Resonance identification extension for a self-balancing rotatable apparatus

摘要

A method for identifying resonance in a rotating system, wherein the rotating system includes sensors and sensor measurements thereof whose responses to control actions is utilized to represent the rotating system through a control model is disclosed. The control model determines actions required to balance the system (i.e., to drive sensor measurements to zero). The current state of the system is evaluated and recorded by obtaining current sensor readings from at least one sensor associated with the rotating device. The system model can then be used with at least one current sensor reading to calculate at least one predicted sensor reading due to changes in rotational speed of the rotating system. After changing the speed of the rotating system new sensor readings can be obtained and recorded. The new sensor readings can then be compared to the predicted sensor readings to determine if the rotating system is entering resonance, based on a difference between the current sensor readings and the predicted sensor readings. The resonance of the rotating system may thus be dynamically identified.