Hybrid-dynamical modelling,characterization,and experimental verification of a free-wheeling clutch

Abstract

In this paper, two alternative modelling approaches for a one-way mechanical coupling device known as a free-wheeling clutch are considered. Unlike existing mathematical models which account for variables primarily aimed at design and life expectancy calculations, a simple model capturing the essential couple-decouple behaviour is sought for future use in control design. The bond graph methodology is used as a framework in which to examine two alternative models for the clutch: a semi-ideal model involving non-linear resistance and an ideal model introducing hybrid-dynamical behaviour. Some properties of each model are made explicit and their desirable and undesirable features highlighted. Experimental verifications using a twin electric motor drive are conducted to validate the models and then used to evaluate their practical usefulness. The ideal model is then used to characterize the behaviour of a typical two-driver transmission. Finally, preliminary considerations are discussed regarding the use of the ideal model in subsequent control designs.