemplary implementation, an alignment of similar magnetic poles can produce a torque force in a first rotational direction since the inner rotor <NUM> is repelled relative to the outer rotor <NUM> in the first rotational direction. Additionally, an alignment of opposite magnetic poles can produce a torque force in a second rotational direction, opposite the first direction, since the inner rotor <NUM> is stable when the opposite magnetic poles of the magnets 126A, 126B, 128A, 128B are aligned and attracted to alignment with the outer rotor <NUM>. Since the inner rotor <NUM> is stable when opposite magnetic poles are aligned, as the inner rotor <NUM> and the outer rotor <NUM> are further rotated by the drive motors <NUM>, <NUM>, the inner rotor <NUM> and outer rotor <NUM> will generate a torque force in the second rotational direction.

<FIG> illustrates an exploded view of the perturbator <NUM>. In an exemplary implementation, the magnets 126A, 126B are secured within partial through-bores <NUM> within the body <NUM> of the inner rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 126A, 126B perpendicular to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 126A, 126B in order to cushion the magnets 126A, 126B against the inner hub <NUM>. The rings <NUM> can also apply a force to the magnets 126A, 126B perpendicular to the axis of rotation AR, which would encapsulate the magnets 126A, 126B between the body <NUM> and the cover <NUM> to prevent the magnets 126A, 126B from shifting during rotation of the inner hub <NUM>.

Similar to the inner rotor <NUM>, the outer rotor <NUM> secures the magnets 128A, 128B in a substantially similar form. In an exemplary implementation, the magnets 128A, 128B are secured within partial through-bores <NUM> within the body <NUM> of the outer rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 128A, 128B perpendicular to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 128A, 128B in order to cushion the magnets 128A, 128B against the outer hub <NUM>. The rings <NUM> can also apply a force to the magnets 128A, 128B perpendicular to the axis of rotation AR, which would encapsulate the magnets 128A, 128B between the body <NUM> and the cover <NUM> to prevent the magnets 128A, 128B from shifting during rotation of the outer rotor <NUM>.

Even though the perturbator <NUM> is depicted with only four magnets, it is possible to include additional magnets in both the inner rotor and outer rotor in order to increase the stable and unstable nodes of the perturbator. <FIG> illustrates an exploded view of another exemplary implementation of a perturbator <NUM>. The perturbator <NUM> is substantially similar to the perturbator <NUM> except for the amount and location of the magnets within the inner rotor and outer rotor. In an exemplary implementation, the magnets 226A, 226B, 226C, 226D are secured within partial through-bores <NUM> within the body <NUM> of the inner rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 226A, 226B, 226C, 226D perpendicular to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 226A, 226B, 226C, 226D in order to cushion the magnets 226A, 226B, 226C, 226D against the inner hub <NUM>. The rings <NUM> can also apply a force to the magnets 226A, 226B, 226C, 226D perpendicular to the axis of rotation AR, which would encapsulate the magnets 226A, 226B, 226C, 226D between the body <NUM> and the cover <NUM> to prevent the magnets 226A, 226B, 226C, 226D from shifting during rotation of the inner hub <NUM>.

Similar to the inner rotor <NUM>, the outer rotor <NUM> secures the magnets 228A, 228B, 228C, 228D in a substantially similar form. In an exemplary implementation, the magnets 228A, 228B, 228C, 228D are secured within partial through-bores <NUM> within the body <NUM> of the outer rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 228A, 228B, 228C, 228D perpendicular to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 228A, 228B, 228C, 228D in order to cushion the magnets 228A, 228B, 228C, 228D against the outer hub <NUM>. The rings <NUM> can also apply a force to the magnets 228A, 228B, 228C, 228D perpendicular to the axis of rotation AR, which would encapsulate the magnets 228A, 228B, 228C, 228D between the body <NUM> and the cover <NUM> to prevent the magnets 228A, 228B, 228C, 228D from shifting during rotation of the outer rotor <NUM>. With the addition of the magnets 226C, 226D, 228C, 228D, there are is an additional stable and unstable node in order to generate perturbations during rotation of the perturbator <NUM> compared to the perturbator <NUM>.

<FIG> illustrates an exploded view of another exemplary implementation of a perturbator <NUM>. The perturbator <NUM> is substantially similar to the perturbators <NUM>, <NUM> except for the amount and location of the magnets within the inner rotor and outer rotor. In an exemplary implementation, the magnets 326A, 326B, 326C, 326D, 326E, 326F are secured within partial through-bores <NUM> within the body <NUM> of the inner rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 326A, 326B, 326C, 326D, 326E, 326F perpendicular to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 326A, 326B, 326C, 326D, 326E, 326F in order to cushion the magnets 326A, 326B, 326C, 326D, 326E, 326F against the inner hub <NUM>. The rings <NUM> can also apply a force to the magnets 326A, 326B, 326C, 326D, 326E, 326F perpendicular to the axis of rotation AR, which would encapsulate the magnets 326A, 326B, 326C, 326D, 326E, 326F between the body <NUM> and the cover <NUM> to prevent the magnets 326A, 326B, 326C, 326D, 326E, 326F from shifting during rotation of the inner hub <NUM>.

Similar to the inner rotor <NUM>, the outer rotor <NUM> secures the magnets 328A, 328B, 328C, 328D, 328E, 328F in a substantially similar form. In an exemplary implementation, the magnets 328A, 328B, 328C, 328D, 328E, 328F are secured within partial through-bores <NUM> within the body <NUM> of the outer rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 328A, 328B, 328C, 328D, 328E, 328F perpendicular to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 328A, 328B, 328C, 328D, 328E, 328F in order to cushion the magnets 328A, 328B, 328C, 328D, 328E, 328F against the outer hub <NUM>. The rings <NUM> can also apply a force to the magnets 328A, 328B, 328C, 328D, 328E, 328F perpendicular to the axis of rotation AR, which would encapsulate the magnets 328A, 328B, 328C, 328D, 328E, 328F between the body <NUM> and the cover <NUM> to prevent the magnets 328A, 328B, 328C, 328D, 328E, 328F from shifting during rotation of the outer rotor <NUM>. With the addition of the magnets 326E, 326F, 328E, 328F, there are is an additional stable and unstable node in order to generate perturbations during rotation of the perturbator <NUM> compared to the perturbator <NUM>.

In addition to producing a torque along the shafts connected to the perturbator, a perturbator can also be configured to produce an axial force along the shafts by arranging the magnets within the perturbator. <FIG> illustrate an exemplary implementation of a perturbator <NUM> which produces an axial force between the rotors of the perturbator <NUM>. The perturbator can include a rotor <NUM> and a rotor <NUM>. The rotors <NUM> and <NUM> can be substantially similar to one another. The rotor <NUM> can include a body <NUM>, a hub <NUM>, and a cover <NUM>. The body <NUM> can include partial through-bores (not shown) which can house the magnets 426A, 426B, 426C, 426D. The hub <NUM> includes an aperture <NUM> for non-rotatably connecting the rotor <NUM> to a rotating shaft. In an exemplary implementation, the magnets 426A, 426B, 426C, 426D are secured within the partial through-bores within the body <NUM> of the rotor <NUM>. The partial through-bores can be configured to arrange the magnetic poles of the magnets 426A, 426B, 426C, 426D parallel to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore prior to the magnets 426A, 426B, 426C, 426D in order to cushion the magnets 426A, 426B, 426C, 426D against the rotor <NUM>. The rings <NUM> can also apply a force to the magnets 426A, 426B, 426C, 426D parallel to the axis of rotation AR, which would encapsulate the magnets 426A, 426B, 426C, 426D between the body <NUM> and the cover <NUM> to prevent the magnets 426A, 426B, 426C, 426D from shifting during rotation of the rotor <NUM>.

Similar to the rotor <NUM>, the rotor <NUM> secures the magnets 428A, 428B, 428C, 428D in a substantially similar form. In an exemplary implementation, the magnets 428A, 428B, 428C, 428D are secured within partial through-bores <NUM> within the body <NUM> of the rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 428A, 428B, 428C, 428D parallel to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 428A, 428B, 428C, 428D in order to cushion the magnets 428A, 428B, 428C, 428D against the rotor <NUM>. The rings <NUM> can also apply a force to the magnets 428A, 428B, 428C, 428D perpendicular to the axis of rotation AR, which would encapsulate the magnets 428A, 428B, 428C, 428D between the body <NUM> and the cover <NUM> to prevent the magnets 428A, 428B, 428C, 428D from shifting during rotation of the rotor <NUM>.

In an exemplary implementation, due to the arrangement of the magnets 426A, 426B, 426C, 426D, 428A, 428B, 428C, 428D, as the rotors <NUM>, <NUM> rotate relative to one another, an alignment of similar magnetic poles can produce an axial force in a first axial direction, parallel to the axis of rotation AR, since the rotor <NUM> is repelled relative to the outer rotor <NUM>. Additionally, an alignment of opposite magnetic poles can produce an axial force in a second axial direction, opposite the first direction, since the rotor <NUM> is attracted to the rotor <NUM> when the opposite magnetic poles of the magnets are aligned.

In addition to producing a single torque force and a single axial force along the shafts connected to the perturbator, a perturbator can also be configured to produce both an axial force and a torque force along the shafts by arranging the magnets within the perturbator. <FIG> illustrate an exemplary implementation of a perturbator <NUM> which produces an axial force and a torque force between the rotors of the perturbator <NUM>. The perturbator <NUM> can include an inner rotor <NUM> and an outer rotor <NUM>. In an exemplary implementation, the inner rotor <NUM> and the outer rotor <NUM> are both conically shaped in order to place the magnetic poles of the magnets within the inner rotor <NUM> and outer rotor <NUM> at an angle relative to the axis of rotation AR.

The inner rotor <NUM> can include a body <NUM>, a hub <NUM>, and a cover <NUM>. The body <NUM> can include partial through-bores <NUM> which can house the magnets 526A, 526B, 526C, 526D. The hub <NUM> includes an aperture for non-rotatably connecting the inner rotor <NUM> to a rotating shaft. In an exemplary implementation, the magnets 526A, 526B, 526C, 526D are secured within the partial through-bores <NUM> within the body <NUM> of the inner rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 526A, 526B, 526C, 526D at an angle relative to the axis of rotation AR along the X-axis. By placing the magnetic poles at an angle between <NUM>° and <NUM>°, both an axial force and a torque force can be generated simultaneously on the rotors <NUM>, <NUM>.

Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 526A, 526B, 526C, 526D in order to cushion the magnets 526A, 526B, 526C, 526D against the inner rotor <NUM>. The rings <NUM> can also apply a force to the magnets 526A, 526B, 526C, 526D, which would encapsulate the magnets 526A, 526B, 526C, 526D between the body <NUM> and the cover <NUM> to prevent the magnets 526A, 526B, 526C, 526D from shifting during rotation of the rotor <NUM>.

Similar to the inner rotor <NUM>, the outer rotor <NUM> secures the magnets 528A, 528B, 528C, 528D in a substantially similar form. In an exemplary implementation, the magnets 528A, 528B, 528C, 528D are secured within partial through-bores <NUM> within the body <NUM> of the outer rotor <NUM>. The partial through-bores <NUM> can be configured to arrange the magnetic poles of the magnets 528A, 528B, 528C, 528D at an angle relative to the axis of rotation AR. Additionally, rings <NUM> can be inserted into each partial through-bore <NUM> prior to the magnets 528A, 528B, 528C, 528D in order to cushion the magnets 528A, 528B, 528C, 528D against the rotor <NUM>. The rings <NUM> can also apply a force to the magnets 528A, 528B, 528C, 528D, which would encapsulate the magnets 528A, 528B, 528C, 528D between the body <NUM> and the cover <NUM> to prevent the magnets 528A, 528B, 528C, 528D from shifting during rotation of the outer rotor <NUM>.

In an exemplary implementation, due to the arrangement of the magnets 526A, 526B, 526C, 526D, 528A, 528B, 528C, 528D, as the rotors <NUM>, <NUM> rotate relative to one another, an alignment of similar magnetic poles can produce an axial force and a torque force simultaneously, since the inner rotor <NUM> is repelled relative to the outer rotor <NUM>. Additionally, an alignment of opposite magnetic poles can produce an axial force and a torque force, since the inner rotor <NUM> is attracted to the rotor <NUM> when the opposite magnetic poles of the magnets are aligned.

<FIG> illustrates a schematic view of the magnetic poles of the perturbator <NUM> in a stable state. As depicted, the N pole of the magnet 526A is aligned with the S pole of the magnet 528A, the N pole of the magnet 526B is aligned with the S pole of the magnet 528B, the S pole of the magnet 526C is aligned with the N pole of the magnet 528C, and the S pole of the magnet 526D is aligned with the N pole of the magnet 528D. Due to the alignment of the magnets, as the inner rotor rotates relative to the outer rotor, the inner rotor can resist the rotation of the inner rotor since the magnets of the perturbator <NUM> want to stay aligned. However, since the drive motors <NUM>, <NUM> can overcome the magnetic strength of the magnets, a torque can be applied in an opposite direction of rotation. This opposite torque force applied to the shaft is represented in graph <NUM> by line <NUM> of <FIG>. Additionally, the radial force applied to the shaft by the magnets is represented by graph <NUM> by line <NUM>. Lines <NUM> and <NUM> depict the change in both torque force and radial force as the magnets rotate <NUM>° about each other.

As illustrated in <FIG>, graphs <NUM> and <NUM> illustrate the frequency components in the radial and tangential (torque) direction, respectively, of <FIG>. While the system is in use, a user will want to be able to precisely control excitation of either the radial or the torque loads independently. In the configuration illustrated in <FIG>, the spectral components 512A, 512B in graph <NUM>, and the spectral components 516A, 516B, 516C, 516D in graph <NUM> have no overlap, so there is complete separation between the radial and torque components (in signal processing terms the radial and torque components are orthogonal). The result is the ability to excite distinct radial and torsional response with a single perturbator. This allows the system to test radial and torque perturbation at the same time without getting cross-coupling between the two forces, eliminating the need for an additional perturbator.

<FIG> illustrates a schematic view of another exemplary implementation of the magnetic poles of the perturbator <NUM>. As depicted, the N pole of the magnet 526A is aligned with the N pole of the magnet 528A, the N pole of the magnet 526B is aligned with the S pole of the magnet 528B, the S pole of the magnet 526C is aligned with the N pole of the magnet 528C, and the N pole of the magnet 526D is aligned with the N pole of the magnet 528D. Due to the alignment of the magnets, as the inner rotor rotates relative to the outer rotor, the inner rotor can resist the rotation of the inner rotor since the magnets of the perturbator want to stay aligned. However, since the drive motors <NUM>, <NUM> can overcome the magnetic strength of the magnets, a torque can be applied in an opposite direction of rotation. This opposite torque force applied to the shaft is represented in graph <NUM> by line <NUM> of <FIG>. Additionally, the radial force applied to the shaft by the magnets is represented by graph <NUM> by line <NUM>. Lines <NUM> and <NUM> depict the change in both torque force and radial force as the magnets rotate <NUM>° about each other. Compared to the graphs <NUM>, <NUM>, it is illustrated that due to the arrangement of the magnets, the radial force applied to the shaft by the perturbator <NUM> is more than double the arrangement of the perturbator <NUM>. Additionally, the torque force is only applied to the shaft at one alignment phase, where magnet 626C is aligned with magnet 628A, magnet 626A is aligned with magnet 628D, magnet 626D is aligned with magnet 628B, and magnet 626B is aligned with magnet 628C.

<FIG> illustrates the frequency components in the radial and tangential (torque) direction, respectively, of <FIG>. Graphs <NUM> and <NUM> illustrate an overlap of these spectral forces, 532A-532D and 536A-537E, so that both the radial and torque forces can be applied at the same time. For example, order #<NUM> in the radial and order #<NUM> in the torque have a value. This allows for the testing of the system response to cross-coupled torque and radial load. This type of force generation simulates rubbing of components when a rotating element contacts a stationary element changing the radial position and inducing torque at the same time.

Certain exemplary implementations have been described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the systems, devices, and methods disclosed herein. One or more examples of these implementations have been illustrated in the accompanying drawings. Those skilled in the art will understand that the systems, devices, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary implementations and that the scope of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary implementation may be combined with the features of other implementations. Such modifications and variations are intended to be included within the scope of the present invention. Further, in the present invention, like-named components of the implementations generally have similar features, and thus within a particular implementation each feature of each like-named component is not necessarily fully elaborated upon.

Claim 1:
A system (<NUM>) for generating perturbations with a known waveform and amplitude to calibrate a torsional, axial and radial force sensor (<NUM>,<NUM>), the system comprising:
a first rotor (<NUM>) holding a first magnet (126A) and a second magnet (126B);
a second rotor (<NUM>) holding a third magnet (128A) and a fourth magnet (128B),
wherein the first rotor (<NUM>) is rotatably arranged with the second rotor (<NUM>), the first rotor (<NUM>) being arranged concentrically within the second rotor (<NUM>), wherein the first magnet (126A) and the second magnet (126B) are configured to interact with the third magnet (128A) and the fourth magnet (128B) to create a force between the first rotor (<NUM>) and the second rotor (<NUM>) as the first rotor rotates relative to the second rotor, wherein the first rotor (<NUM>) is non-rotatably secured to a first rotating shaft (<NUM>), and the second rotor (<NUM>) is non-rotatably secured to a second rotating shaft (<NUM>);
a first drive motor (<NUM>) configured to rotate the first shaft (<NUM>);
a second drive motor (<NUM>) configured to rotate the second shaft (<NUM>); and
the sensor (<NUM>, <NUM>) configured to measure the axial, torsional, and radial forces applied to the first shaft;
wherein the drive motors (<NUM>,<NUM>) are arranged to rotate in similar and/or opposite directions in order to create the required frequency of perturbations.