Plenary Lecture 4 August 2003 Fukui, Japan Annual ...The Inerter Concept and Its Application Malcolm...
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The Inerter Concept and Its Application
Malcolm C. SmithDepartment of Engineering
University of CambridgeU.K.
Society of Instrument and Control Engineers (SICE)Annual Conference
Fukui, Japan4 August 2003
Plenary Lecture
1
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The Inerter Concept and Its Application Malcolm C. Smith
Motivating Example – Vehicle Suspension
Performance objectives
1. Control vehicle body in the face of variable loads.
2. Minimise roll, pitch (dive and squat).
3. Improve ride quality (comfort).
4. Improve tyre grip (road holding).
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The Inerter Concept and Its Application Malcolm C. Smith
Types of suspensions
1. Passive.
2. Semi-active.
3. Self-levelling.
4. “Fully active”.
Constraints
1. Suspension deflection—hard limit.
2. Actuator constraints (e.g. bandwidth).
3. Difficulty of measurement (e.g. absolute ride-height).
A Challenging set of Problems for the Designer
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The Inerter Concept and Its Application Malcolm C. Smith
Quarter-car Vehicle Model
suspension force
loaddisturbances
roaddisturbances
mu
Fs
u
ms
zs
zu
zr
kt
Equations of motion:
mszs = Fs − u,muzu = u+ kt(zr − zu).
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The Inerter Concept and Its Application Malcolm C. Smith
Invariant Equation
The following equation holds
mszs +muzu = Fs + kt(zr − zu)
independently of u.
This represents behaviour that the suspension designer cannot influence.
Consequence: any one of the following disturbance transmission pathsdetermines the other two.
road (zr)
sprung mass (zs)
suspension deflection (zs − zu)
tyre deflection (zs − zu)
J.K. Hedrick and T. Butsuen, Invariant properties of automotivesuspensions, Proc. Instn. Mech. Engrs., 204 (1990), pp. 21–27.
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The Inerter Concept and Its Application Malcolm C. Smith
Invariant Points
ω1 =√
ktmu
“tyre-hop” invariant frequency
For any suspension:
zszr
(jω1) = −mu
ms
10−1
100
101
102
103
10−4
10−2
100
Frequency (rad/sec)
Mag
nitu
de
10−1
100
101
102
103
−250
−200
−150
−100
−50
0
Frequency (rad/sec)
Pha
se (
degr
ees)
road (zr) → sprung mass (zs)
ω1
ω1
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The Inerter Concept and Its Application Malcolm C. Smith
Further Work
1. What is the complete freedom on a given transfer function? [1]
2. What is the minimum number of sensors required to achieve a givenbehaviour? [1]
3. Are there conservation laws? [1]
4. Can disturbance paths for “ride” and “handling” be adjustedindependently? [2]
[1] M.C. Smith, Achievable dynamic response for automotiveactive suspension, Vehicle System Dynamics, 24 (1995), pp. 1–33.
[2] M.C. Smith and G.W. Walker, Performance limitations andconstraints for active and passive suspensions: a mechanical multi-port approach, Vehicle System Dynamics, 33 (2000), pp. 137–168.
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The Inerter Concept and Its Application Malcolm C. Smith
Conservation Laws
0 dB
rad/sec
magnitude
grip transfer function (road → tyre deflection)
Area formula: Area ofamplification is equal tothe area of attenuation.
True for any suspensionsystem (active or passive).
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The Inerter Concept and Its Application Malcolm C. Smith
Active Suspension Design
(1) Modal Decomposition
(2) Decoupling of Rideand Handling
ms
mu
kt
kscs
zs
zs − zu
mscss+ks
Ku ++A
[1] R.A. Williams, A. Best and I.L. Crawford, “Refined Low Frequency Active Suspension”,
Int. Conf. on Vehicle Ride and Handling, Nov. 1993, Birmingham, Proc. ImechE, 1993-9,
C466/028, pp. 285–300, 1993.
[2] K. Hayakawa, K. Matsumoto, M. Yamashita, Y. Suzuki, K. Fujimori, H. Kimura, “Robust
H∞ Feedback Control of Decoupled Automobile Active Suspension Systems”, IEEE Transac-
tions on Automat. Contr., 44 (1999), pp. 392–396.
[3] M.C. Smith and F-C. Wang, Controller Parameterization for Disturbance Response Decou-
pling: Application to Vehicle Active Suspension Control, IEEE Trans. on Contr. Syst. Tech.,
10 (2002), pp. 393–407.
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The Inerter Concept and Its Application Malcolm C. Smith
Passive Suspensions (Abstract Approach)
Try to understand which vehicle dynamic behaviours are possible and whichare not — without worrying initially how the behaviour is realised.
This is a black-box approach.
Classical electrical circuit theory should be applicable.
Driving-Point Impedance
Z(s) =v(s)i(s)
i
i
vElectricalNetwork
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The Inerter Concept and Its Application Malcolm C. Smith
Classical Electrical Network Synthesis
Definition. A network is passive if for all admissible v, i which are squareintegrable on (−∞, T ], ∫ T
−∞v(t)i(t) dt ≥ 0.
Theorem 1. A network is passive if and only if Z(s) is positive-real, i.e.Z(s) is analytic and Re(Z(s)) ≥ 0 in Re(s) > 0.
Re
Im
Z(jω)forbidden
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The Inerter Concept and Its Application Malcolm C. Smith
Fundamental Theorem of Electrical Network Synthesis
Theorem 2. Brune (1931), Bott-Duffin (1949). Any rational function whichis positive-real can be realised as the driving-point impedance of an electricalnetwork consisting of resistors, capacitors and inductors.
PositiveReal
Function
CircuitRealisation
Classic reference: E.A. Guillemin, Synthesis of Passive Networks, Wiley, 1957.
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The Inerter Concept and Its Application Malcolm C. Smith
Electrical-Mechanical Analogies
1. Force-Voltage Analogy.
voltage ↔ force
current ↔ velocity
Oldest analogy historically, cf. electromotive force.
2. Force-Current Analogy.
current ↔ force
voltage ↔ velocity
electrical ground ↔ mechanical ground
Independently proposed by: Darrieus (1929), Hahnle (1932), Firestone (1933).
Respects circuit “topology”, e.g. terminals, through- and across-variables.
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The Inerter Concept and Its Application Malcolm C. Smith
Standard Element Correspondences (Force-Current Analogy)
v = Ri resistor ↔ damper cv = F
v = L didt inductor ↔ spring kv = dFdt
C dvdt = i capacitor ↔ mass mdv
dt = F
v1
v1
v2
v2
ii
FF
Electrical
Mechanical
What are the terminals of the mass element?
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The Inerter Concept and Its Application Malcolm C. Smith
The Exceptional Nature of the Mass Element
Newton’s Second Law gives the following network interpretation of the masselement:
• One terminal is the centre of mass,
• Other terminal is a fixed point in the inertial frame.
Hence, the mass element is analogous to a grounded capacitor.
Standard network symbolfor the mass element:
v1 = 0v2
F
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The Inerter Concept and Its Application Malcolm C. Smith
Table of usual correspondences
•
ElectricalMechanical
spring
mass
damper
inductor
capacitor
resistor
i
i
ii
i
i
v1
v1
v1
v1
v1
v1 = 0v2
v2
v2
v2
v2
v2
F
FF
FF
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The Inerter Concept and Its Application Malcolm C. Smith
Consequences for network synthesis
Two major problems with the use of the mass element for synthesis of“black-box” mechanical impedences:
• An electrical circuit with ungrounded capacitors will not have a directmechanical analogue,
• Possibility of unreasonably large masses being required.
Question
Is it possible to construct a physical device such thatthe relative acceleration between its endpoints is pro-portional to the applied force?
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The Inerter Concept and Its Application Malcolm C. Smith
One method of realisation
terminal 2 terminal 1gear
rack pinions
flywheel
r1 = radius of rack pinion γ = radius of gyration of flywheelr2 = radius of gear wheel m = mass of the flywheelr3 = radius of flywheel pinion α1 = γ/r3 and α2 = r2/r1
Equation of motion: F = (mα21α
22) (v2 − v1)
(Assumes mass of gears, housing etc is negligible.)
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The Inerter Concept and Its Application Malcolm C. Smith
The Ideal Inerter
We define the Ideal Inerter to be a mechanical one-port device suchthat the equal and opposite force applied at the nodes isproportional to the relative acceleration between the nodes, i.e.
F = b(v2 − v1).
We call the constant b the inertance and its units are kilograms.
The stored energy in the inerter is equal to 12b(v2 − v1)2.
The ideal inerter can be approximated in the same sense that real springs,dampers, inductors, etc approximate their mathematical ideals.
We can assume its mass is small.
M.C. Smith, Synthesis of Mechanical Networks: The Inerter,IEEE Trans. on Automat. Contr., 47 (2002), pp. 1648–1662.
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The Inerter Concept and Its Application Malcolm C. Smith
A new correspondence for network synthesis
••
ElectricalMechanical
spring
inerter
damper
inductor
capacitor
resistor
i
i
ii
i
i
v1
v1
v1
v1
v1
v1
v2
v2
v2
v2
v2
v2
Y (s) = ks
dFdt = k(v2 − v1)
Y (s) = bs
F = bd(v2−v1)dt
Y (s) = c
F = c(v2 − v1)
Y (s) = 1Ls
didt = 1
L (v2 − v1)
Y (s) = Cs
i = C d(v2−v1)dt
Y (s) = 1R
i = 1R (v2 − v1)
FF
FF
FF
Y (s) = admittance =1
impedance
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The Inerter Concept and Its Application Malcolm C. Smith
A New Approach to Vibration Absorption
m
k3
M
mω20
y
x
z
c1
Mx
z
k2
k1
c
k1/ω20 inerter
Conventional vibration absorber Solution using inerters
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The Inerter Concept and Its Application Malcolm C. Smith
The Inerter applied to Passive Vehicle Suspensions
mu
Fs
Y (s)
ms
zs
zu
zr
kt
The design of a passive suspensionsystem can be viewed as the searchfor a suitable positive-real admittanceY (s) to optimise desired performancemeasures.
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The Inerter Concept and Its Application Malcolm C. Smith
Traditional Suspension Struts
Theorem 3. The driving-point admittance Y (s)of a finite network of springs and dampers onlyhas all its poles and zeros simple and alternatingon the negative real axis with a pole being rightmost.
Re
Im
Corollary. For ω ≥ 0:
−20 dB ≤ Bode-slope(|Y (jω)|) ≤ 0 dB,
−90 ≤ arg(Y (jω)) ≤ 0.
ω
ω
0 dB
arg(Y (jω))
|(Y (jω))|
+90
−90
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The Inerter Concept and Its Application Malcolm C. Smith
Realisations in Foster form
Theorem 4. Any admittance comprising an arbitrary interconnection ofsprings, dampers (and levers) can be realised in the following form:
k
k1
c1
k2
c2
kn
cn
. . .
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The Inerter Concept and Its Application Malcolm C. Smith
Three Candidate Admittances
I. One damper:
Y1(s) = k(T2s+ 1)s(T1s+ 1)
where T2 > T1 > 0 and k > 0.
II. Two dampers:
Y2(s) = k(T4s+ 1)(T6s+ 1)s(T3s+ 1)(T5s+ 1)
where T6 > T5 > T4 > T3 > 0 and k > 0.
III. Same degree as two damper case but general positive real:
Y3(s) = ka0s
2 + a1s+ 1s(d0s2 + d1s+ 1)
where d0, d1 ≥ 0 and k > 0. (Need: β1 = a0d1 − a1d0 ≥ 0, β2 := a0 − d0 ≥ 0,
β3 := a1 − d1 ≥ 0 for positive-realness.)
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The Inerter Concept and Its Application Malcolm C. Smith
Design Comparison
ms = 250 kg, mu = 35 kg, kt = 150 kNm−1
Problem: maximise the least damping ratio ζmin among all the system polessubject to a static spring stiffness of kh = 120 kNm−1.
Results: Y1 and Y2: ζmin = 0.218. Y3: ζmin = 0.481.
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 20
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
z r→z s
t (seconds)
100
101
102
103
104
105
106
100
101
102
103
−100
−50
0
50
Magnit
ude
Phase
ω (rad/sec)
ω (rad/sec)
Step response: Y1, Y2 (solid)and Y3 (dot-dash).
Bode plot of Y3(s) showingphase lead.
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The Inerter Concept and Its Application Malcolm C. Smith
Brune Realisation Procedure for Y3(s)
A continued fraction expansion is obtained:
Y3(s) = ka0s
2 + a1s+ 1s(d0s2 + d1s+ 1)
=k
s+
1s
kb+
1
c3 +1
1c4
+1b2s
where kb =kβ2
d0, c3 = kβ3, c4 =
kβ4
β1, b2 =
kβ4
β2and
β4 := β22 − β1β3.
k
c3
b2
kb
c4
Numerical values in previous design:
k = 120 kNm−1, kb =∞, b2 = 181.4 kg,
c3 = 9.8 kNsm−1, c4 = 45.2 kNsm−1
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The Inerter Concept and Its Application Malcolm C. Smith
Darlington Synthesis
Realisation in Darlington form:a lossless two-port terminatedin a single resistor.
I1 I2
V1 V2
R ΩY3(s) Lossless
network
k2k3
λ1λ2
k1
b c
Corresponding mechanical networkrealisation of Y3(s) has one damperand one inerter but employs a lever.
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The Inerter Concept and Its Application Malcolm C. Smith
Simple Suspension Struts
k c
(c) layout S1
kb
k
c
(d) layout S2
bk c
(e) layout S3
b
k
c
(f) layout S4
parallel series
M.C. Smith and F-C. Wang, Performance Benefits in Passive Vehicle
Suspensions Employing Inerters, 42nd IEEE Conference on Decision
and Control, December, 2003, Hawaii, to appear.
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The Inerter Concept and Its Application Malcolm C. Smith
Series Arrangements with Centring Springs
b
k
c
k1
k1
(g) layout S5
b
k
ck1
k2
(h) layout S6
b
kb
k c
k1
k1
(i) layout S7
b
kb
k ck1
k2
(j) layout S8
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The Inerter Concept and Its Application Malcolm C. Smith
Performance Measures
Assume:Road Profile Spectrum = κ|n|−2 (m3/cycle)
where κ = 5× 10−7 m3cycle−1 = road roughness parameter (typical Britishprincipal road) and V = 25 ms−1. Define:
J1 = E[z2s(t)
]ride comfort
= r.m.s. body vertical acceleration
J3 = E[(kt(zu − zr))2
]grip
= r.m.s. dynamic tyre load
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The Inerter Concept and Its Application Malcolm C. Smith
Optimisation of J1 (ride comfort)
1 2 3 4 5 6 7 8 9 10 11 12
x 104
0.6
0.8
1
1.2
1.4
1.6
1.8
2
2.2
2.4
2.6
static stiffness
J1
1 2 3 4 5 6 7 8 9 10 11 12
x 104
0
2
4
6
8
10
12
14
16
18
static stiffness
%J
1
(a) Optimal J1 (b) Percentage improvement in J1
Key: layout S1 (bold), layout S3 (dashed), layout S4 (dot-dashed), layoutS5 (dotted) and layout S6 (solid)
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The Inerter Concept and Its Application Malcolm C. Smith
Optimisation of J3 (dynamic tyre loads)
1 2 3 4 5 6 7 8 9 10 11 12
x 104
350
400
450
500
550
600
650
700
static stiffness
J1
1 2 3 4 5 6 7 8 9 10 11 12
x 104
−2
0
2
4
6
8
10
12
14
16
static stiffness
%J
1
(a) Optimal J3 (b) Percentage improvement in J3
Key: layout S1 (bold), layout S2 (bold), layout S3 (dashed), layout S4(dot-dashed), layout S5 (dotted) and layout S7 (solid)
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The Inerter Concept and Its Application Malcolm C. Smith
Rack and pinion inertermade at
Cambridge UniversityEngineering Department
mass ≈ 3.5 kginertance ≈ 725 kg
stroke ≈ 80 mm
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The Inerter Concept and Its Application Malcolm C. Smith
Damper-inerter series arrangementwith centring springs
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The Inerter Concept and Its Application Malcolm C. Smith
Laboratory Testing
Schenck hydraulic ramCambridge University Mechanics Laboratory
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The Inerter Concept and Its Application Malcolm C. Smith
Experimental Results
10−2
10−1
100
101
102
102
104
10−2
10−1
100
101
102
−50
0
50
Hz
Hz
mag
nitu
de
Bode plot of admittance
phas
e(d
egre
es)
experimental data (—)theoretical without inerter damping (– –)theoretical with inerter damping (—)
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The Inerter Concept and Its Application Malcolm C. Smith
Alternative Inerter Embodiments I
screw nut flywheel
screw nut flywheelgears
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The Inerter Concept and Its Application Malcolm C. Smith
Alternative Inerter Embodiments II
hydraulic
t1T2
t2T1
lever arm rotary
See Cambridge University Technical Services Ltd patent PCT/GB02/03056 for further details.
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The Inerter Concept and Its Application Malcolm C. Smith
Conclusion
• A new mechanical element called the “inerter” was introduced which isthe true network dual of the spring.
• The inerter allows a complete synthesis theory for passive mechanicalnetworks.
• Performance advantages for problems in mechanical vibrations andsuspension systems have been described.
• It is expected that future work will continue to explore both thetheoretical and practical advantages as well as its applicability incollaboration with interested commercial partners.
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