Experimental Research And Innovative Exploration Of A Mechatronic Inerter

The Inerter is a mechanical device with two independent free ends.Based on force-current analogy and velocity-voltage analogy in the second theory of electromechanical analogy,inerter can be corresponded to capacitor completely,which makes element in mechanical networks correspond to element in electrical networks one to one.In this way,the mature design method of circuit synthesis networks can be applied to mechanical synthesis networks design.But at present,most of the existing Inerter achieve its inertia by using a flywheel,so the most direct way to improve inerter's inertance is to increase the mass of the flywheel,which deeply restrict the engineering application of inerter in the mass sensitive occasion.In order to improve inertance and the inertance ratio,my team put forward the "Capacitor-Negative impedance" mechatronic inerter,it's a new type inerter which combined with machine and electric.This paper makes a further theoretical and experimental research for this kind inerter,then makes a design improvement.The main works of this paper are as follows:(1)Theoretical analyzed the influence of armature's external circuit impedance on "Capacitor-Negative impedance" mechatronic inerter.Based on the shortcomings in improving inertance ratio of traditional mechanical type inerter,this paper expounded the design idea and working principle of the mechantronic inerter,then introduced specific structure of the "Capacitor-Negative impedance" mechatronic inerter,and established it's frequency-domain model.On this basis,the paper deduced the output characteristics of "Capacitor-Negative impedance" mechatronic inerter incentive with harmonic excitation,and proved the influence of armature's inductance on the "force-velocity" characteristics of the "Capacitor-Negative impedance" mechatronic inerter can be ignored in the condition of low frequency.Then made a theoretical analysis on physical function of the capacitor and the negative impedance circuit in "Capacitor-Negative impedance" mechatronic inerter,and gave the feasible way to improve inertance and inertance ratio.(2)Made a experimental researched on the "Capacitor-Negative impedance" mechatronic inerter prototype based on the experimental platform.The paper introduced the experimental platform of "Capacitor-Negative impedance" mechatronic inerter prototype,proved a experimental data analysis idea that prototype's friction must be considered,and established the friction model,then obtained inerter's output characteristics in consider of prototype's friction by parameter identification.By design a reasonably experiment,this paper verified the physical function that the capacitor and negative impedance made to mechantronic inerter,and obtained the experimental result of increased inertance and inertance ratio based on the analysis of experiment data.(3)Proposed the design idea of a mechatronic inerter based on active control method.Based on the analysis of the circuit impedance'restrictings on optimize "Capacitor-Negative impedance" mechatronic inerter,this paper proposed the design idea of the active control mechatronic inerter,established the theoretical model of active control mechatronic inerter based on PID control and simulated it.The results show that active control mechatronic inerter can improve inertance and inertance ratio to a higher degree.The research of this paper is a further deepen and expand the theory and experiment to the "Capacitor-Negative impedance" mechatronic inerter,and the related research conclusions further deepen the understand of the circuit impedance's physical function,which has certain guiding significance to optimize and improve the performance of the "Capacitor-Negative impedance" mechatronic inerter.The design idea based on active control of this paper is a new technical way for the further improvement of the mechantronic inerter's inertance ratio.