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Active vibration control of a space truss using a lead zirconate titanate stack
actuator

Article  in  Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering · June 2001
DOI: 10.1243/0954410011533356

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 355

Technical Note

Active vibration control of a space truss using a lead

zirconate titanate stack actuator

G Song1 ¤ , J Vlattas 2 , S E Johnson2 and B N Agrawal 2

1
Department of Mechanical Engineering, The University of Akron, Ohio, USA
2
Department of Aeronautics and Astronautics, US Naval Postgraduate School, Monterey, California, USA

Abstract: This paper presents design, implementation and experimental results of active vibration control of
Naval Postgraduate School (NPS) space truss using a piezoelectric ceramic stack actuator. The NPS space
truss represents a flexible spacecraft structure that may support interferometer, antenna and other vibration-
sensitive instrumentation. To simulate the effects of a spacecraft disturbance on the truss, a proof mass
actuator is incorporated on the structure to excite the truss. To reduce the vibrations caused by the proof mass
actuator, an active strut member is installed along a diagonal of the base bay of the truss. The active strut
element consists of a piezoelectric ceramic actuator stack, a force transducer and mechanical interfaces. An
integral plus double-integral force controller is designed to suppress vibration of the truss. Experimental
results demonstrate that the active piezoceramic strut actuator can effectively reduce truss vibration.

Keywords: active vibration control, piezoceramic material, flexible spacecraft, space truss

1 INTRODUCTION localized strains to ensure that the system responds in a

The current trend of spacecraft design is to use large,
complex and lightweight space structures to achieve in-
creased functionality at a reduced launch cost. Truss-type
structures such as those envisioned for the International
Space Station will be more increasingly used. Truss-type
space structures can support interferometer, antenna and
other vibration-sensitive instrumentation. Because of
launch constraints, these truss structures are lightweight.
The combination of large and lightweight design results in
these space structures being flexible and having low
frequency fundamental modes. These modes might be
excited in a variety of tasks such as slewing, pointing
manoeuvres and docking with other spacecraft. The
induced vibration must be effectively suppressed to satisfy
stringent requirements for attitude control and vibration-
sensitive missions, such as a space-based interferometer.
This poses a challenging task for spacecraft designers. One
promising method for this problem is to use the technology
of smart structures, which employs embedded actuators
and sensors, and microprocessors that analyse the responses
from the sensors and to command the actuators to apply
The MS was received on 10 April 2001 and was accepted after revision for
publication on 7 August 2001.
¤ Correspondin g author: Department of Mechanical Engineering, The
University of Akron, 244 Sumner Street, ASEC-107D, Akron, OH 44325-
3903, USA.
G01201 # IMechE 2001
desired fashion [1– 3]. Piezoelectric materials are com-
monly used as actuators (compensators) in smart structures
since they have advantages such as high stiffness, high
bandwidth, high efficiency, light weight, no moving parts
and easy implementation. A commonly used piezoceramic
is lead zirconate titanate (PZT), which has a strong piezo-
effect. The use of an active PZT strut for vibration
suppression has already been demonstrated for a number of
specific space applications [4–7].
This paper presents the design, implementation and
experimental results of active vibration control of the Naval
Postgraduate School (NPS) space truss using a PZT stack
actuator. The NPS space truss represents a flexible space-
craft structure that may support interferometer, antenna and
other vibration-sensitive instrumentation. The truss consists
of 12 cubic bays arranged in a T configuration mounted to
a base plate. The structure is approximately 3.76 m in
length, 0.35 m wide and 0.7 m tall. The bare truss weighs
11.708 kg. To simulate the effects of a spacecraft distur-
bance on the truss, a proof mass actuator is incorporated on
the structure to excite the truss’s vibrational modes. For
active suppression of the vibrations caused by the proof
mass actuator, an active strut member is installed along a
diagonal of the base bay of the truss. This location has the
highest modal strain energy (MSE) according to the finite
element model. The active strut element consists of a low
cost, commercially available piezoelectric ceramic actuator
Proc Instn Mech Engrs Vol 215 Part G
356 G SONG, J VLATTAS, S E JOHNSON AND B N AGRAWAL
stack, a force transducer and mechanical interfaces. It
replaces a truss member and acts as a load-carrying
member as well as an actuating member. With the proof
mass actuator and the active PZT strut member, the truss
weighs 14.173 kg. By using the force transducer as a sensor
and the PZT stack as an actuator, an integral plus double-
integral force controller is designed to suppress vibration of
the truss. A dSPACE digital data acquisition and real-time
control system along with Matlab/Simulink is used to
implement the control design in real time. To assist
measuring vibrations across the truss, three-axis acceler-
ometers are used. Experimental results demonstrate that the
active strut member with a piezoceramic stack actuator can
effectively suppress truss vibration by using an integral
plus double-integral force controller.
2 PIEZOELECTRIC CERAMIC MATERIAL AND
PZT STACK ACTUATOR
A piezoceramic material possesses the property of piezo-
electricity, which describes the phenomenon of generating
an electric charge in a material when subjected to a
mechanical stress (direct effect) and, conversely, generating
a mechanical strain in response to an applied electric field.
This property prepares piezoceramic materials to be able to
function as both sensors and actuators. The advantages of
piezoceramic materials include high efficiency, no moving
parts, fast response and being compact. A commonly used
piezoceramic is PZT, which has a strong piezo-effect. PZT
can be fabricated into different shapes to meet specific
geometric requirements. PZT materials are often used as
both sensors and actuators, which can be integrated into
structures. The PZT actuation strain can be on the order of
1000 ístrain. Within the linear range PZT actuators
produce strains that are proportional to the applied electric
field/voltage. These features make them attractive for
structural control applications.
A common way to use PZT is the stacked design. In this
design, the active part of the positioning element consists
of a stack of ceramic discs separated by thin metallic
electrodes. Each ceramic disc lies between two electrode
Fig. 1 NPS space truss (with numbered nodes)
Proc Instn Mech Engrs Vol 215 Part G
surfaces, one of which is connected to the control voltage
and the other to the ground. Maximum operating voltage is
proportional to the thickness of the discs. The individual
discs and electrodes are connected to each other with epoxy
cement and are hermetically sealed on the outside with
highly insulating materials. Stack elements can withstand
high pressure and show the highest stiffness of all piezo-
actuator designs. Since the ceramics cannot withstand large
pulling forces, spring-preloaded actuators are used. Stack
models can be used for static and dynamic operation.
In this experiment, a PZT stack actuator (model P-843)
manufactured by Physik Instrumente is used. This pre-
loaded PZT actuator is a high resolution linear translator
for static and dynamic applications. It provides submilli-
second response and subnanometre resolution. The transla-
tors are equipped with high reliability multilayer PZT
ceramic stacks protected by an internally spring-preloaded
non-magnetic stainless steel case. The actuator provides a
displacement up to 90 ím, a push force up to 800 N and a
pulling force up to 300 N [8].
3 THE NPS SPACE TRUSS
The NPS space truss structure (Fig. 1) is composed of 12
cubic bays assembled from a combination of 161 elements
that begin and terminate in an aluminium node ball. It is a
result of collaboration between NPS and the Naval Research
Laboratory. There are a total of 52 node balls constituting
the truss [9]. The structure is approximately 3.76 m in
length, 0.35 m wide and 0.7 m tall (from the base plate).
These 12 cubic bays are a combination of battens/
longerons and diagonals. Longerons run down the length of
the structure, battens compose the vertical elements and
diagonals run diagonally from one line of longerons to an
adjacent line. Collectively, all of the aforementioned
elements will be referred to as struts. Each strut is made of
homogeneous aluminium and is composed of several parts:
the tube, outer sleeve, bolt, standoff and nut. Each strut
begins and terminates in an aluminium node ball.
The experimental set-up for the NPS space truss is
displayed in Fig. 2. To excite the vibration of the truss, a
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 ACTIVE VIBRATION CONTROL OF A SPACE TRUSS USING A PZT STACK ACTUATOR 357

Fig. 2 Active vibration control experimental set-up

proof mass actuator called LPACT is used. As shown in

Fig. 2, the LPACT is mounted between nodes 14 and 52 to
achieve the maximum excitation effect. To achieve active
suppression of the vibration of the truss, a smart strut
(Fig. 3) which consists of a force sensor and a PZT stack
actuator is installed between nodes 35 and 27 in the base
bay (Fig. 4). This smart strut replaces a regular strut
member. This location experiences the greatest MSE for
the truss’s second mode as identified by a finite element
model [9, 10] and is selected to mount the smart strut. A
Trek 50/750 voltage amplifier is used to power the PZT
stack actuator. The mass properties of the bare and the
modified truss are shown in Table 1. A more detailed
description of the truss and its finite element model can be
found in references [9] and [10]. The truss response is
measured by the active strut force sensor and with four
Kistler accelerometers that are mounted across the truss.
Accelerometers were mounted at nodes 26 and 41 because
Fig. 4 The smart strut installed between nodes 27 and 35 in the
they were located at the extreme ends of the truss and
base bay
represent the points that will experience the maximum
displacement for the first and second mode shapes of the
truss. Likewise, two more accelerometers were located at have the most power. The dSPACE system along with
nodes 18 and 49, where the third and fourth mode shapes Matlab/Simulink is used for digital data acquisition and
real-time control.

4 ACTIVE VIBRATION CONTROL OF NPS

SPACE TRUSS

4.1 Frequency response identification

Prior to designing the active controller, it is necessary to
identify the frequency response of the truss system, whose
input is the PZT actuator and whose output is the force
sensor. The frequency response function of the actuator–
sensor system was obtained using an HP-35665A digital
signal analyser. Pink noise, generated by the signal
analyser, was applied to the piezoceramic actuator through
the Trek voltage amplifier. The frequency response of the
actuator and sensor assembly from 0 to 200 Hz is displayed
Fig. 3 The smart strut in Fig. 5 [10].
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358 G SONG, J VLATTAS, S E JOHNSON AND B N AGRAWAL

Table 1 Mass properties of the bare and the modified truss

Quantity Mass (kg)
Component
Bare Modified masses Bare Modified
Part name truss truss (kg) truss truss
Node balls 52 52 0.0663 3.445 3.445
Longerons 100 100 0.0448 4.475 4.475
Diagonals 61 59 0.0522 3.181 3.080
LPAC strut 0 1 2.2760 0.000 2.276
Active strut 0 1 0.2900 0.000 0.290
Screw 322 322 0.0019 0.607 0.607
Total mass 11.708 14.173

10

-10

-20

-30
0 50 100 150 200
Frequency (Hz)
200

100

-100
0 50 100 150 200
Frequency (Hz)

Fig. 5 Frequency response (0–200 Hz)

By examining the frequency response and magnitude–
phase plots, the frequency of the dominant mode below
70 Hz is determined to be at 16.75 Hz. Since most
disturbance sources on a spacecraft have frequencies less
than 70 Hz, the most significant mode under 70 Hz was
targeted. The mode at 16.75 Hz will be the target frequency
for vibration suppression of the truss. In the magnitude
portion of the frequency response plot, the first peak at
8.5 Hz is associated with the resonant frequency of the
proof mass actuator, and vibration at this frequency will
not be controlled. If this truss is equipped with two PZT
struts, vibrations at 16.75 and 12.5 Hz (associated with the
second peak in the magnitude portion of the frequency
response plot) can be controlled simultaneously.
4.2 Control system design
In the literature, integral force control [4, 6, 7], robust
control [11], linear quadratic Gaussian (LQG) control [3],
adaptive control [12], the H 1 technique [13] and neural
network control [14] have been reported for active vibration
Proc Instn Mech Engrs Vol 215 Part G
suppression of truss-like structures. Among these methods,
integral force control has the advantages of inherent
stability [6, 7], easy implementation and high efficiency
[6]. In this paper, active truss control is designed using an
integral plus double-integral force feedback control. Inte-
gral force control is chosen to provide a ¡908 phase shift
between the PZT actuator and the measured force in the
frequency of interest. A block diagram of the closed-loop
control of the NPS truss is displayed in Fig. 6. The
controller is composed of two feedback paths: integral
control and double-integral control. Both paths are summed
and passed through a saturator that limits maximum output
voltage and prevents possible damage to the piezoceramic
stack once the signal is amplified by the Trek 50/750
voltage amplifier. The output signal is then combined with
a positive bias voltage that provides a preload for the active
strut after amplification with the Trek 50/750 amplifier.
The bandpass filter in the design is used to prevent the
amplification of low frequency signal and high frequency
noise. The bandpass filter is centred at 16.75 Hz, which is
the target mode.
G01201 # IMechE 2001
 ACTIVE VIBRATION CONTROL OF A SPACE TRUSS USING A PZT STACK ACTUATOR 359

T russ Accel.

+
Force
Trek 50/750 Active Strut
Tranducer
Volt. Amplifie r
+

Disturbanc e

_
òò
+
iigain
Bandpass Filter

+
+

Bias Voltag e

igain
ò
Simulink Controller

Fig. 6 Block diagram of the control design

4.3 Experimental results Table 2 Active control tests—variations in gain parameters

The active control experiment is conducted to evaluate the
effectiveness of the controller. During the experiment, the
proof mass actuator (LPACT) excites the truss at 16.75 Hz.
The smart strut with integral and double-integral control is
used to suppress the induced vibration.
The controller is designed using Matlab/Simulink and
downloaded to the digital signal processor of the dSPACE
system. The input signal is received from the force sensor
via an analogue-to-digital converter (ADC). The digital
signal processor then processes this signal and generates a
command, which is sent to the Trek voltage amplifier
through a digital-to-analogue converter (DAC). Both the
ADC and the DAC are hardware components of dSPACE.
The TRACE module of the dSPACE system enables real-
time data acquisition and the Cockpit module provides near
real-time controller parameter adjustment.
The format of each test is identical. All tests are 20 s in
duration. At the commencement of each test no actuating
signal is being applied to the controller. The first 5 s is
uncontrolled. At the 5 s point, the active vibration suppres-
sion kicks in. A time of 15 s was judged sufficient for any
transients to die out and to allow the system to achieve
steady state. The degree of control effectiveness is
evaluated by the reduction (in dB) of the power spectral
density at the modal frequency of the controlled versus
uncontrolled force sensor response for each test.
The specific test configurations (gain values) along with
the results are detailed in Table 2. The best results were
those of test 3 that resulted in a power reduction of
14.817 dB. The power spectral density comparison for this
case is displayed in Fig. 7. The time responses of the force
sensor and node 41 for this test are displayed in Fig. 8. It is
clear that the magnitude of vibrations at the base bay
measured by the force sensor and at node 41 measured by
G01201 # IMechE 2001
Integral Double-integra l Power Reduction
Test gain gain (dB)
1 525 0 11.609
2 600 200 13.854
3 750 250 14.817
the three-axis accelerometer have been significantly de-
creased after the active control takes effect at 5 s. Overall,
vibration reduction of the truss is achieved in each case and
the PZT stack actuator along with integral and double-
integral control is found to be effective.
5 CONCLUSION
The NPS space truss simulates a flexible space structure,
which may support interferometer, antenna, and other
vibration-sensitive instrumentation. The truss consists of
12 cubic bays arranged in a T configuration mounted onto
a base plate. To simulate the effects of a spacecraft
disturbance on the truss a proof mass actuator is incorpo-
rated on the structure to excite the truss’s vibrational
modes. An active strut element consisting of a piezoelectric
actuator stack and a force transducer can replace a truss
member and act as a load-carrying member as well as a
force actuator. An integral plus double-integral force
controller is designed to suppress specific modal vibrations
across the entire length of the truss.
The active vibration control experiments, using a single
piezoelectric strut, validated the use of integral plus
double-integral force feedback as a means of actively
suppressing the vibration on the NPS space truss using one
Proc Instn Mech Engrs Vol 215 Part G
360 G SONG, J VLATTAS, S E JOHNSON AND B N AGRAWAL

Power Spectral Density - Controlled vs Uncontrolled (Trial 10)

10

Power Spectrum Magnitude (dB)

-10

-20

-30

-40

-50

-60
0 10 20 30 40 50
Frequency (Hz)

Fig. 7 Power spectral density plot of test 3

PCB Force Sensor - Time Data (v)

0.05

-0.05
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

x 10
-3 Node 41 - X-Axis - Time Data (v)
5

-5
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Node 41 - Y-Axis - Time Data (v)

0.01

-0.01
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Node 41 - Z-Axis - Time Data (v)

0.01

-0.01
0 2 4 6 8 10 12 14 16 18 20
Time (sec)

Fig. 8 Time responses of the force sensor and node 41 for test 3

active strut. The maximum response power reduction for ACKNOWLEDGEMENT

the controlled versus the uncontrolled case is 14.817 dB.
The average reduction was on the order of 11 –14 dB at The authors would like to thank Dr Bosse for his help in
various gain settings. setting up the NPS space truss.
Proc Instn Mech Engrs Vol 215 Part G G01201 # IMechE 2001
 ACTIVE VIBRATION CONTROL OF A SPACE TRUSS USING A PZT STACK ACTUATOR
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