Vibration Control

Topics: Introduction to Vibration Control Methods of Vibration Control Vibration Isolation Rigidly Coupled Viscous Damper Elastically Coupled Viscous Damper Undamped Vibration Absorber Forced Damped Vibration Absorber
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Introduction Vibration Control

There are numerous Sources of Vibration in an Industrial Environment Presence of Vibration leads to Excessive wear of bearings, Formation of cracks, Loosening of fasteners, Structural and mechanical failures, Frequent and costly maintenance of machines, Electronic malfunctions Exposure of Humans leads to Pain, Discomfort and Reduced efficiency. Hence it is necessary to eliminate or reduce vibration
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Methods of Vibration Control

Avoid

Resonance

Balancing / Control of Excitation Forces Adequate Damping Vibration Isolation Vibration Absorber

Movie

Vibrations of a structure
Complex and multiple excitation sources A number of natural frequencies/modes are excited. Modes can not be accurately measured. In case of real life structures there can be vagueness in structural parameters Some parameters change with time
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 Passive Vibration Control: dampers, absorbers, stiffeners, structural dynamic modification. Active Vibration Control: piezoelectric, shape memory alloy, Electro-Rheological fluids, Magneto-strictive materials Active Vibration Control can not replace Passive Vibration Control, it can compliment it in a big way.
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Vibration Isolation
Vibration isolation works in two modes To protect the sensitive equipment from the vibrations communicated from the ground To protect the machine vibratory forces to be communicated to foundation and to ground.
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Vibration Control
Topics: Introduction to Vibration Control Methods of Vibration Control Vibration Isolation Rigidly Coupled Viscous Damper Elastically Coupled Viscous Damper Undamped Vibration Absorber Forced Damped Vibration Absorber
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Vibration Isolation
Isolating the structures from vibration is very important Accuracy of the machines Comfort levels of the passengers Transmission of vibrations to other nearby equipment Sound Generated due to the vibration is to be in limits Vibration of the buildings due to the equipment present in them

Transmissibility (a) Force excitation

(1)

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Figure 1 Force Excitation Model

Vibration Isolation
Vibration isolation works in two modes To protect the sensitive equipment from the vibrations communicated from the ground To protect the machine vibratory forces to be communicated to foundation and to ground.
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The oscillation magnitude as a function of frequency is :

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(b) Motion excitation

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 Larger r (= f/fn) is better; should be more than at least 1.414. In post resonance region smaller damping is better but mostly the machine has to cross resonance so damping is desired. Isolator should be designed keeping in view avoidance of resonance.

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Static Deflection is another limiting factor

st = Mg / k

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A Typical Machine Foundation

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Some Typical Anti-vibration Mounts

Antivibration Rubber Mounts Antivibration Pads For Wooden Floor Antivibration Hangers

Vibro EP

Vibro FM

Vibro CH-mini

Antivibration Strip

Antivibration Spring Mounts

Antivibration Spring Hangers

Vibro Strip

Vibro SM

Vibro CH

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Shock Isolation
Response to a velocity step

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Shock Isolation
&& && md + Fs (d ) = mu & & at t = 0, d = 0, d = u
m

which gives

2d & &2 d 2 = u m Fs (d )dd m0

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Vibration Isolation
Vibration Isolation with Rigidly Coupled Viscous Damper Periodic Force F = sin t Transmitted Force

Phase Lag
= tan
1

2 r 3 1 r 2 + ( 2 r )
2

Phase Angle

Transmissibility

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Vibration Isolation
Vibration Isolation with Elastically Coupled Viscous Damper Force Transmitted To Ground

Transmissibility Phase Lag

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Vibration Isolation
Vibration Isolation with Elastically Coupled Viscous Damper

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Vibration Control
Topics: Introduction to Vibration Control Methods of Vibration Control Vibration Isolation Rigidly Coupled Viscous Damper Elastically Coupled Viscous Damper Undamped Vibration Absorber Forced Damped Vibration Absorber
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Vibration Absorber:Takes over the Response

(9)

Model for the Analysis of Vibration Absorber

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F0 (k2 m2 2 ) X1 = 2 (k1 + k2 m1 2 )(k2 m2 2 ) k2 F0 k2 X2 = 2 (k1 + k2 m1 2 )(k2 m2 2 ) k2 if = k2 / m2 X 1 = 0; X 2 = F0 / k2

This result is used as the Vibration Absorber Principle

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Undamped Vibration Absorber

The ratio of amplitudes is given by

Let

and

mass ratio, then

` We note that X=0 at =p Design the system such that

k1 m1 = = k m

Then amplitude of vibration of absorber becomes

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Undamped Vibration Absorber

It is to be observed that , the vibration of main mass becomes zero at the k m condition 1 = 1 =
k m

This means that the absorber system absorbs all the energy of the parent system; Hence it is called Dynamic Absorber The frequency of the combined system is

And the two natural frequencies are

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Undamped Vibration Absorber

Natural Frequency variation of dynamically absorbed system

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Undamped Vibration Absorber

Frequency response of both the masses

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Undamped Vibration Absorber

Practical implementation of dynamic vibration absorber

A beam attached with cantilevers with tunable masses Tuned absorber system, because the position of mass on the cantilever beam can be changed

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Vibration Control
Topics: Introduction to Vibration Control Methods of Vibration Control Vibration Isolation Rigidly Coupled Viscous Damper Elastically Coupled Viscous Damper Undamped Vibration Absorber Damped Vibration Absorber
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Damped Vibration Absorber

A forced damped absorber configuration is given below. The equations of motion are given by

Defining the system properties

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Damped Vibration Absorber

The solution of X gives

For damping value at 0 the equation reduces to previous undraped case and at infinity both masses got locked together and become rigid
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Damped Vibration Absorber

Solving the above equation , we get

All Curves with different Damping pass through points P and Q Hence it is possible to find the optimum Damping value

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Damped Vibration Absorber

The optimum damping value is given by

Which is obtained by differentiating

equation with rf

Thus the frequency response of a tuned absorber is given

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A Transmission line damper is a fine example of a vibration absorber where the vibrations of the transmission wire are absorbed in the damper, which is tuned to the natural frequency of the wire.
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Active Vibration Control

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Smart Structures
Sensors Piezoelectric Magnetostricitive Strain Guages Electromagnetic Actuators Piezoelectric Electro rheological Magneto-rheological Magnetostrictive Shape Memory Alloy Electromagnetic

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Active Vibration Control of a SDOF System

K
x(t)

C M
F(t)

F(t)

Plant
- H(D)

x(t)

fe(t) Actuator

Sensor Processor Amplifier

Equation of motion:
MD 2 x + CDx + Kx = F (t ) f e (t ) = F (t ) H ( D) x(t )

If, H ( D) = Co D 2 + C1 D + C2 We have, ( M + Co ) D 2 x + (C + C1 ) Dx + ( K + C2 ) x(t ) = F (t )

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MODAL SPACE CONTROL In a number of the complex flexible structures we are interested in controlling the first few modes only. Transforming the system into modal space and controlling its individual modes is modal space control. Independent Modal Space Control (Mierovitch) Coupled Modal Control Modified Independent Space Control (Baz) Efficient Modal Control
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Independent Modal Space Control

Is based on the assumption that the control force required for

controlling a particular mode is independent of the control force required in any other mode. A particular mode is controlled by LQR applied to the modal

equation and converting the modal forces to physical forces. The energy gets transferred to higher or other modes and the

spillover effect is significant sometimes For controlling multiple modes, the number of actuators required

is equal to the number of modes to be controlled.

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EFFICIENT MODAL CONTROL STRATEGY Weighting of the control force according to

displacement in each mode Feedback in mode i: Feedback in mode j : Feedback in mode k

displacement ( j ) displacement (k ) = 1: : displacement (i ) displacement (i )

Weighting of the control force according to energy in each mode and frequency weighting

Feedback in mode i: Feedback in mode j : Feedback in mode k

energy ( j ) frequency (i ) energy (k ) frequency (i ) = 1: : energy (i ) frequency ( j ) energy (i ) frequency (k )

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1.5

x 10

-3

0.7

Displacement at tip of beam (m)

0.6 0.5

0.5
0.4

Amplitude

0.3

-0.5

0.2 0.1

-1

-1.5 0

0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09

0.1

0 0

500

1000

1500

2000

2500

Time (sec)

Sampling rate

Figure 2 Uncontrolled response of beam due to excitation of first three modes

Figure 3 FFT of the uncontrolled response

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Figure 4 Controlled response at tip of beam due to feedback force applied according to IMSC

Figure 5 Controlled response at tip of beam due to feedback force applied according to EMC

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Case Study: Fuzzy logic based control implementation on a beam structure

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What is Fuzzy Logic?

Fuzzy Logic is all about relative importance of precision: As Complexity rises, precise statements lose meaning and meaningful statements lose precision. ---- Lotfi Zadeh (Father of Fuzzy Logic)

How important is it to be exactly right when a rough answer will do?

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A 1500 Kg mass is approaching your head at 45.01 m/sec. Look Out!!

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LOOK OUT!!

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Multiply
1 M

Power

Fuzzy Logic Controller

F M

Sum

K M

F M

Simulink Model of Fuzzy logic based Active Vibration Control of SDOF system.

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Typical Experimental set-up for structural vibration control of a continuous system:

Accelerometer Beam

Actuator

Amplifier

Controller

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Voltage amplifier

Cantilever beam Fuzzy Logic Controller Collocated Piezo sensor/actuator pair.

Charge amplifier Schematic diagram of the experimental set-up.

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Why fuzzy logic for active vibration control:

To take care of vagueness in structure Fuzzy control has been used mostly in a supervisory mode in AVC. Investigate the effects of applying fuzzy logic in real time Less sensitive to changes in structural parameters
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1.2

1.0

0.8

Membership value.

0.6

0.4 N Z P

0.2

0.0 (-a,0) -0.03 -0.02 -0.01 (-b,0) (b,0) 0.00 0.01 (a,0) 0.02 0.03

Velocity. Figure 2: Fuzzy sets for velocity (modal velocity in case of beam system).
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Uncontrolled

Controlled

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Uncontrolled

Controlled

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Control off

Control on

Control of forced vibration.

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1.8

Maximum applied force

1.6 1.4 1.2 1 0.8 0.6 0.4 0.2 0

Velocity feedback Fuzzy logic Critical Damping

Critical Damping
0 10 20 30 40 50 60

Settling Time, Secs

Performance of Fuzzy Logic controller vs Velocity Feedback Controller.

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Active Damping Treatment: Vibration control with active constrained layer

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Elastic constrain layer Viscoelastic shear layer

Vibrating structure

Vibration control by Passive constrained layer Piezoelectric layer

Charge amplifier Charge Amplifier

Feed Back Control

Piezoelectric Layer

Point Sensor

Vibrating structure
Viscoelastic shear layer Vibration control by Active constrained layer
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Vibration Control of Beam with Partially Covered Active Constrained Layer

PZT Actuator Viscoelastic Layer Feedback Algorithm

Host Beam Data Acquisition System PZT Sensor Solenoid Actuation Amplifier

+ Band Pass Filter Piezo Sensor amplifier System Battery

Figure : Schematic diagram of the experimental setup.

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Vibration Control of Beam with Partially Covered Active Constrained Layer

PZT Sensor

Controller

Partially covered Beam

PZT Actuator

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Vibration Control of Beam with Partially Covered Active Constrained Layer

Figure: The variation of the damping ratio for the variable coverage of active and passive constrained layers with different values of the proportional and derivative gains.

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Active Isolation

Development Of a Semi-active
Suspension for An Automotive Vehicle using Magnetorheological dampers

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The Problem
Vehicle + Road Disturbances & Load Disturbances + Art of Compromise between Two conflicting goals, good Handling and Comfort Ride Passive Suspension (Spring parallel with viscous damper)
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Performance Analysis of.contd.

Passive Suspension Ideal skyhook damper

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MR damper based quarter car Semi active Suspension- modeling, control and performance analysis

Two Degree of Freedom model of suspension

Work presented and reported in the international conference 67 organized by SAE India- Jan 2004

Bump Model

Full Car Magnetorheological ..contd.

Displacement

Acceleration

( z s1 )

( zs1 )

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Some examples of AVC implementation

Source: University of Maryland

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Source: www.enme.umd.edu

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Source: www.enme.umd.edu

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Source: www.enme.umd.edu

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Assignment
1

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Assignment
2

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Assignment
4

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