ENERGY REGENERATIVE AND ACTIVE CONTROL OF ELECTRO-DYNAMIC VIBRATION DAMPER

Yohji Okada and Keisuke Ozawa

Department of Mechanical Engineering, Ibaraki University, Japan
y.okada@mx.ibaraki.ac.jp

Abstract:

Active vibration control is introduced to an electro-dynamic regenerative vibration damper. It is intended to improve vibration reduction capability using the regenerated energy. This idea is applied to a moving mass type vibration absorber and vibration control is performed. In the case of energy regenerative control, a PWM step-up chopper is used to solve the dead zone problem. Active control signal is also produced by the other PWM chopper from the power supply. However, energy regenerative and active control mode can not operate at the same time. A new control law is introduced to switch control mode and to follow the ideal force. The ideal force is calculated using the LQ control theory. Experimental setup is made to conrm the proposed technique and the damping capability is tested. regenerative damper, active control, dynamic absorber, digital control.

Key words:

INTRODUCTION
Vibration control has been widely investigated and reported. Recently active vibration control has been gradually used because of its high damping capability such as high building, automobile suspension, and large space structures (Garcia et al., 1995; Alleyne and Hedrick, 1995). But there exist several difculties such as high power consumption and complexity of the system even though it has strong ability of vibration reduction. On the contrary, vibration is a kind of energy and the actuator is a kind of energy converter, the vibration energy can be regenerated to electric energy. This idea of utilizing the vibration energy and regenerating it to electric energy can lead to high cost saving and efciency (Okada and Harada, 1995). In a previous paper, one of the authors reported the energy regenerative damper using pulse width modulated (PWM) step-up chopper control (Kim and Okada, 2002a). By using the step-up chopper, electric energy can be regen233 H. Ulbrich and W. Gnthner (eds), IUTAM Symposium on Vibration Control of Nonlinear Mechanisms and Structures, 233242. 2005 Springer. Printed in the Netherlands.

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Figure 1.

Model of the moving mass type damper system.

erated from the low voltage source to high battery voltage. Hence the damper can regenerate even though the actuator velocity is in the dead zone region. The damping characteristics can be adjusted by changing the PWM duty ratio. In this paper, active vibration control is introduced to an electro-dynamic regenerative vibration damper. It is intended to improve vibration reduction capability using the regenerated energy. An electro-dynamic actuator is used as an energy regenerative damper and active control actuator. This idea is applied to a moving mass type vibration absorber and vibration control is performed. In the case of energy regenerative control, a PWM step-up chopper is used to solve the dead zone problem. Active control signal is also produced by the other PWM chopper from the power supply. However, energy regenerative and active control mode can not operate at the same time. A new control law is introduced to switch control mode and to follow the ideal force. The ideal force is calculated using the LQ control theory. Experimental setup is made to conrm the proposed technique and the damping capability is tested.

1.

MOVING MASS DAMPER

In this paper the proposed active and regenerative damper is applied to a moving mass type vibration damper.

1.1

Modeling of the System

The physical model of the system is shown in Figure 1. The external force d is applied to the main mass M , and the damping force f is applied between the main mass and the damper mass m. Then the equations of motion are written as follows, where the parameters used in the experiment are shown in Table 1. Mx + Kx + f + k(x xd ) = d mx d f + k(xd x) = 0 (1)

Energy Regenerative and Active Control of Electro-Dynamic Vibration Damper 235

Table 1. Parameters of experimental setup. Symbol M K n m k Value 4.85 [kg] 19809 [N/m] 63.9 [rad/s] 0.8468 [kg] 2510.5 [N/m] 0.1746 25 [N/A=Vs/m]

Description Primary mass Primary spring constant Primary resonant frequency Secondary mass Secondary spring constant Mass ratio Actuator constant

1.2

Damping Actuator

Linear voice coil motor (VCM) is used in this research for the damping actuator. Assuming the actuator is an ideal one, it has the following energy conversion property (Okada and Harada, 1995), f = i, e = v (2)

where f and v are the actuator force and velocity, e and i are the driving voltage and the current, and is the actuator constant, respectively.

2.

ACTIVE AND ENERGY REGENERATIVE CONTROL

Single actuator is used as active and regenerative damper. Hence a new control algorithm is introduced to switch the control mode between the active and regenerative one to follow the ideal damping force.

2.1

Ideal Damping Force

The ideal damping force fd is calculated using the LQ control theory. The performance index is written as J =
0

[ x T Qx + fd2 R ] dt

(3)

where the state variable x is composed of the main and submass displacements and their velocities, and Q [W/m2 ] and R [W/N 2 ] are the weights for them. Solving the Riccati equation we have the following ideal damping force. fd = Kf xd x xd x
T

(4)

The displacements of the main and sub masses are measured by the laser displacement sensors and the velocities are calculated from the observers.

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Figure 2.

PWM step-up chopper circuit.

Figure 3. Damping characteristics of PWM step-up chopper.

Figure 4.

Schematic of control system.

2.2

PWM Stepup Chopper Regenerative Damper

The energy regenerative damper is shown in Figure 2. Without stepup chopper, which is shown in the dashed block, the damper has the undesirable dead-zone as shown by the dotted line in Figure 3. eF b eF b v (5) In this region damping force becomes zero and energy is not regenerated. This is improved by introducing the PWM stepup chopper as shown by the solid line in Figure 3 (Kim and Okada, 2002a).

2.3

Incorporating Active Control

The regenerative force is used when the regenerative circuit can control the actuator force close to the ideal force, while the active control is introduced in the other region. For this purpose new control circuit is introduced as shown

Energy Regenerative and Active Control of Electro-Dynamic Vibration Damper 237

Figure 5.

Energy regenerative mode I.

Figure 6.

Energy regenerative mode II.

Figure 7.

Active control mode I.

Figure 8.

Active control mode II.

in Figure 4. The left side voice coil motor (VCM) is used to excite the main structure, and the bigger VCM is installed between the main mass and the auxiliary mass as the damping actuator. The control is switched as shown in Figures 58. All the control modes are controlled with the pulse width modulated (PWM) signals using the analog switches (MAX4601). The control modes are switched whether the regenerative control is possible or not as: 2 2 v fd v 0: Energy Regenerative Mode R 2) Other cases: Active Control Mode 1) In case 1), the ideal force and the actuator velocity is out of phase, then the brake force (regenerative force) can produce damping force. According to the velocity direction the actuator current ows as shown in Figure 5 or as in Figure 6. In this case the active control switches S1 and S2 are turned OFF, and

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Figure 9.

Schematic of experimental setup.

the regenerative current is controlled only by the switch S as |fd | |f | PWM of switch S high |fd | |f | PWM of switch S low In case 2), the damping force should be produced with the active control. The actuator is controlled as shown in Figure 7 or as in Figure 8 according to the control force direction. Notice that the regenerative switch S should always be OFF and the active control switches are controlled as fd fd fd fd 0, 0, 0, 0, fd fd fd fd f f f f PWM of S1 high, while S2 OFF PWM of S1 low, while S2 OFF PWM of S2 high, while S1 OFF PWM of S2 low, while S1 OFF

Even all the switches are OFF, the regenerative current will ow when the actuator speed is very high and regenerative voltage is over the battery voltage because the actuator is always connected to the battery through the diodes.

3.

EXPERIMENTS

To conrm the proposed active and regenerative control, the experimental setup is made as shown in Figure 9.

3.1

Experimental Setup

The experimental setup and control system are shown in Figures 9 and 4. The two masses are supported with two linear guides horizontally. The damping

Energy Regenerative and Active Control of Electro-Dynamic Vibration Damper 239

Table 2. Experimental conditions. 2.4, 6.0, 10.0 1, 5, 10 PWM driving

Power supply [V] Disturbance [N] Switch

Figure 10. 2.4 [V].

Frequency response: Bat. =

Figure 11. 6.0 [V].

Frequency response: Bat. =

factor of the main structure is about = 0.1 (c = 62 [Ns/m]). In the left of Figure 9 the auxiliary mass m is connected to the main mass with the spring of k . In the middle a strong actuator is installed; the moving coil is connected to the auxiliary mass and the massive PM part is used as the main mass. They are controlled by a DSP (dSPACE DS-1103). The sinusoidal signal from DSP is added to the disturbance voice coil motor through a power amplier. The velocity of the damping actuator is measured by the current which ows a small resistance R = 0.1 . The displacements of main mass and the auxiliary mass x , xd are measured by the laser displacement sensors (KEYENCE LB60). They are put into the DSP through A/D converters. The state feedback signal is calculated in the DSP and the PWM signals from the DSP control three switches S , S1 and S2 .

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Figure 12. 10 [V].

Frequency response: Bat. =

Figure 13. power.

Consumed and regenerated

3.2

Results

According to the previous energy regenerative and active control the experiment is performed. The weights for the performance index are determined as 1 0 0 0 0 0.01 0 0 [W/m2 ], R = 107 [W/N 2 ] (6) Q= 0 0 0 0 0 0 0 0

Frequency Response. The frequency responses are measured and the results are shown in Figures 1012. The responses are compared with the case controlled by the ideal linear damping force fd . The experimental conditions are shown in Table 2. A single resonant peak is recognized with the higher disturbance force in Figure 10. This is considered due to the small maximum active force which is not enough for reducing the peak. Increasing the supply voltage to 10 [V] relatively good damping is recognized as shown in Figure 12. Consumed power and regenerated power are compared in the case of supply voltage 10 [V], as shown in Figure 13. This is the results of the frequency response case shown in Figure 12.

Energy Regenerative and Active Control of Electro-Dynamic Vibration Damper 241

Figure 14. trol).

Random excitation (No con-

Figure 15. control).

Random excitation (With

In all frequency range the power is consumed for active control, while the power is regenerated within the narrow region near resonant peak. This indicates that near the resonant frequency the system can regenerate vibration power. However the active consumed power is much bigger in the other region. This response conrmed that the proposed system can regenerate the vibration power even it is restricted within the narrow frequency region near the resonance and also the active control is operated at the same time.

Response of Random Excitation. A random force excitation is tested and recorded. The mean value of random force is 5 [N], and the supply voltage is 10 [V]. Random signal is supplied from FFT analyzer (MTS SigLab Version3.2.4) with the frequency band of 10 [Hz]. The excited displacement and the power are compared with and without control as shown in Figures 14 and 15. The power response is shown in the bottom of Figure 15, where the positive signal is the consumed power due to the active control while the negative one is the regenerated power. Comparing the displacement time responses in the middle of Figure 15 with the bottom one in Figure 14, the amplitude is reduced about 1/4 with the proposed control. However the regenerated power is very small and the main is the consumed power by active control as indicated in the bottom of Figure 15.

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This might be improved by improving the control circuit using the hardware PWM modulation circuit.

4.

SUMMARY

In this paper active control is incorporated to the PWM setup chopper energy regenerative damper. The part of active control energy can be supplied from the regenerated energy. Also regenerative control is planned to reduce the vibration energy. From the experimental results the proposed idea is partly succeeded, but the vibration reduction and the regenerated energy is not enough. This is considered due to the slow PWM duty ratio change using the software change in dSPACE. Further work is continuing to use the hardware PWM modulation circuit to improve the system performance.

REFERENCES
Alleyne, A. and Hedrick, J.K. (1995). Nonlinear Adaptive Control of Active Suspensions. IEEE Trans. on Control Systems Technology, Vol. 3, No. 1, pp. 94101. Garcia, E., Webb, C.S. and Duke, M.J. (1995). Passive and Active Control of a Complex Flexible Structure Using Reaction Mass Actuators. ASME Trans. on Vibration and Acoustics, Vol. 117, No. 1, 116122. Kim, S.-S. and Okada, Y. (2002a). Variable Resistance Type Energy Regenerative Damper Using Pulse Width Modulated Step-up Chopper. ASME Trans. on Vibration and Acoustics, Vol. 124, No. 1, pp. 110115. Kim, S.-S. and Okada, Y. (2002b). Variable Resistance Type Energy Regenerative Suspension. JSME Trans., Series C, Vol. 68, No. 675, pp. 32243229 [in Japanese]. Kim, S.-S., Yonemura, J. and Okada, Y. (1997). Regenerative Suspension System with an Optimally Tuned Resonant Circuit. In Asia-Pacic Vibration Control 97, pp. 11411146. Okada, Y. and Harada, H. (1995). Active and Regenerative Control of Electrodynamic Vibration Damper. In Proc. of the 1995 Design Engineering Technical Conf., Vol. 3, Part C, ASME DE-Vol. 84-3, pp. 595602. Okada, Y. and Harada, H. (1996). Regenerative Control of Active Vibration Damper and Suspension System. In Proc. of the 35th IEEE Conf. on Decision and Control, pp. 47154720.