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II.
I.
FURMULATION
INTRODUCTION
And: (2)
Aydin Azizi
Tel: +98 914 141 6821
E-mail: azizi@kish.sharif.edu
165
actuator
sensor
Figure 3. Finite element model of the beam
C * = M * + K *
PROBLEM
(7)
Physical
parameters
Cantilever beam
Piezoelectric(PZT):
sensor/ actuator
Length(m)
lb=0.3(m)
lp =0.075(m)
Width(m)
b=0.03(m)
b=0.03(m)
Thickness(m)
tb =0.5(mm)
ts = ta=0.35(mm)
Density(kg/m3)
b=8030(Kg/m3)
p=7700(Kg/m3)
(11)
Young's
modulus(GPa)
Eb=193.06(Gpa)
Ep=68(Gpa)
C T = 0 p T T
(14)
Damping
constants used in
C*
=0.001
(12)
D =0
(13)
x = Ax ( t ) + Bu ( t ) + Er ( t )
(9)
T
y (t ) = C x ( y ) + Du ( t )
With
0
I
A =
(10)
1
1
M * K * M * C * (44)
0
B =
1 T
M * T h (41)
E =
1 T
M * T f
(14)
And
166
=0.0001
PZT strain
constant
d31=12510-12 (V/m)
PZT stress
constant
g31=10.510-3 VmN-1
IV.
RESULTS
0
1
0
0
0
(16)
0
0
1
A=
886.27 1.0994e 009 0.089627
1.0994e 013
B=
0.00026746
0.00024886
C = [0
(17)
0.020777 0.18826]
D= [0]
(18)
(19)
3.Controlled vibration
Now we design suitable controller for our system and
compare response of the beam with controller with free
vibration.
1.087e
009
2.97e + 004
1
0
0.2841
0.181
B=
0.00026746
0.00024886
C = [0
0.020777 0.18826]
D= [0]
Also if we design a PI-controller we have
167
0
1 (20)
1.762
1.332
(21)
(22)
(23)
A=
886.3
1.087e 009
0
1.099e 009
0
0.2008
2.97e + 004
0.1034
0.01039
0.0002675 (24)
2.034
0.0002489
0.09413
0
0
1
1.007
B = 0.00026746
0.00024886
0
C = [ 0 0 0.020777 0.18826
(25)
0] (26)
D= [0]
(27)
5.Velocity
We can plot the velocity of beam which is shown in fig.12.
168
Figure 15. Free and controlled vibration of the cantilever with P-controller
VI.
REFRENCES
6.Sensor voltage
In this section we show the sensor voltage for free vibration
and P-controller.
V.
= 0.001 .
169