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1. INTRODUCTION
Active vibration control is an important problem in
structures. One of the ways to tackle this problem is
to make the structure smart, intelligent, adaptive and
self-controlling. The main objective of Active
Vibration Control (AVC) is to reduce the vibration
of a system by automatic modification of the
systems structural response. In many situations, it
is important to minimize these structural vibrations,
as they may affect the stability and performance of
the structures. This obviates the need to strengthen
the structure from dynamic forces and disturbances
in order to minimize the effects of vibrations and
enables the development of lighter, often-cheaper
structures exhibiting superior performance. Thus, the
vibration control of any system is always a
formidable challenge for any system designer. Any
AVC system consists of a plant, actuator, sensor and
a controller. Sensors and actuators together
integrated into the structure is what is called as a
Smart Structure.
51
52
Parameter
(with units)
Length of beam (m)
Width (m)
Thickness (mm)
Youngs modulus
(GPa)
Density (kg/m3)
Damping constants
Symbol
Lb
c
tb
Numerical
values
0.5
0.024
1
Eb
193.06
b
,
8030
0.001,
0.0001
53
Symbol
lp
( x) ,
u ( x, y , z , t ) = z ( x , t ) = z
x
v ( x, y , z , t ) = 0 ,
w( x, y, z , t ) = w( x, t ),
Numerical
values
0.125
Width (m)
Thickness (mm)
Youngs modulus
(GPa)
Density (kg/m3)
Ep
68
7700
d 31
125 10
ta , ts
0.024
0.5
12
54
u u
xx =
,
=
=z
x x
x
v
yy =
= 0,
y
zz =
T=
(4)
w
= 0,
z
w
lb t
1
T =
2 0
(6)
1 u w 1 w
+
= + ,
x
2 z x 2
1 v w
yz = + = 0 ,
2 z y
(7)
(8)
w qd
m dx ,
t2
= (U T W e ) dt = 0 .
(16)
(17)
t1
Here,
U , T and We
w
G A
+
2w
x
+ qd = A 2 , (18)
x
t
(12)
E I
x
w
G A
+ + m = I 2 (19)
x
t
x
lb x
0 x
1
EI
U=
0 G A
dx , (13)
2 0
w
w
x +
x +
(15)
dx ,
w
1
U = E I + KGA
+
2
x
x 2
A 0
0 I
We =
1 u v
(9)
+
= 0.
2 y x
The effect of shear strains along y and z directions
is equal to zero. Thus, the stresses in the beam
element are given as
(10)
xx = E xx = E z ,
x
1 w
xz = G xz = G
+ =
+ , (11)
2 x
(14)
xy =
stress,
xz =
1
w 1
A + I
2
2
t
t
55
and
w
G A
+
x
(20)
=0
x
E I
x
w
G A
+ = 0 . (21)
x
[ N w ]T
w = a1 + a2 x + a3 x 2 + a4 x 4 ,
= b1 + b2 x + b3 x
[ N ]
3
2
x
x
1 x
3 + (1 + )
2
l
l
(1 + ) lb
b
b
3
2
L x 2 + x + 1 + x
(1 + ) lb
2 lb 2 lb
=
2
x 3
x
x
1
2 3
(1 + ) lb lb lb
3
x x
L
x
1
(1 + ) lb 2 lb 2 lb
(22)
(23)
bj
x = 0, w = w1 , = 0
(24)
x = lb , w = w2 , = 2 .
and at
(25)
After applying boundary conditions from Eqs. (24),
(25) on (22), (23), the unknown coefficients ai and
b j can be solved.
Substituting the obtained unknown coefficients ai
[
] [ ][ ]
[ w( x, t ) ] = [ N ] [ q] ,
[ w( x, t ) ] = [ N a ][ q] ,
[ w& ( x, t ) ] = [ N w ] [q& ] ,
Mb = w
dx . (34)
0
I yy [N ]
[N ]
(27)
(28)
[ ]
(29)
where q is the vector of displacements and slopes,
q& is the time derivative of the modal coordinate
[ ]T , [N ]T , [N a ]T
vector, N w
2
6
x x (1 + )
(1 + )lb lb L
6
x
x
1
3 (4 + ) + (1 + )
(1 + ) lb
l
(31)
b
,
=
2
x
x
6
(1 + )lb lb lb
x
x
1
3 (2 )
(1 + ) lb
lb
2 x 1
6
2
lb
(1 + )lb lb
6 x
+
(
)
(1 + )l l
T
b b
,
[ Na ] =
6
6 x 1 (32)
2
lb
(1 + )lb L
1 6 x 2
(1 + ) l 2 lb
b
at
(30)
[M b ] = [M ] + [M ] ,
]
(35)
56
2
35 2 + 77 + 44 b
70 +147 + 78
4
lb
lb2
2
2
7 +14 + 8
35 + 77 + 44
I
4
4
M A =
2
l
210(1+ )
35 2 + 63 + 27
35 2 + 63 + 26 b
l
l2
35 2 + 63 + 26 b 7 2 +14 + 6 b
4
4
[ ]
(35
(35
+ 63 + 27
) (
+ 147 + 78
l
35 2 + 77 + 44 b
4
l
+ 63 + 26 b
4
(70
) (
l
35 2 + 63 + 26 b
4
2
l
7 2 + 14 + 6 b
4 (36)
l
35 2 + 77 + 44 b
4
2
7 2 + 14 + 8 b
4
36
(15 3)l
I
b
M I =
2
2
2
30(1 + ) l 10 + 5 + 4 lb
b
(15 3)lb
(15 3)l
(10
(15 3)lb
(5
36
(15 3)l
36
) b (15 3)lb (
5 1 l
(37)
5 5 1 l
b .
(15 3)lb
2
10 2 + 5 + 4 l
b
) b (15 3)lb (
+ 5 + 4 l
[ ]
lb x [N ]
Kb =
[N w ]
[N ]+
x
[M ]
p
[ ]
13l p
54
156 22l p
2
2
22l
4l p
13l p 3l p
p Ap l p
p
=
,
13l p
156 22l p
420 54
2
2
13l p 3l p 22l p 4 l p
where
(40)
is the mass density of piezoelectric beam
(38)
[N ]
0
EI
dx .
0 GA
[N w ]
[N ]+
x
2
2
6lb (4 + )lb 6lb (2 )lb
EI
b
K =
12
6lb
(1+ )lb 3 12 6lb
2
2
6 L (2 )lb 6lb (4 + )lb
[ ]
[K ] = El I
p
[ ]
6
lp
4
6
lp
2
12
lp2
6
lp
12
lp2
6
lp
piezo
of the
6
lp
2 , (41)
lp
(39)
12
2
lp
6
l
p
12
l 2
p
6
lp
[K ]
57
[ I ] = 121 c t
p
( t + t )
+ c ta a b ,
2
3
a
(42)
controller gain Kc .
obtained is as
[ ]
] + [M ] + [ M ]
p
or can be expressed as
V s (t ) = p T q& ,
(43)
V a (t ) = K c Gc e31 z c
[ ] [ ]
A = d
(46)
(51)
f ctrl = E p d 31 c z N dx V a (t )
(54)
lp
or can be expressed as
f ctrl = h V a (t ) ,
lp
(47)
(55)
tb
+ t a , e31 is the piezoelectric stress /
2
V a (t )
.
31
ta
a
31 E f = d
N aT
(50)
where z =
q& dx .
T
a
i (t ) = z e31 c N a q& dx ,
N
0
(49)
= sE + d E f ,
(48)
K = K + K .
(44)
and
Assembly of the regular beam element and the
piezoelectric element is done by adding the two
matrices. It is assumed that the rotations and
displacements are the same in all the layers of the
structure.
b
V = Gc e31 z c N aT q& dx
= M A
lp
[M ]
58
C* = M * + K * ,
(60)
where and are the frictional damping constant
f t = f ext + f ctrl .
(56)
*
*
M * &g& + C * g& + K * g = f ext
+ f ctrl
.
x
g= 1
x2
x3
x
4
x&1 = x3 , x& 2 = x4
(62)
(63)
(57)
x&3
* 1 * x1
* 1 * x3
x& = M K x M C x
4
2
4
* 1 *
+M
* 1 *
f ext + M
(65)
f ctrl .
(66)
(58)
*
*
M* &g& + K * g = f ext
+ f ctrl
,
x&1
g& = x& =
2
Thus,
(61)
h 2 = E p d 31 b z [ 1 1 ........ 0 0 ]81 ,
(59)
= ac [ 1 1 ........ 0 0 ]
where
K * = TT K T ,
M* = TT M T ,
* = TT f
T
*
f ext
ext and f ctrl = T f ctrl . Here, the various
(68)
*
* *
*
parameters like M , K , f ext , f ctrl in Eq. (59)
59
x&1
x&
2=
x&3
x& 4
M *1 K *
x1
I
x2
M *1 C* x3
x4
(69)
0
0
M *1 TT h u(t ) + M *1 TT f r (t )
p 4 = Gc e31 z b [ 0 0 ........ 1 1 ] 1 8 ,
T
= S c [ 0 0 ........ 1 1 ],
(72)
x
y(t ) = pT q& = pT T g& = pT T 3 ,
x4
0
0
0
0.00001
5
,
A1 =10
0.2341 0.0000 0.0005 0.0000
(73)
x1
x
y (t ) = 0 pT T 2 .
x3
x4
0
, E =
B1 =
1
0.0015
0.0018
(74)
D1 = Null Matrix,
Similarly, the state space models of the remaining 3
models and their characteristics are obtained.
(76)
y (t ) = CT x(t ) + D u(t ) ,
0
A=
1
*
*
M K
,
1 *
*
M C ( 4 4 )
CT = 0
p T ( 1 4 ) ,
,
B
D = Null Matrix ,
* 1 T
M T h ( 4 1 )
E = *1 T
M T
(77)
( 4 1)
(78)
C1 = [ 0 0 0.5469 3.2893 ],
y (t ) = CT x(t ) + D u(t ) ,
(75)
i.e.,
which is the output equation. The single input single
output state space model (state equation and the
output equation) of the smart structure developed for
the system in (70) and (75) thus, is given by
with
0
0
,
0.8136
0.7958
60
y(t)
D=
L1 L2
L0
2D
3D
t
N
t
u(t)
kt - t
kt
kt + t
y(t)
x (t ) = A x(t ) + B u (t ),
61
y (t ) = C x(t ), (79)
where x , u , y , A
nm
nn
pn
B
, C
, A , B , C , are constant
matrices of appropriate dimensions and it is assumed
that the model is controllable and observable.
Assume that output measurements are available at
time instants t = k , where k = 0, 1, 2, 3, .... Now,
construct a discrete linear time invariant system
from these output measurements at sampling
rate 1 / (sampling interval of secs) during which
the control signal u is held constant. The system
obtained so is called as the system and is given
by
x((k + 1) ) = x(k ) + u (k ),
y (k ) = C x(k ),
xk +1 = xk + u k , yk +1 = C 0 xk + D 0u k , (83)
where
, D =
C0 =
.
M
0
M
N 2 j
N 1
C
C
j = 0
(80)
u (t ) = F x(k ) ,
(85)
one can define the fictitious measurement matrix,
C( F , N ) = (C 0 + D 0 F )( + F ) , (86)
1
Let = / N , where
N > the observability index of the system. The
Let
u ( k ) = [L0 L1 ..... L N 1 ]
:
(82)
:
y ( k )
= L yk
xk +1 + F
u =
0
k +1
xk
. (89)
LD 0 F u k
(LD 0 F ) .
(84)
, the input
62
LC F
where
to
< 3
(91)
(LD 0 F )
and
2 I
T
( LD 0 F )
LC F
< 0 (92)
I
LD 0 F
I
< 0,
(93)
63
[
L 2 = [ 37.1699
L 3 = [ 86.5273
L 4 = [ 89.5000
54.8758 33.0538
88.1034 81.3966
96.1000 91.9000
]
17.5525 ] .
79.0370 ] .
86.8000 ] .
5. SIMULATION RESULTS
Simulations are also performed for the SISO based
smart structure shown in the Figure 2 and the open
loop response, closed loop responses with F and
L , the control input required for all the 4 SISO
models are observed and graphically displayed as
shown in Figures 4 to 15.
64
6. CONCLUSIONS
Controllers are designed for the smart flexible
cantilever beam using the FOS feedback control
technique for the 4 SISO models of the smart beam
to suppress the first 2 vibratory modes. The various
responses are obtained for each of the SISO models.
Here, the comparison and discussion of the
simulation results of the vibration control for the
smallest magnitude of the control effort u required to
control the vibrations of the smart cantilever beam is
presented.
65
REFERENCES
66
67
BIOGRAPHIES
T. C. Manjunath, born in
Bangalore, Karnataka, India
on Feb. 6, 1967 received the
B.E. Degree in Electrical
Engineering
from
the
University of Bangalore in
1989 in First Class and M.E.
in Automation and Control
Engineering with specialization in Automation,
Control and Robotics from the University of Gujarat
in 1995 in First Class with Distinction, respectively.
He has got a teaching experience of 17 long years in
various engineering colleges all over the country and
is currently a Research Scholar doing Ph.D. in the
Department of Systems and Control Engineering,
Indian Institute of Technology Bombay, India in the
field of modeling, simulation, control and
implementation of smart flexible structures using
DSpace and its applications.
B. Bandyopadhyay, born in
Birbhum village, West Bengal,
India, on 23rd August 1956
received his Bachelor's degree
in
Electronics
and
Communication Engineering
from the University of
Calcutta, Calcutta, India, and
Ph.D. in Electrical Engineering from the Indian
Institute of Technology, Delhi, India in 1978 and
1986, respectively. In 1987, he joined the
Interdisciplinary Programme in Systems and Control
Engineering, Indian Institute of Technology
Bombay, India, as a faculty member, where he is
currently a Professor.
68