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A Negative Impedance Approach to the Design Synthesis and Control of Multi-Energy Active Elements

[+] Author Affiliations
Thomas J. Connolly

University of Texas at San Antonio

Paper No. IMECE2005-81109, pp. 1139-1146; 8 pages
doi:10.1115/IMECE2005-81109
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

This paper covers the continuing development and experimental validation of our approach to the design synthesis and control of active devices in dynamic mechanical systems. Active devices, such as electric motors and hydraulic actuators, require an external power input. An innovative feature of this synthesis approach is the use of non-physically realizable elements, i.e., elements that have negative impedances, to model the behavior of an active device. The synthesis method also features the use of bond graphs, as they facilitate modeling of multi-energy systems and devices. The procedure applies to the design or retrofit of systems for which a desired frequency response is prescribed. The overarching goal of the synthesis method is to yield options for the general framework of a controllable, stable, and parameterizable system, using simulation-based techniques. Thus the procedure yields a stable “first draft” of the active device and its control system that can be handed off to respective specialists for further refinement. Simulation results indicate that design possibilities can include purely active devices or a hybrid combination of active and passive elements. In addition, atypical control system architectures, that depart from traditional PI, PD, or PID controllers can arise from the synthesis procedure. We describe validation experiments that use electric motors and rack-and-pinion systems to achieve active control of a quarter-vehicle test article. The results will provide insight into: (1) refining the synthesis procedure to include systems that feature continuous elements, (2) partially automating the synthesis procedure to make it a more versatile design tool, and (3) practical limitations of the synthesis method.

Copyright © 2005 by ASME

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