Novel Mechatronic Transduction Devices for Actuation, Energy Harvesting, and Vibration Suppression

许多机电系统，如机器人、主动悬架和能量转换器，都涉及通过智能固件与机械质量、弹簧和阻尼器相互作用的电磁机器。这项研究涉及新兴的传感器、执行器、能量存储和半导体设备，以及如何通过算法和机器智能将它们集成在一起，以创造出在能效、尺寸、重量和成本方面优于现有设备的新型能量转导设备。所提出的研究将进一步量化通过能量回收和再利用实现有源能量传感器无电池运行的条件。为此，将采取以下步骤：机电干涉-弹簧-阻尼器：基于申请人最近的研究，我们将首先开发一个称为机电干涉-弹簧-阻尼器（MISD）的基本装置，其动态参数可以通过固件实时自动调整。设计目标包括高能效、双向功率流、快速响应以及使用超级电容器的无电池操作。我们将得到通过再生阻尼回收的能量可以用来合成MISD的刚度和惯性项的条件。本研究将进一步量化电机参数等各变量之间的关系；运动剖面;阻尼器、弹簧和干涉系数；节能;还有电力需求。MISD的成功实施可以影响各种学科。我们考虑以下三个独立但相互关联的应用。(a)自适应动能收集：一大类动能发电机是惯性弹簧-质量共振系统，在共振频率下激励时产生最大功率。利用MISD概念，我们将开发一种收集器，其质量、弹簧和阻尼项可以利用多变量极值寻求控制方法自动调谐。(b)再生和自适应振动和冲击缓解：MISD概念的一个直接应用是减震器，其阻尼系数可以实时控制。利用这一概念，我们将开发一种新的再生装置，通过使用电子可调的惯性器和阻尼器组件，利用自适应调谐质量阻尼器来实现最佳的振动抑制。(c)具有双向功率流的直接驱动系列弹性致动器（SEA）： MISD概念可以通过存储机械能并在需要大力时释放机械能来影响受生物启发的SEA设备。它将允许SEA的惯性和弹性以最小的能耗自动调整。这项研究可以影响更广泛的能量转导设备领域。例子包括用于最佳振动抑制的自适应调谐质量阻尼器；自动调优悬浮液;自动调节弹性筋；以及先进机器人系统中的柔性驱动器。

Many mechatronic systems such as robots, active suspensions, and energy converters involve electromagnetic machines that interact with mechanical masses, springs, and dampers through intelligent firmware. This research deals with emerging sensor, actuator, energy storage, and semiconductor devices and how they can be integrated through algorithms and machine intelligence to create novel energy transduction devices that excel existing ones in terms of energy-efficiency, size, weight, and cost. The proposed research will further quantify conditions under which battery-less operation of active energy transducers can be achieved through energy recuperation and reuse. To this end, the following steps will be pursued: Mechatronic Inerter-Spring-Damper: Building upon recent research by the applicant, we will first develop a fundamental device called mechatronic inerter, spring, damper (MISD), whose dynamic parameters can be automatically adjusted in real-time through firmware. The design goals include high energy-efficiency, bi-directional power flow, fast response, and possible battery-less operation using supercapacitors. We will obtain conditions under which the energy recuperated through regenerative damping can be used to synthesize the MISD's stiffness and inertance terms. The research will further quantify relationships between various variables including electric machine parameters; motion profile; damper, spring, and inerter coefficients; energy-efficiency; and power requirements.  Successful implementation of MISD can impact a variety of disciplines. We consider three separate, but interrelated applications, as follows. (a) Adaptive Kinetic Energy Harvesting: A large class of kinetic power generators are inertial spring-mass resonant systems, which generate maximum power when excited at resonance frequency. Utilizing the MISD concept we will develop a harvester whose mass, spring, and damping terms can be auto-tuned utilizing a multi-variable extremum seeking control approach. (b) Regenerative and Adaptive Vibration and Shock Mitigation: An immediate application of the MISD concept is a shock absorber whose damping coefficient can be controlled in real-time. Utilizing this concept, we will develop a new regenerative device for optimal vibration suppression by utilizing an adaptive tuned-mass-damper using electronically adjustable inerter and damper components. (c) Direct-drive Series Elastic Actuators (SEA) with Bi-directional Power Flow: The MISD concept can impact biologically-inspired SEA devices, by storing mechanical energy and releasing it when large forces are required. It would allow the inertia and elasticity of a SEA to be auto-tuned with minimal energy consumption. This research can impact a broader domain of energy transduction devices. Examples include adaptive tuned-mass-dampers for optimal vibration suppression; auto-tunable suspensions; auto-adjustable elastic tendons; and compliant actuators in advanced robotic systems.