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Malcolm C. Smith
Department of Engineering
University of Cambridge
U.K.
Semi-Plenary Lecture
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Malcolm C. Smith
Outline of Talk
1. Motivating example (vehicle suspension).
2. A new mechanical element.
3. Positive-real functions and Brune synthesis.
4. Bott-Duffin method.
5. Darlington synthesis.
6. Minimum reactance synthesis.
7. Synthesis of resistive n-ports.
8. Vehicle suspension.
9. Synthesis with restricted complexity.
10. Motorcycle steering instabilities.
Malcolm C. Smith
Performance objectives
1. Control vehicle body in the face of variable loads.
2. Insulate effect of road undulations (ride).
3. Minimise roll, pitch under braking, acceleration and
cornering (handling).
MTNS 2006, Kyoto, 24 July, 2006
Malcolm C. Smith
spring
damper
mu
kt
tyre
road
disturbances
MTNS 2006, Kyoto, 24 July, 2006
Malcolm C. Smith
ms
Z(s)
ag replacements
mu
zr
kt
Malcolm C. Smith
Electrical-Mechanical Analogies
1. Force-Voltage Analogy.
voltage
current
force
velocity
force
velocity
mechanical ground
Malcolm C. Smith
resistor
di
v = L dt
inductor
C dv
dt = i
capacitor
damper
spring
kv =
mass
m dv
dt = F
PSfrag replacements
cv = F
dF
dt
v2
v1
Electrical
F
v2 Mechanical
v1
Malcolm C. Smith
v2
MTNS 2006, Kyoto, 24 July, 2006
v1 = 0
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Electrical
Mechanical
F
i
v2
v2
v2
v1
spring
inductor
i
v1 = 0
i
v2
capacitor
i
i
v2
v1
v1
mass
F
v2
v1
damper
v1
resistor
Malcolm C. Smith
Two major problems with the use of the mass element for synthesis of
black-box mechanical impedances:
An electrical circuit with ungrounded capacitors will not have a direct
mechanical analogue,
Possibility of unreasonably large masses being required.
Question
Is it possible to construct a physical device such that
the relative acceleration between its endpoints is proportional to the applied force?
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pinions
PSfrag replacements
terminal 2
gear
flywheel
terminal 1
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Electrical
Mechanical
F
v2
dF
dt
F
k
s
spring
di
dt
F Y (s) = bs
v2
F =
i
v2
v1
Y (s) =
1
Ls
v1
= k(v2 v1 )
Y (s) =
v1
d(v2 v1 )
b dt
F
v2
inerter
Y (s) = c
v1 ) inductor
i
v2
v1
i = C d(v2dtv1 )
i
i
v1
v2
Y (s) = Cs
capacitor
Y (s) =
1
R
v1
F = c(v2 v1 )
damper
i=
Y (s) = admittance =
1
L (v2
1
R (v2
v1 )
resistor
1
impedance
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PSfrag replacements
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screw
nut flywheel
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zs
zu
kt1
zr +
mu
Y (s)
mu
ms
Fs
kt
zr
Y (s) = Admittance =
Force
Velocity
Current
Voltage
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Malcolm C. Smith
Positive-real functions
Definition. A function Z(s) is defined to be positive-real if one of the
following two equivalent conditions is satisfied:
1. Z(s) is analytic and Z(s) + Z(s) 0 in Re(s) > 0.
2. Z(s) is analytic in Re(s) > 0, Z(j) + Z(j) 0 for all at which
Z(j) is finite, and any poles of Z(s) on the imaginary axis or at infinity
are simple and have a positive residue.
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Malcolm C. Smith
Passivity Defined
Definition. A network is passive if for all admissible v, i which are square
integrable on (, T ],
Z T
v(t)i(t) dt 0.
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Minimum functions
A minimum function Z(s) is a positive-real function with no poles or zeros
on jR {} and with the real part of Z(j) equal to 0 at one or more
frequencies.
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ReZ(j)
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s+
1
s+1
lossless
s2 + 1
s2 + 2s + 1
2s
+1
2
s +1
1
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placements
Z(s)
Z1 (s)
(negative inductor!)
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PSfrag
replacements
The Brune
cycle (cont.)
Then:
L1 < 0
L2 > 0
Z(s)
Z2 (s)
C2 > 0
Z3 (s)
proper
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PSfrag
replacements
Passive Network
Synthesis Revisited
Malcolm C. Smith
L1 < 0
L3 > 0
L2 > 0
Z(s)
Z3 (s)
C2 > 0
placements
To remove negative inductor:
L1
M
Lp
Ls
L3
L2
Lp = L 1 + L 2
Ls = L 2 + L 3
M = L2
M2
Lp Ls
= 1 (unity coupling
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Malcolm C. Smith
PSfrag replacements
The Brune cycle (cont.)
Realisation for completed cycle:
M
Z(s)
Lp
Ls
Z3 (s)
C2
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g replacements
L1 > 0
Z(s)
Z1 (s)
2K1 s
.
2
2
s + 1
Despite the fact that Y1 is not positive-real we can show that K1 > 0.
MTNS 2006, Kyoto, 24 July, 2006
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Malcolm C. Smith
PSfrag
replacements
The Brune
cycle (cont.)
Hence:
L1 > 0
L2 > 0
Z(s)
Z2 (s)
C2 > 0
Z3 (s)
proper
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PSfrag
replacements
Passive Network
Synthesis Revisited
Malcolm C. Smith
L1 > 0
L3 < 0
L2 > 0
Z(s)
Z3 (s)
C2 > 0
PSfrag replacements
As before we can transform to:
M
Lp
Z(s)
Ls
Z3 (s)
C2
M2
Lp Ls
Malcolm C. Smith
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Richardss transformation
Theorem. If Z(s) is positive-real then
kZ(s) sZ(k)
R(s) =
kZ(k) sZ(s)
is positive-real for any k > 0.
Proof.
Z(s) Z(k)
is b.r. and Y (k) = 0
Z(s) is p.r. Y (s) =
Z(s) + Z(k)
k+s
0
Y (s) is b.r.
Y (s) =
ks
0
1
+
Y
(s)
0
is p.r.
Z (s) =
1 Y 0 (s)
R(s) = Z 0 (s) after simplification.
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has a zero at s = j1 .
kZ(s) sZ(k)
R(s) =
kZ(k) sZ(s)
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kZ(k)R(s) + Z(k)s
k + sR(s)
Z(k)s
kZ(k)R(s)
+
k + sR(s)
k + sR(s)
1
1
+
1
s
k
Z(k)R(s) + kZ(k)
Z(k)s +
R(s)
Z(k)
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Malcolm C. Smith
1
1
Z(k)R(s) +
kZ(k)
s
kZ(k)
1
k
Z(k)s
R(s)
Z(k)
Z(k)R(s)
PSfrag replacements
Z(s)
Z(k)
k
Z(k)
R(s)
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Malcolm C. Smith
1
Z(k)R(s)
= const
s2 +12
1
R1 (s)
etc.
R1
Z(s)
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R2
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Malcolm C. Smith
:= a0 d1 a1 d0 0,
:= a0 d0 0,
:= a1 d1 0.
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kb
c4
c3
b2
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Malcolm C. Smith
Darlington Synthesis
I1
Realisation in Darlington form:
a lossless two-port terminated
in a single resistor.
Z1 (s) V1
Z11
Z=
Z12
we find
I2
Z12
Z22
Lossless
network
V2
2
R1 (Z11 Z22 Z12
)/Z11 + 1
.
Z1 (s) = Z11
R1 Z22 + 1
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Malcolm C. Smith
Writing
m 1 + n1
n1 m1 /n1 + 1
=
,
Z1 =
m 2 + n2
m2 n2 /m2 + 1
where m1 , m2 are polynomials of even powers of s and n1 , n2 are polynomials
of odd powers of s, suggests the identification:
n1
n2
n 1 n2 m 1 m 2
, Z22 = R
, Z12 = R
.
Z11 =
m2
m2
m2
Augmentation factors are necessary to ensure a rational square root.
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Malcolm C. Smith
lacements
PSfrag replacements
X1 (s)
X2 (s)
1: n
I=0
Ideal
etwork 1
etwork 2
Network 1
1: n
X3 (s)
I=0
X1 (s)
X2 (s)
X3 (s)
Network 2
Ideal
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ag replacements
Malcolm C. Smith
PSfrag replacements
k2
k3
Electrical
and mechanical realisations of the admittance Yb (s)
1
2
k21 H
1:
k1
b
k31c
k11 H
k3
k2
bF
k21 H
1
k
R1 3 H
1:
k11 Hk1
1
b
bF
R1
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sL1
eplacements
Z(s)
Nondynamic
Network
X
1
sC1
Let L1 = = C1 = = 1. If
M11 M12
M=
M21 M22
i
v
1 = M 1 ,
i2
v2
then
D.C. Youla and P. Tissi, N-Port Synthesis via Reactance Extraction, Part I, IEEE
International Convention Record, 183205, 1966.
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D C
M=
B A
has the properties
M + M0
diag{I, }M
0,
= M diag{I, }
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I. Cederbaum, Conditions for the Impedance and Admittance Matrices of n-ports without
Ideal Transformers, IEE Monograph No. 276R, 245251, 1958.
2
P. Slepian and L. Weinberg, Synthesis applications of paramount and dominant matrices,
Proc. National Electron. Conf., vol. 14, Chicago, Illinois, Oct. 611-630, 1958.
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Malcolm C. Smith
cementsPSfrag replacements
b
kb
PSfrag replacements
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c
kb
k
kb k
k1
kb k
b
k2
k1
k2
k1
k2
Layout S1
k1
k2
Layout S2
parallel
Layout S3
Layout S4
series
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Malcolm C. Smith
Performance Measures
Assume:
Road Profile Spectrum = |n|2
(m3 /cycle)
2
= E zs (t)
ride comfort
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Malcolm C. Smith
18
2.4
16
2.2
14
12
replacements
% J1
J1
1.8
1.6
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1.4
J1
0.8
0.6
1.2
% J1
10
static stiffness
(a) Optimal J1
10
11
12
10
11
12
static stiffness
(b) Percentage improvement in J1
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Fs
Passive Network Synthesis Revisited
Malcolm C. Smith
K(s)
z
G(s)
mu
zu
zs zu
F
K(s)
kt
zr
Ride comfort: w = zr , z = zs
Performance measure: J1 = const. kTzr szs k2
MTNS 2006, Kyoto, 24 July, 2006
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Malcolm C. Smith
T
ATcl Xcl + Xcl Acl Xcl Bcl
Xcl Ccl
< 0,
> 0, tr(Q) < 2 ,
T
Bcl
Xcl
I
Ccl Q
ATk Xk + Xk Ak Xk Bk CkT
< 0.
BkT Xk Ck
DkT Dk
C. Papageorgiou and M.C. Smith, 2006, Positive real synthesis using matrix inequalities for mechanical
networks: application to vehicle suspension, IEEE Trans. on Contr. Syst. Tech., 14, 423435.
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Malcolm C. Smith
A special problem
What class of positive-real functions Z(s) can be realised using one damper,
one inerter, any number of springs and no transformers?
PSfrag replacements
c
Z(s)
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Malcolm C. Smith
Theorem. Let
(R2 R3 R62 ) s3 + R3 s2 + R2 s + 1
,
Y (s) =
s(det R s3 + (R1 R3 R52 ) s2 + (R1 R2 R42 ) s + R1 )
R1 R4 R5
where R := R4 R2 R6
is non-negative definite.
R5 R6 R3
(1)
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6
wobble
50
50
40
40
Imaginary Axis
Imaginary Axis
wobble
30
weave
20
0
18
weave
20
10
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30
10
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16
14
12
10
Real Axis
15
10
Real Axis
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Malcolm C. Smith
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damper
damper
real
imaginary
inerter
real
inerter imaginary
forbidden
forbidden
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Malcolm C. Smith
Conclusion
A new mechanical element called the inerter was introduced which is
the true network dual of the spring.
The inerter allows classical electrical network synthesis to be mapped
exactly onto mechanical networks.
Applications of the inerter: vehicle suspension, motorcycle steering and
vibration absorption.
Economy of realisation is an important problem for mechanical network
synthesis.
The problem of minimal realisation of positive-real functions remains
unsolved.
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Malcolm C. Smith
Acknowledgements
Research students
Design Engineer
Neil Houghton
Technicians
Collaborations
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