ADAPTIVE STRUCTURES

Contents

ΠConstitutive Relations

• Beam, Plate and Shell Models

Ž Applications
§Panel Flutter
§Noise Attenuation
ADAPTIVE STRUCTURES

Material Functions
ELECTRICAL
FIELD

Electric Flux
Density

Strain Entropy

MECHANICAL THERMAL
STRESS TEMPERATURE
ADAPTIVE STRUCTURES

Constitutive Relations

ð The constitutive relations are based on the assumption that the

total strain in the actuator is the sum of the mechanical strain
induced by the stress, the thermal strain due to temperature and
the controllable actuation strain due to the electric voltage.

σ = e T E + C ε + a ?T
ε = d T E + S σ + α ?T
ADAPTIVE STRUCTURES

Constitutive Relations

ð Re-writing the stress-strain equation:

 ε1  S11 S12 S13 0 0 0 σ1  0 0 d 31  α 1 
 ε  S S 22 S 23 0 0 0  σ  0 0 d 31  α 
 2   21  2    E   2
 ε3 
  S31 S32 S33 0 0 0 σ3  0 0 d 33  
1
α 3 
 
 =    +  E2  +   ∆T
γ23   0 0 0 S 44 0 0 τ 23  0 d15 0   0 
0  
E3
γ31   0 0 0 0 S55 0 τ 31  d15 0 0 
        

γ 12  0
  0 0 0 0 S66 τ12 
  0
 0 0  0 
 

ðIn a plane perpendicular to the piezo-polarization, it has isotropic

properties, i.e. transversely isotropic material in the plane 1-2.
ðFor orthotropic material, there is no temperature shear strain.
However there is a shear strain induced due to the electrical fields E1
and E2.
ADAPTIVE STRUCTURES

Constitutive Relations

ð For piezoceramics, the actuation strain is:

0 0 d 31 
0 0 d 31 
  E 
0 0 d 33  
1

Λ=  E2 
0 d15 0  
d15 E3 
0 0
 
0
 0 0 
ðd33, d31 and d15 are called piezoelectric strain coefficients of a
mechanical free piezo element.
ðd31 characterizes strain in the 1 an 2 directions to an electrical
field E3 in the 3 direction
ðd33 relates strain in the 3 direction due to field in the 3 direction
ðd15 characterizes 2-3 and 3-1 shear strains due a field E2 and E1,
respectively.
ADAPTIVE STRUCTURES

Block Force Model

•If an electric field V is applied, then the maximum

actuator strain (free strain) will be:
V 
t 
εmax = Λ = d 31  
c

•The maximum block force (zero strain condition) is:

Fb = d 31 EcbcV
ADAPTIVE STRUCTURES

Block Force Model

ð A piezo patch attached to the beam structure results

in an axial force F in the beam due to potential V. The
reactive force in the piezo element will be –F. Then the
strain in the piezo becomes
∆lc V F
ε= = d31 −
lc tc bct c Ec
ADAPTIVE STRUCTURES

Block Force Model

ð Force-strain relation for constant field V:

ðThis plot can also be used to determine the properties

of piezo materials experimentally.
tc
d 31 = εmax
V
Fmax 1
Ec =
εmax bc tc
ADAPTIVE STRUCTURES

Pure Extension
ð Two identical patches mounted on the surface of a
beam, one on either side can produce pure extension

ðFor pure extension, same potential is applied to top

and bottom actuators. The induced force is
d31V Eb Ab Ec Ac Eb Ab
F= = Fb
2tc Eb Ab + Ec Ac Eb Ab + Ec Ac
Ec Ac = 2 Ec bc tc ; Eb Ab = Eb bb tb
ðFb is the block force for each piezo patch.
ðIf piezo stiffness Ec Ac > > Eb Ab (beam stiffness),
actuation force becomes zero though actuation strain
equals free strain;
ðIf Ec Ac << Eb Ab the actuation strain becomes zero
though actuation force equals block force
ADAPTIVE STRUCTURES

Pure Bending

ð For pure bending, an equal and opposite potential is

applied to top and bottom actuators

ðThe induced bending is

d31V Eb I b Ec I c Eb I b
M =2 = Mb
t c t b Eb I b + Ec I c Eb I b + E c I c
2
t 
Ec I c = 2 Ec bc tc  b 
2 
ðMb is the block moment for each piezo patch.
ðIf Ec I c > > Eb I b actuation moment becomes zero
ðIf Ec I c << Eb I b actuation strain becomes zero
ADAPTIVE STRUCTURES

Euler-Bernoulli Beam Model

ðBeam, adhesive and actuator form a continuous

structure
ðBernoulli´s assumption: a plane section normal to the
beam axis remains plane and normal to the beam axis
after bending
ðLinear distribution of strain in actuator and host
structure
ðGenerally gives more accurate results than uniform
strain model
ε ( z )= ε 0 − zκ, κ = -w, xx
ε net = ε ( z )− Λ( z )
σ xx ( z )= E ( z )ε net
ADAPTIVE STRUCTURES

Bernoulli-Euler Beam Model

ð Axial force and bending moment expressions are:

 F + FΛ  E 0 E 1 ε 0 
 = E  
 M + M Λ  1 E2  xx 
w ,
where
h

ð F is the axial force in the beam F = ∫ b ( z )σ xx ( z )dz

2
h
-
2
ð M is the bending moment in the beam h

ð b(z) is the beam width M = ∫2h b (z )σ xx ( z )zdz

-
2

b ( z )is beam width

ADAPTIVE STRUCTURES

Euler–Bernoulli Beam Model

ð Axial force and bending moment due to induced

stress:

h h
FΛ = ∫ b (z )E ( z )Λ(z )dz ,
-
2
h
2
MΛ = ∫ b (z )E ( z )Λ(z )zdz
-
2
h
2

ð If the placement of the actuators is symmetric, the

coupling term will be zero; if not, this term will be non-
zero: extension-bending coupling

h
Ej = ∫ 2
h b ( z )E ( z )z j dz , j = 0 ,1 ,2
−
2
ADAPTIVE STRUCTURES

Uniform Strain and Euler-Bernoulli Beam Models

ðThe thickness ratio, T, determines if the strain variation

across the piezo affects the analysis:
ðfor small T, the uniform strain model overpredicts
strain (curvature)
ðfor large T, the predicted induced bending
curvatures are identical for both models

tb
T =
tc
ADAPTIVE STRUCTURES

Plate with Induced Strain Actuation

ðInduced strain actuation is used to control the extension,

bending and twisting of a plate

ðUsing tailored anisotropic plates with distributed piezo

actuators, the control of specific static deformation can be
augmented
ADAPTIVE STRUCTURES

Plate with Induced Strain Actuation

ð Assumptions to develop a consistent plate model:

ð Actuators and substrates are integrated as plies of
a laminated plate
ð A consistent deformation is assumed in the
actuators and substrates
ð Generally, a thin classical laminated plate theory is
adopted

ð For systems actuated in extension:

ðAssume strains are constant across the thickness
of actuators and plate

ð For systems actuated in pure bending:

ð Assume strains vary linearly through the thickness
ADAPTIVE STRUCTURES

Plate with Induced Strain Actuation

ð Strain in the system: ε = ε 0 + zκ

ð Mid-plane strain:
T

{
ε 0 = ε x0 ε y0 ε xy0 } =  ∂∂ux
T ∂v
∂y
∂u ∂v 
+ 
∂y ∂x 

ð Curvature:
T
 ∂2 w ∂2 w ∂2 w 
{
κ = κx κy κxy }
T
= −
∂ 2
−
∂y 2
− 2 
∂x ∂y 
 x
ADAPTIVE STRUCTURES

Plate with Induced Strain Actuation

ð Constitutive relation for any ply: σ = Q (ε − Λ)

ð Q is the transformed reduced stiffness of the

plate
ðThe second term represents an equivalent stress
due to the actuation

ð Stress vector: {
σ = σx σy τ xy }
T

Λ = {Λ }
T
ðActuation strain vector x Λy Λxy
ADAPTIVE STRUCTURES

Plate with Induced Strain Actuation

ð Net forces and moments

 N x   A11 A16  B 11 B 16   ε x 
0
A12 B 12
 N    ε 0 
 y   A11 A 22 A 26 

B
 11 B 22 
B 26   y 

Nz    A6   B6  
 γ 0 

 A16 A 26  B 16 B 26 
=  B
xy
 
 M x   11 B 12 B 16  D 11 D 12 D 16  κ x 
 M y  B 11 B 22 B 26  D D 22 
D 26  κ y 
     11  

M z  
B 16 B 26 B6   
D 16 D 26 D6   κ xy 
 
ADAPTIVE STRUCTURES

Shells
Qx
Nx
o
Nxθ θ
Qθ

Nθ
Nθx

Mx
X

Mθx Mxθ θ

Mθ

t
X

Ta ng e ntia l stra in

H
Axia l stra in

R
ADAPTIVE STRUCTURES

Shells

ð Strain-Displacement Relations

∂u ∂2 w
εx = ; κx = − ;
∂x ∂x 2
∂v w 1 ∂2 w 1 ∂v
εθ = + ; κθ = − 2 + ;
∂θ R R ∂θ2 R 2 ∂θ
∂v 1 ∂u 2 ∂2 w 2 ∂v
εxθ = + ; τ= − +
∂x R ∂θ R ∂x∂θ R ∂x
ADAPTIVE STRUCTURES

Piezo Patch Contributions

ð Finite Patches

M x p = M x pinner + M x pouter H1 ( x ) − H2 ( x ) H1 (θ) − H2 (θ)

M θ p = M θ pinner + M θ pouter H1 ( x ) − H2 ( x ) H1 (θ) − H2 (θ)

N x p = N x pinner + N x pouter H1 ( x ) − H2 ( x ) H1 (θ) − H2 (θ) S1,2 ( x ) S$1,2 (θ)

N θ p = N θ pinner + N θ pouter H1 ( x ) − H2 ( x ) H1 (θ) − H2 (θ) S1,2 ( x ) S$1,2 (θ)

ADAPTIVE STRUCTURES

Concluding Remarks

ðAnalytical models for beam, plate and shell type

elements have been presented.

ðThe weak form of the equations of motion are desirable

since they circumvent the need to differentiate terms with
patch force and moment terms.

ðThe analytical models provide a physical appreciation

of the interaction between the structure and the actuating
piezo patches
ADAPTIVE STRUCTURES

Finite Element Models

ΠPiezoelectric Finite Elements

F Solid, Plate and Beam Models

• Simple Plate Finite Element Model

Ž Actuation and Sensing Examples

F Bimorph beam
F Adaptive Composite Plate
ADAPTIVE STRUCTURES

Solid Elements

Allik and Hughes (1970)

u,v,w, ϕ : linear
16 dof
Static condensation of the electric dof

Gandhi and Hagood (1997)

u,v,w, ϕ : linear
16 dof + internal dof
Nonlinear constitutive relations
ADAPTIVE STRUCTURES

Solid Elements

Tzou and Tseng (1990)

u,v,w,ϕ : linear + quadratic incompatible modes
32 dof
Static condensation of the electric dof

Ha and Keilers (1992)

u,v,w,ϕ : linear + quadratic incompatible modes
32 dof
Equivalent single layer model
Static condensation of incompatible modes
ADAPTIVE STRUCTURES

Solid Elements

Chin and Varadan (1994)

u,v,w,ϕ : linear
32 dof
Lagrange method

Allik and Webman (1974)

u,v,w,ϕ : quadratic
80 dof
Sonar transducers
ADAPTIVE STRUCTURES

Shell Elements

Lammering (1991)
u,v,w,βx, βy : linear
28 dof
Shallow shell theory
Upper-lower nodal electric potential dof

Thirupati et al (1997)
u,v,w,φ: quadratic
32 dof
3D degenerated shell theory
Piezo effect as initial strain problem
ADAPTIVE STRUCTURES

Shell Elements

Varadan et al (1993)
u,w,φ: linear
9 dof
Lagrange formulation
Mooney transducers

Tzou and Ye (1993)

u,v,w,φ: in-plane quadratic, thickness linear
48 dof
Layerwise constant shear angle theory
Laminated piezo shell continuum
ADAPTIVE STRUCTURES

Plate Elements

Suleman and Venkayya (1995)

u,v,w, θ ,θ ,θ : bilinear
x y z

φ: linear
24 dof
Mindlin plate element C0
1 dof per piezo patch/layer

Ray et al (1994)
w: cubic
φ: linear
104 dof
Linear potential in thickness
1 dof per piezo patch/layer
ADAPTIVE STRUCTURES

Plate Elements

Yin and Shen (1997)

u,v,w, βx,βy, φ: quadratic
54 dof
Mindlin plate theory C0
Linear voltage but transverse field dof
ADAPTIVE STRUCTURES

Beam Elements

Shen (1994)
U: linear
W: cubic hermite
Β: linear
8 dof
Timoshenko beam theory with Hu-Washizu
Principle (Mixed)
Offset nodes
ADAPTIVE STRUCTURES

Summary of Available Elements

Elements Shape and approximations

Solid 4-nodes linear tetrahedron available

8-nodes linear hexahedron available
20-nodes quadratichexahedron available

Shell 3-nodes linear axisymmetric flat triangle available

8-nodes quadratic axisymm. quadrangle available
4-nodes linear flat quadrangle available
8-nodes 3D-degenerated quadratic quad not available
12-nodes 3D-degenerated quadratic prism available

Plate 3-nodes linear triangle not available

4-nodes linear quadrangle available
8-nodes quadrangle available
9-nodes quadrangle available

Beam 2-nodes linear element available

3-nodes quadratic element not available
ADAPTIVE STRUCTURES

Adaptive Composite Plate Model

•If an electric field V is applied, then maximum actuator strain

(free strain) will be:
ADAPTIVE STRUCTURES

Kinetic, Potential and Electrical Energies

•The Hamiltonian for the system is

δ∫ [
T − Π + We ]dt = 0
t2

t1

1 1 cT c
T = ∫ ρ u&T u& dV ; Π = ∫ S T dV
V
2 V
2

1 eT e
We = ∫
Vp
2
S T dV p
ADAPTIVE STRUCTURES

Stress-Strain Relations

T e = eT S c + ε S e
T c =c Sc − e Se

{
S = Sm Sb S ts Se }
{
= S xm S ym S xym S xb S yb S xyb S xzts S yzts − E1 ... − E n p }

{
T = T m T b T ts Te }
{
= Txm Tym Txym Txb Tyb Txyb Txzts Tyzts D1 ... Dn p }
ADAPTIVE STRUCTURES

Stress-Strain Relations

c c 0 e  S m  α m 
 b  
T c   c c 0 e S  0 
T =  e=   ts  −   ∆T
T   0 0 g 0 S  0 
T  e
e eT 0 ε S  
0  
ADAPTIVE STRUCTURES

Strain-Displacement Relations

 S xb   u , x   w,2x   − w, xx 
    1   
S b =  S yb  =  v, y  +  w,2y  + z  − w, yy 
S b  u + v  2 2 w w  − 2 w 
 xy   , y , x   ,x , y   , xy 

N = (C + ξ ξ + η η + Hξη )
1
4

qis = {u v w θ x θ y };
{ }
i

q e = φ1 ... φn p
ADAPTIVE STRUCTURES

Strain-Displacement Relations

∂N is 
S  b
s s
0  q 
s
 0 0 0 0 
S =  e=  e  e 
 ∂x
∂N is

 
S   0 b  q   0 ∂y
0 0 0 
 s 
∂N i ∂N is
0 0 0 
 ∂y ∂x 
 
 0 ∂N is 
0 0 0 z
 ∂x 
b is =  ; i = 1,L , nel
∂N is
 0 0 0 − z 0 
 ∂y 
 ∂N is ∂N is 
 0 0 0 − z z 
 ∂x ∂x 
 ∂N is 
 0 0 0 N is 
 ∂x 
 ∂N is 
 0 0 − N is 0 
 ∂x 
ADAPTIVE STRUCTURES

System Matrices

M ccj = ∫ ρ N T N dV j ,
Vj

K ccj = ∫b c c b c dV j ,
T

Vj

K j
ce = ∫b e b e dV j ,
cT
Vj

K eej = ∫b e e b e dV j , j = 1,L , nel

T
for
Vj
ADAPTIVE STRUCTURES

Geometric Stiffness

K g = N x ∫N Tx N x dA + N y ∫N Ty N y dA + N xy ∫N Tx N y dA + N xy ∫N Ty N x dA
A A A A
ADAPTIVE STRUCTURES

Equations of Motion

64inertia
748 6 4 748
linear stiffness
6piezo
4 7 stiffness
4 8
M cc 0  U&&c 
 K cc 0 U c   0 K ce  U c 
 0   &&e  +  0 0  e  + K   e+
 0 
U     U   ec K ee  U 
6 4 748
thermal stiffness
64 748
nonlinear stiffness

K ∆T 0 U c  K g 0 U c  P∆T 
 0   e+  0 0  e =  
 0 U    U   0 
ADAPTIVE STRUCTURES

Actuation and Sensing Mechanisms

−1
U c = K cc K ce U e

−1
U e = K ee K ec U c
ADAPTIVE STRUCTURES

Bimorph Beam
ADAPTIVE STRUCTURES

Bimorph Beam
ADAPTIVE STRUCTURES

Composite Plate
ADAPTIVE STRUCTURES

Composite Plate
ADAPTIVE STRUCTURES

PANEL FLUTTER

25 c
cm

m
25

V
ADAPTIVE STRUCTURES

PANEL FLUTTER – BOUNDARY EFFECT

ADAPTIVE STRUCTURES

PANEL FLUTTER – IN PLANE LOADING

ADAPTIVE STRUCTURES

PANEL FLUTTER

64inertia
748 aero damping
64 748 linear stiffness
64 748 6piezo
4 7 stiffness
4 8
M cc 0  U&&c 
 G 0 
U& c 
 K cc 0 U   0 K ce  U 
c c

 0   &&e  + 0 0  &e  +    e+   e

 0 
U     
U    0 0     ec
U K K ee  U 

thermal stiffness aero stiffness nonlinear stiffness

64 748 64 748 64 748
K ∆T 0 U c  K a 0 U c  K g 0 U c  P∆T 
 0 + +
  e   0 0  e   0 0  e  =  
 0   
U   
U    U  0 
ADAPTIVE STRUCTURES

AERODYNAMIC LOADS

 
∞ − 2 1
2
pa = −
2q w + M
w −
1
w 

M∞ − 1
2
,x
M 2
− 1 V
,t
2r M ∞ − 1
2
,t

∞ ∞


 D ga D λ D 
pa = − λ
 a w + w − w 

ω β
3 , x 4 ,t 3 , t
 0 a 2 r a 

λ=
2q a a 3
ga = λ
µM − 2 ( 2
∞ )
2

( )
;
D M ∞2 − 1 βM ∞2 − 1
ADAPTIVE STRUCTURES

AERODYNAMIC LOADS

 D ∂w g a D ∂w λ D ∂w 
Wa = − ∫λ 3
+ 4
− 
 a ∂x ω a ∂t 2rβa ∂t  w dA
3
A 0 

 λ D
 a 2rβa 3  ∫A
G = − 
j T
g N N dA,
 
K aj = λ∫ N T N , x dA for j = 1,L , nel
A
ADAPTIVE STRUCTURES

RESULTS

#1 #2 #3 #4 #5

Critical Aerodynamic Parameter

λcritical = 36 . 8
Configuration
#1 #2 #3 #4 #5
0V 46.9 70.5 88.5 91.8 63.9
400 V 66.7 93.5 92.5 99.2 76.5
λcritical +42% +32% +5% +8% +20%
Mass +17% +69% +86% +69% +52%
 ADAPTIVE STRUCTURES

ACTIVE CONTROL

Dyna m ic M odelofPla te w ith Piezoelectric Sens ors a nd Actu a tors 2

Ou tport 2
1
in_1 Mux x' = Ax+Bu
y = Cx+Du
Mux
Pla te M odel Sys tem
Vis u a liza tion
Sta te Nois e
Sou rce C
+
C M a trix +
Su m Ou tpo

Ou tpu t Nois e
Sou rce
ADAPTIVE STRUCTURES

ACTIVE CONTROL

1st mode 2nd mode

ADAPTIVE STRUCTURES

ACTIVE CONTROL
 ADAPTIVE STRUCTURES
ω
ω
n

ACTIVE CONTROL

Mode OPEN CLOSED LOOP

LOOP
(rad/s) (rad/s) Damping Comments
57.30249 57.30438561 0.009520978 Structure

365.4731 70.25461695 0.927711305 Controller

1057.714 365.4493213 0.007791086 Structure

1133.858 567.3243875 0.52316159 Controller

1193.705 1056.67806 0.000688374 Structure

2178.078 1133.858129 0 Structure

ADAPTIVE STRUCTURES

NOISE SUPPRESSION
ADAPTIVE STRUCTURES

STRUCTURE BORNE NOISE

ADAPTIVE STRUCTURES

SPECTRUM OF CABIN NOISE

ADAPTIVE STRUCTURES

COMPOSITE SHELL

A composite shell element with electromechanical properties

and with principal radii of curvature Rx and Ry has been
formulated and implemented.
This 8-noded isoparametric finite element has five degrees
of freedom at each node, which includes three displacements
and two rotations .
To derive the equations of motion for the laminated
composite shell, in an acoustic field with piezoelectrically
coupled electromechanical properties, we use the
generalized form of Hamilton’s principle

∫ [T − Π + W ]
t2
δ e − W p dt = 0
t1
ADAPTIVE STRUCTURES

ACOUSTIC CAVITY MODEL

•To derive the equations of motion for the acoustic cavity, we use the
∫[ ]
t
generalized form of Hamilton’s principle δ 2 T − Π + W dt = 0
p p p
t1

1 ∂2 p
∇2 p − =0
c 2
∂t 2

With the following boundary conditions:

∂p
=0 at a rigid boundary
∂n
∂p ∂2 w
= − ρa at a vibrating boundary
∂n ∂t 2
ADAPTIVE STRUCTURES

EQUATIONS OF MOTION

0 U s 
&&
M ss 0 K ss − Θ K se  U s  F p 
Θ T   && 
   0    
 M pp 0 U p  +  K pp 0   p 
U = 0 
 0  &&   K ee  U  0 
 0 0  e
U
 K es 0  e   

∫
1
M pp = N Tp N p dV is the acoustic " mass" matrix;
ρa c 2 V

∫
1
K pp = b Tp b p dV is the acoustic " stiffness" matrix;
ρa V

Θ = ∫S
N Ts N p dS is the structural - acoustic coupling matrix
and
∂N ip ∂N ip ∂N ip 
b ip = .
 ∂x
 ∂y ∂z  
ADAPTIVE STRUCTURES

ASSUMED PRESSURE DISTRIBUTION

Axial distribution:

 − d ( zo − z )
P e for z < z o
Pf ( z )=  − d ( z − z )

P e o
for z > z o
Circumferential Distribution:

 θ − θ1 j k θ
P e for θ < θo
 θo − θ1
Pf (θ )= 
θ − θ2 j k θ
P e for θ > θ

 θ 2 − θo
ADAPTIVE STRUCTURES

PASSIVE ACTUATION MECHANISM

Stiffening
Force
Propeller
Noise

Piezoelectric
Actuator
Interior
Noise
Fuselage
ADAPTIVE STRUCTURES

FINITE ELEMENT MESH

Acoustic Elements

Adaptive Composite Shell

with Piezo Layer
ADAPTIVE STRUCTURES

ACTUATOR CONFIGURATION

Propeller
Plane

.5 m
z=3
.3 m
r=1

θ= 0

z=0
ADAPTIVE STRUCTURES

ACTUATOR CONFIGURATION

Propeller
Plane

.5 m
z=3
.3 m
r=1

θ= 0

z=0
ADAPTIVE STRUCTURES

RESULTS

NOISE REDUCTION

140

Symmetric
120

Frequency 90 Hz
100
No Actuation
NOISE REDUCTION (dB)

80

60 Frequency 90 Hz
External Pressure
Distribution Actuation 400 V
θ = 180 Frequency 90 Hz Case 1 - Chess Pattern
Actuation 400 V
40 Case 2 - Line Pattern

20

θ= 0
0
45 90 135 180 225 270 270 360
ANGULAR POSITION (Deg)
 ADAPTIVE STRUCTURES

CONCLUSIONS

´ Analytical and finite element models with

electromechanical properties have been presented.
´ Application of piezoelectric patches to control pane
flutter has been demonstrated.
´ Internal noise reduction using a stiffened fuselage
with piezo pacthes achieved considerable reduction in
noise levels.