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ThC09.6
I. INTRODUCTION
HERE are two well-known analogies between mechanical
and electrical systems, namely the force-voltage and
force-current analogies. In the force-current analogy,
the spring, damper and mass of mechanical systems are analog
to the inductor, resistor and capacitor of electrical systems.
However, it is noted that one terminal of mass is always
grounded, such that the electrical networks with ungrounded
capacitors do not have a direct mechanical analogy with
springs, dampers and masses. As a result, it potentially
narrows the class of passive mechanical impedances which
can be physically realized [1]. It was from the appreciation of
the gap in the old analogy between mechanical and electrical
networks that a new mechanical element, called Inerter, was
proposed [2]. An Inerter is an ideal mechanical two-terminal
element that is a substitute for the mass element in
mechanical/electrical analogy, with the defining equation as
follows:
F =b
d ( v2 v1 )
,
dt
(1)
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zr zs
zr zs 2
= 2 (V )
2
1
Tz k ( z z ) , (5)
s r t u r 2
J 5 = TF z
(6)
m u zu s 2 = u Fr ,
Layout
S1
S2
S3
J1
2.9882
2.5773
2.4281
Layout
S1
S2
S3
J3
598.52
548.98
501.20
Layout
S1
S2
S3
c (Ns/m)
10230
9301.3
11174
b (kg)
128.57
366.52
b (kg)
104.89
363.55
b (kg)
328.34
1232.4
For S2, u = ( k + cs + bs 2 )( z s zu ) ,
For S3, u = ( k +
bcs2
)( zs zu ) .
bs + c
Fs
ms
zs
Q
mu
zu
kt
zr
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nut
bearing
ks cs
nut
x1
x3 x 2
(7)
A. Testing Platform
The testing platform is a motion table with one degree of
freedom which is driven by a servo motor to control the
displacement of the suspension strut, as shown in Figure 6.
The force of the device is measured by an S-type load cell with
the maximum load of 100 kg and resolution of 0.02 kg, while
the displacement is measured by a position encoder with an
accuracy of 1 m. Both of the force and displacement signals
are acquired through a LabViewTM program.
Servo motor
A+ = {( x d , x d ) : k s x d + c s x d k s },
Ball-screw Inerter
A r = {( x d , x d ) : k s x d + c s x d < k s },
A = {( x d , x d ) : k s x d + c s x d k s }.
Three contact phenomena can be drawn from [10]:
There can be persistent right contact (during a non-zero
interval) only in A+ and persistent left contact only in A-.
If the system state ( x d , x d ) at the initial time t = t0 lies
in A+ with xb ( t0 ) = (right contact), then xb (t1 ) = for
all times t1 > t0 such that ( x d ( t ), x d ( t )) A+ for all
t [t 0 , t1 ] . If ( x d ( t 0 ), x d ( t 0 )) A with xb (t0 ) =
(left contact), then xb (t1 ) = for all times t1 > t0 such
that ( x d ( t ), x d ( t )) A for all t [t 0 , t1 ] .
min ( f th ( ks , cs , , f ) f exp ) ,
B. Friction
Friction force exists in the contact surfaces. In order to
reduce the friction, devices are often lubricated to reduce the
k s ,cs , , f
(8)
where fexp is the force measured from the experiments, and fth
is the force calculated from the theoretical non-linear model.
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15
0.8
10
0.6
displacement (mm)
0.4
5
force (N)
0.2
0
-0.2
-5
-0.4
-0.6
-10
-0.8
-1
10
15
20
25
30
time (s)
35
40
45
-15
10
50
15
20
25
30
time (s)
35
40
45
J3 =
50
E Fr2 (t )
, in which Fr = kt ( zr zu ) .
Force
force (N)
0.2
-0.2
-0.4
-50
-0.6
-0.8
-1
-100
2
2.1
2.2
2.3
2.4
2.5
time (s)
2.6
2.7
2.8
2.9
2.1
2.2
2.3
2.4
2.5
time (s)
2.6
2.7
2.8
2.9
0.04
S2
z r (m)
(10)
i =1
0.6
zr = Ai sin(i t + ) ,
50
experiment
theoretical
100
0.4
1
0.8
S3
0.02
-0.02
-0.04
50
100
150
200
time (sec)
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J 5 = TF z
s
= sup
s
Fs 0
zs
F
= sup
Fs 0
zs
Fs
(11)
35
30
J1 improvement (%)
J1
S1
S2
S2
S2
S3
S3
S3
0.5
1.5
(ideal)
([soft])
([hard])
(ideal)
([soft])
([hard])
20
x 10
1.5
2.5
3
x 10
(b) % improvement of J1
30
800
J3
700
(ideal)
([soft])
([hard])
(ideal)
([soft])
([hard])
25
J3 improvement (%)
S1
S2
S2
S2
S3
S3
S3
900
600
500
20
S2
S2
S2
S3
S3
S3
(ideal)
([soft])
([hard])
(ideal)
([soft])
([hard])
0.5
15
10
5
400
300
0
0.5
1.5
2.5
3
x 10
1.5
2.5
(c) J3.optimisation.
3
x 10
(d) % improvement of J3
-5
30
J5
(ideal)
([soft])
([hard])
(ideal)
([soft])
([hard])
25
J3 improvement (%)
S1
S2
S2
S2
S3
S3
S3
10
2
0
0.5
10
(a) J1.optimisation.
x 10
(ideal)
([soft])
([hard])
(ideal)
([soft])
([hard])
15
0
0
1000
12
S2
S2
S2
S3
S3
S3
2.5
25
20
S2
S2
S2
S3
S3
S3
(ideal)
([soft])
([hard])
(ideal)
([soft])
([hard])
0.5
15
10
5
0.5
1.5
2.5
3
x 10
1.5
2.5
3
x 10
(e) J5.optimisation.
(f) % improvement of J5
Figure 11. Performance optimizations of the quarter-car model
employing inerters with the elastic effect.
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