Active control of functionally graded laminated cylindrical shells
G.G. Sheng
a,b
, X. Wang
a,
*
a
School of Naval Architecture, Ocean and Civil Engineering (State Key Laboratory of Ocean Engineering), Shanghai Jiaotong University, Shanghai 200240, People’s Republic of China
b
School of Civil Engineering and Architecture, Changsha University of Science and Technology, Changsha, Hunan 410076, People’s Republic of China
a r t i c l e i n f o
Article history:
Available online 14 April 2009
Keywords:
Functionally graded laminated shellsActive vibration controlThermal and mechanical loads
a b s t r a c t
An analytical method on active vibration control of smart FG laminated cylindrical shells with thin pie-zoelectric layers is presented based on Hamilton’s principle. The thin piezoelectric layers embedded oninnerandoutersurfacesofthesmartFGlaminatedcylindricalshellactasdistributedsensorandactuator,which are used to control vibration of the smart FG laminated cylindrical shell under thermal andmechanicalloads.Here, themodalanalysistechniqueandNewmark’sintegrationmethodareusedtocal-culate the dynamic response of the smart FG laminated cylindrical shell with thin piezoelectric layers.Constant-gainnegativevelocityfeedbackapproachisusedforactivevibrationcontrolwiththestructuressubjected to impact, step and harmonic excitations. The influences of different piezoelectric materials(PZT-4, BaTiO
3
and PZT-5A) and various loading forms on the active vibration control are described inthe numerical results.
Ó
2009 Elsevier Ltd. All rights reserved.
1. Introduction
In the recent years, a great deal of research on the distributedpiezoelectric sensors and actuators has already been carried outfor active vibration control of light-weight smart structures suchasaerospace, hydrospace,nuclearandautomotivestructuralappli-cations. The piezoelectric materials have the property to generateelectrical charge under mechanical load or deformation, and thereverse, applyinganelectricalfieldtothepiezoelectricmaterialre-sults in mechanical strains or stresses. Due to the coupled electro-mechanical properties of piezoelectric materials and theiravailability in the form of thin sheets, the piezoelectric layersembedded on structures are well suited for use as distributed sen-sors and actuators.In order to achieve the most effective actuation and control,extension piezoelectric actuators are usually placed on the sur-face of a structure at selected optimal locations[1]. A smart struc-ture that contains the main structure and the distributedpiezoelectric sensor/actuators can sense the excitations inducedby its environment and can also generate control forces to elim-inate the undesirable effects or to enhance the desirable effects.Yang et al.[2]developed a generic electromechanical impedancemodel for the two-dimensional PZT–structure interaction sys-tems. To closely simulate the real situation, the PZT transducerswere assumed to interact with the host structure at four edges.The results for a plate structure were in good agreement withthe experimental measurements. Yang and Hu[3]presented anelectromechanical impedance model for health monitoring of cylindrical shell structures. By investigating the interaction be-tween the PZT transducers and a typical cylindrical shell struc-ture, the electromechanical impedance of the PZT transducers isobtained. Reddy[4]presented the Navier solution and finite ele-ment models based on the classical and shear deformation platetheories for the analysis of laminated composite plates with inte-grated sensors and actuators, in which a simple negative velocityfeedback control algorithm coupling the direct and converse pie-zoelectric effects was used to active control the time response of an integrated structure. Account for the coupling of mechanical,electrical, and thermal effect, Lee and Saravanos[5]presentedanalytical formulations of piezoelectric composite shell struc-tures. This laminate theory is formulated using curvilinear coordi-nates and the principles of linear thermopiezoelectricity. Utilizingfinite element formulations, a plate/shell structure with thin PZTpiezoceramic layers embedded on top and bottom surfaces to actas distributed sensor and actuator was considered in Ref.[6].Based on the kinematic assumption of the Love–Kirchhoff thinplate theory and a quadratic variation of the electric potentialalong the thickness direction of the piezoelectric parts, Fernandesand Pouget[7]investigated dynamic response of composite plateswith piezoelectric actuators, where the spectra of vibration forthe plate with a time-dependent electric potential are computed.Vel and Baillargeon[8]presented an analytical solution for thestatic deformation and steady-state vibration of simply supportedhybrid cylindrical shells consisting of fiber-reinforced layers withembedded piezoelectric shear sensors and actuators. Suitable dis-placement and electric potential functions that identically satisfythe boundary conditions at the simply supported edges are usedto reduce the governing equations of static deformation and stea-dy-state vibrations. Using piezoelectric fiber reinforced composite
0263-8223/$ - see front matter
Ó
2009 Elsevier Ltd. All rights reserved.doi:10.1016/j.compstruct.2009.04.017
*
Corresponding author.
E-mail address:
Contents lists available atScienceDirect
Composite Structures
journal homepage:www.elsevier.com/locate/compstruct
materials, the active constrained layer damping of laminated thincomposite shells was investigated by Ray and Reddy[9]. Oh andLee[10]investigated the nonlinear deformation and its attendantvibration characteristics of un-symmetrically deposited clamped–clamped micro-beams under piezoelectric and thermal actua-tions, in which the multi-layered micro-resonators with initialimperfections were modeled by using refined layerwise theory.Utilizing the Hamilton’s principle and finite element methods,the linear response of piezothermoelastic plate is obtained inRef.[11].Due to the advantages of being able to withstand severe high-temperature gradient while maintaining structural integrity, func-tionally graded material (FGM) has been receiving much moreattention in engineering communities, especially in applicationsfor high-temperature environment such as nuclear reactors, spaceplanes and chemical plants[12–18]. Therefore, to investigate ac-tivevibrationcontrolofFGMcylindricalshellswiththinpiezoelec-tric layers is very significant.In the present work, FG laminated cylindrical shells are con-sidered as simply supported and temperature distribution acrossthe shell thickness is considered as nonlinear. The dynamic char-acteristics of FG laminated cylindrical shells with thin piezoelec-tric layers embedded on inner and outer surfaces to act asdistributed sensor and actuator (smart FG laminated cylindricalshells) are investigated under thermal and mechanical loads.Based on the first-order shear deformation theory and the Hamil-ton’s principle, the coupling equations to govern the electric po-tential and the flexural deflection of the smart FG laminatedcylindrical shell in thermal environments are derived, in whichthe stiffness and inertial contribution of the piezoelectric layersare considered. The modal analysis technique and Newmark’s di-rect time integration method are used to obtain the response his-tory of the smart FG laminated cylindrical shell, based on anexpansion of the loads, displacements in the double Fourier seriesthat satisfy the boundary conditions. A constant-gain negativevelocity feedback approach is utilized to control vibrational char-acteristics of FGM structures subjected to impact, step and har-monic excitations. The results obtained show that the activecontrol from piezoelectric layers can significantly improves thedamping effect of FGM cylindrical shells; The influence of activecontrol to the dynamic responses of smart FG laminated cylindri-cal shells is dependent on the material property of piezoelectriclayer; the active control to the response amplitudes of smart FGlaminated cylindrical shells greatly depends on the compositionof the metal–ceramic constituents of FGM layer. Finally, the pres-ent approach is validated by comparing the natural frequencies of a simple supported piezoelectric cylindrical shell with the resultsfrom other researchers.
2. Theoretical formulations
x
,
h
,
z
) denote the orthogonal curvilinear coordinates such that
x
and
h
curves are the lines of curvature on the middle surface(
z
=0) of FGM layer. The smart FG laminated cylindrical shell ismade of a FGM layer and two thin piezoelectric layers embeddedon inner and outer surfaces to act as distributed sensor andactuator.Form the first-order shear deformation theory, the displace-ments (
u
1
,
v
1
,
w
1
) of a point (
x
,
h
,
z
) in the smart FGlaminatedcylin-drical shell are expressed as sumof the mid-surfacedisplacements(
u
,
v
,
w
) along the
x
,
h
and
z
direction, and rotations (
/
1
,
/
2
) of thenormals to the mid-surface along
x
and
h
axes, as follows
u
1
ð
x
;
h
;
z
;
t
Þ ¼
u
ð
x
;
h
;
t
Þ þ
z
/
1
ð
x
;
h
;
t
Þ
;
v
1
ð
x
;
h
;
z
;
t
Þ ¼
v
ð
x
;
h
;
t
Þ þ
z
/
2
ð
x
;
h
;
t
Þ
;
w
1
ð
x
;
h
;
z
;
t
Þ ¼
w
ð
x
;
h
;
t
Þ
:
ð
1
Þ
Here, thematerial propertiesof FGMlayer are consideredas gradeddistribution along the thickness direction according to a power lawin terms of the volume fractions (power law exponent
U
r
e
¼
C
e
ð
z
Þ½
e
À
a
e
ð
z
Þ
D
T
;
ð
2
Þ
where
D
T
(
x
,
h
,
z
,
t
) is the temperature change referenced to thestress free state
D
T
ð
x
;
h
;
z
;
t
Þ ¼
C
ð
x
;
h
;
t
Þ
T
ð
z
Þð Þ
. The elasticity matrix
C
e
(
z
) and thermal expansion coefficients matrix
a
e
(
z
) of the FGMlayer are given by Kadoli and Ganesan[15].For the actuator and sensor layers, the relations between thefield variables are given by the piezoelectric constitutiveequations:
Nomenclature
L
length of the shell;
R
middle surface radius of the FGM layer
h
s
thickness of the sensor layer
h
thickness of the FGM layer
h
a
thickness of the actuator layer
V
(
x
,
h
,
t
) applied electric potential
Q
iije
plane stress-reduced stiffness of the piezoelectric layers
e
iije
effective piezoelectric constant for plane stress problem
n
iije
effective permittivity constant for plane stress problem
p
i xe
;
p
i
h
e
;
p
i ze
effective pyroelectric constant for plane stress prob-lem
w
s
in-plane electric field induced by the deformation of thesensor layer
w
a
in-plane electric field induced by the deformation of theactuator layer
q
s
mass density of the sensor layer
q
a
mass density of the actuator layer
q
(
z
) mass density of the FGM layer
I
i
(
i
= 1,2,3) mass moments of inertia for the FGM layer
I
ai
ð
i
¼
1
;
2
;
3
Þ
mass moments of inertia for the actuator layer
I
si
ð
i
¼
1
;
2
;
3
Þ
mass moments of inertia for the sensor layer
G
control gain
m
,
n
wave numbers
R
h
a
h
s
FGM LayerActuator Layer
θ
,vz,wx,uLSensor Layerz,w
R
hh
a
h
s
h
Fig. 1.
Coordinate system of a smart FG laminated cylindrical shell.
G.G. Sheng, X. Wang/Composite Structures 90 (2009) 448–457
449
r
i
¼
C
i
½
e
À
a
i
D
T
À
e
i
E
i
;
ð
3
Þ
D
i
¼
e
T i
e
þ
n
i
E
i
þ
D
T
p
i
;
ð
4
Þ
where subscript
i
=
a
denotes actuator layer, subscript
i
=
s
denotessensor layer and subscript
i
=
e
r
i
¼ ½
r
i x
r
i
h
s
i x
h
s
i
h
z
s
i xz
T
ð
stresses
;
i
¼
e
;
a
;
s
Þ
;
e
¼ ½
e
x
e
h
c
x
h
c
h
z
c
xz
T
ð
strains
Þ
;
a
i
¼ ½
a
i xxe
a
i
hh
e
0 0 0
T
ð
thermalexpansioncoefficients
;
i
¼
e
;
a
;
s
Þ
;
E
i
¼ ½
E
i x
E
i
h
E
i z
T
ð
electricfields
;
i
¼
a
;
s
Þ
;
D
i
¼ ½
D
i x
D
i
h
D
i z
T
ð
electricdisplacements
;
i
¼
a
;
s
Þ
;
p
i
¼ ½
p
i x
p
i
h
p
i z
T
ð
pyroelectricconstants
;
i
¼
a
;
s
Þ
:
ð
4a
Þ
According to the state of generalized plane stress of thin shell, thenormalstressiszerointhethicknessdirection,sothattheelasticity,piezoelectricity, permittivity and pyroelectric matrices of actuatorand sensor layers are defined as
C
i
¼
Q
i
11
e
Q
i
12
e
0 0 0
Q
i
12
e
Q
i
22
e
0 0 00 0
Q
i
66
e
0 00 0 0
Q
i
44
e
00 0 0 0
Q
i
55
e
266666664377777775
;
e
i
¼
0 0
e
i
31
e
0 0
e
i
32
e
0 0 00
e
i
24
e
0
e
i
15
e
0 0
2666666437777775
;
n
i
¼
n
i
11
e
0 00
n
i
22
e
00 0
n
i
33
e
264375
;
p
i
¼
p
i xe
p
i
h
e
p
i ze
264375
:
ð
4b
Þ
Intheaboveformulas,theeffectiveconstantsofactuatorandsensorlayers are described in AppendixA.Thepolingdirectionof thepiezoelectriclayer iscoincidentwiththe thickness direction. The electric field vectors of actuator andsensor layers are the negative gradients of the electric potentials:
E
a
E
s
& '
¼ À
r
u
a
r
u
s
& '
:
ð
5
Þ
Fortheactuatorlayer,takingintoaccountboththedirectpiezoelec-tric effect and the converse piezoelectric effect, a layerwise qua-dratic distribution of the electric potential
u
a
is given by[7]
u
a
¼
2
z
a
h
a
V
ð
x
;
h
;
t
Þ þ
z
2
a
À
h
a
2
2
" #
w
a
ð
x
;
h
;
t
Þ
;
ð
6
Þ
where
z
a
is the local thickness coordinate with respect to the actu-ator layer mid-plane,
z
a
=
z
À
(
h
+
h
a
)/2.When the external voltage applied
V
u
s
induced by elastic deformation in the sensor layer is yielded by
u
s
¼
z
2
s
À
h
s
2
2
" #
w
s
ð
x
;
h
;
t
Þ
;
ð
7
Þ
where
z
s
is thelocal thickness coordinatewithrespect tothesensorlayer mid-plane,
z
s
=
z
+(
h
+
h
s
)/2.Considering the contribution of the actuator and sensor on themass and stiffness of the smart FG laminated cylindrical shell,the dynamic governing equations of the smart FG laminated cylin-drical shell are derived utilizing the total potential energy
H
andthe kinetic energy
K
H
¼
12
Z
A
Z
h
2
þ
h
ah
2
r
T a
e
Rdz
" #
d
h
dx
À
12
Z
A
Z
h
2
þ
h
ah
2
D
T a
E
a
Rdz
" #
d
h
dx
þ
12
Z
A
Z
À
h
2
À
h
2
À
h
s
r
T s
e
Rdz
" #
d
h
dx
À
12
Z
A
Z
À
h
2
À
h
2
À
h
s
D
T s
E
s
Rdz
" #
d
h
dx
þ
12
Z
A
Z
h
2
À
h
2
r
T
e
e
Rdz
" #
d
h
dx
À
Z
A
q
T
u
Rd
h
dx
þ
Z
A
p
T
W
Rd
h
dx
þ
V
N
0
;
ð
8
Þ
K
¼
12
Z
A
Z
h
2
þ
h
ah
2
q
a
_
u
21
þ
_
v
21
þ
_
w
21
À Á
Rdz
" #
d
h
dx
þ
12
Z
A
Z
À
h
2
À
h
2
À
h
s
q
s
_
u
21
þ
_
v
21
þ
_
w
21
À Á
Rdz
" #
d
h
dx
þ
12
Z
A
Z
h
2
À
h
2
q
z
ð Þ
_
u
21
þ
_
v
21
þ
_
w
21
À Á
Rdz
" #
d
h
dx
;
ð
9
Þ
where
u
isthemechanicaldisplacementvectorand
W
istheelectricpotential vector.
q
and
p
are the surface forces intensities (
f
x
,
f
h
,
f
z
,
m
x
and
m
h
) and the surface electric charge intensities (
p
a
and
p
s
),respectively. Thepotential energy
V
N
0
of theaxial loading(
N
0
V
N
0
¼
12
Z
A
N
0
@
w
@
x
2
Rd
h
dx
:
ð
10
Þ
Based on the first-order shear deformation theory, the strain vector
e
of an arbitrary point in the smart FG laminated cylindrical shell isrelated to the mid-surface strains (
e
x
,
e
h
,
c
x
h
,
c
xz
and
c
h
z
) and curva-tures (
j
x
,
j
h
and
j
x
h
e
x
¼
@
u
@
x
;
e
h
¼
1
R
@
v
@
h
þ
w
;
c
x
h
¼
@
v
@
x
þ
1
R
@
u
@
h
;
c
xz
¼
/
1
þ
@
w
@
x
;
c
h
z
¼
/
2
þ
1
R
@
w
@
h
;
j
x
¼
@
/
1
@
x
;
j
h
¼
1
R
@
/
2
@
h
;
j
x
h
¼
@
/
2
@
x
þ
1
R
@
/
1
@
h
:
ð
11
Þ
Toderivetheequationsofmotionandthechargeequations,thefor-mulation is based on Hamilton’s principle and the first-order sheardeformation theory extended to piezoelectricity. The variationalprinciple can be stated as
Z
t
0
ð
d
K
À
d
H
À
d
V
N
0
Þ
dt
¼
0
:
ð
12
Þ
TheequationsofmotionforthesmartFGlaminatedcylindricalshellunder the axial loading
N
0
are given by
d
u
:
@
ð
N
x
À
N
T x
þ
N
P x
Þ
@
x
þ
1
R
@
ð
N
x
h
À
N
T x
h
þ
N
P x
h
Þ
@
h
þ
f
x
ð
x
;
h
;
t
Þ ¼
I
1
þ
I
a
1
þ
I
s
1
À Á
€
u
þ
I
2
þ
I
a
2
þ
I
s
2
À Á
€
/
1
;
d
v
:
1
R
@
N
h
À
N
T
h
þ
N
P
h
@
h
þ
@
N
x
h
À
N
T x
h
þ
N
P x
h
@
x
þ
1
RQ
h
À
Q
T
h
þ
Q
P
h
þ
f
h
ð
x
;
h
;
t
Þ ¼
I
1
þ
I
a
1
þ
I
s
1
À Á
€
v
þ
I
2
þ
I
a
2
þ
I
s
2
À Á
€
/
2
;
d
w
:
1
R
@
Q
h
À
Q
T
h
þ
Q
P
h
@
h
þ
@
Q
x
À
Q
T x
þ
Q
P x
@
x
À
1
RN
h
À
N
T
h
þ
N
P
h
þ
f
z
ð
x
;
h
;
t
Þ þ
N
0
@
2
w
@
x
2
¼
I
1
þ
I
a
1
þ
I
s
1
À Á
€
w
;
d/
1
:
@
M
x
À
M
T x
þ
M
P x
@
x
þ
1
R
@
M
x
h
À
M
T x
h
þ
M
P x
h
@
h
À
Q
x
À
Q
T x
þ
Q
P x
þ
m
x
ð
x
;
h
;
t
Þ¼
I
2
þ
I
a
2
þ
I
s
2
À Á
€
u
þ
I
3
þ
I
a
3
þ
I
s
3
À Á
€
/
1
;
450
G.G. Sheng, X. Wang/Composite Structures 90 (2009) 448–457
of 00
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