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
1

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
2

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
5

 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.
6

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.
7

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
8

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)

10
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.
11

The oscillation magnitude as a function of frequency is :

12

(b) Motion excitation

13

 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.

14

Static Deflection is another

limiting factor

st = Mg / k

15

A Typical Machine Foundation

16

Some Typical Anti-vibration Mounts

Antivibration Rubber Mounts

Vibro EP

Antivibration Pads
For Wooden Floor

Vibro FM

Antivibration Hangers

Vibro CH-mini

Antivibration Strip

Antivibration Spring Mounts

Antivibration Spring Hangers

Vibro Strip

Vibro SM

Vibro CH

17

Shock Isolation
Response to a velocity step

18

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

which gives

d
2
d& 2 = u& m2 Fs (d )dd
m0

19

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

Phase Lag
= tan

Phase Angle

2 r 3
1 r 2 + ( 2 r )

Transmissibility

20

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

Transmissibility
Phase Lag
21

Vibration Isolation
Vibration Isolation with Elastically Coupled Viscous Damper

22

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
23

Vibration Absorber:Takes over the

Response

(9)

Model for the Analysis of Vibration Absorber

24

F0 (k2 m2 2 )
X1 =
(k1 + k2 m1 2 )(k2 m2 2 ) k22
F0 k2
X2 =
(k1 + k2 m1 2 )(k2 m2 2 ) k22
if = k2 / m2

X 1 = 0;

X 2 = F0 / k2

This result is used as the Vibration Absorber Principle

25

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

26

Undamped Vibration Absorber

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

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

27

Undamped Vibration Absorber

Natural Frequency variation of dynamically absorbed system

28

Undamped Vibration Absorber

Frequency response of both the masses

29

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

30

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
31

Damped Vibration Absorber

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

Defining the system

properties

32

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
33

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

34

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

35

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.
36

Active Vibration Control

37

Smart Structures
Sensors
Piezoelectric
Magnetostricitive
Strain Guages
Electromagnetic

Actuators
Piezoelectric
Electro rheological
Magneto-rheological
Magnetostrictive
Shape Memory Alloy
Electromagnetic

38

Active Vibration Control of a SDOF System

K

F(t)

Plant

x(t)

- H(D)
x(t)

F(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 )
39

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
40

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.

41

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 )

42

-3

x 10

0.7

0.6

0.5

0.5
0.4

Amplitude

Displacement at tip of beam (m)

1.5

-0.5

-1

-1.5
0

0.3

0.2
0.1

0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09

0.1

Time (sec)

Figure 2 Uncontrolled response of beam due to excitation of

first three modes

0
0

500

1000

1500

2000

2500

Sampling rate

Figure 3 FFT of the uncontrolled response

43

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

44

Case Study: Fuzzy logic based

control implementation on a
beam structure

45

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?
46

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

47

LOOK
OUT!!

48

Multiply
Fuzzy Logic
Controller

1
M

Sum

M
F
M

Power

K
M

Simulink Model of Fuzzy logic based Active Vibration

Control of SDOF system.

49

Typical Experimental set-up for structural

vibration control of a continuous system:
Accelerometer
Beam

Actuator

Amplifier

Controller

50

Voltage amplifier

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

Charge amplifier
Schematic diagram of the experimental set-up.

51

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
52

1.2

1.0

Membership value.

0.8

0.6

0.4
N

0.2

0.0
(-a,0)
-0.03

-0.02

(-b,0) (b,0)
-0.01

0.00

(a,0)
0.01

0.02

0.03

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

53

Uncontrolled

Controlled

54

55

Uncontrolled

Controlled

56

Control off

Control on

Control of forced vibration.

57

Maximum applied force

1.8

Velocity feedback

1.6
1.4

Fuzzy logic
Critical Damping

1.2
1
0.8
0.6
0.4
0.2
0

Critical Damping
0

10

20

30

40

50

60

Settling Time, Secs

Performance of Fuzzy Logic controller vs

Velocity Feedback Controller.
58

Active Damping Treatment: Vibration control

with active constrained layer

59

Elastic constrain layer

Viscoelastic shear layer

Vibrating structure

Vibration control by Passive constrained layer

Piezoelectric layer
ChargeAmplifier
amplifier
Charge

Feed Back Control

Piezoelectric Layer

Point
Sensor

Vibrating structure
Viscoelastic shear layer
Vibration control by Active constrained layer

60

Vibration Control of Beam with Partially Covered Active Constrained Layer

PZT Actuator
Viscoelastic Layer
Feedback
Algorithm

Host Beam
PZT Sensor

Data Acquisition System

Solenoid
Actuation
Amplifier

+
Band Pass
Filter

Piezo Sensor amplifier

System

Battery

Figure : Schematic diagram of the experimental setup.

61

Vibration Control of Beam with Partially Covered Active Constrained Layer

PZT Sensor

Controller
PZT Actuator

Partially covered Beam

62

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.

63

Active Isolation

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

64

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)

65

Performance Analysis of.contd.

Passive Suspension

Ideal skyhook damper

66

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

Displacement

Full Car Magnetorheological

..contd.

Acceleration

( z s1 )

( zs1 )

68

Some examples of AVC

implementation

Source: University of Maryland

69

Source: www.enme.umd.edu

70

Source: www.enme.umd.edu

71

Source: www.enme.umd.edu

72

Assignment
1

73

Assignment
2

74

Assignment
4

75