Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

Leuven, Belgium, 4-6 July 2011

G. De Roeck, G. Degrande, G. Lombaert, G. Muller (eds.)
ISBN 978-90-760-1931-4

1735

Control of transversal vibrations of a clamped-clamped beam

by a permanent magnet and a shunt circuit
Stein G.J1, Darula R2, Sorokin S2
Slovak Academy of Sciences, Institute of Materials and Machine Mechanics, Raianska 75, SK-831 02 Bratislava 3, Slovakia
2
Department of Mechanical and Manufacturing Engineering, Aalborg University, Pontoppidanstrde 101,
DK- 9220 Aalborg East, Denmark
email: stein@savba.sk, dra@m-tech.aau.dk, svs@m-tech.aau.dk

ABSTRACT: In the contribution the first eigenmode of transversal vibrations of a clamped-clamped slender beam with an
electromagnetic actuator, fixed at some distance from the beam at its midpoint is analysed. The beam is excited by harmonic
force acting at its midpoint. The actuator consists of a pot type permanent magnet with an extra winding short-circuited by an
external resistance. The mathematical model of a magnetic force is derived in a simplified, linearised form. Its influence on the
beam transversal vibrations is analysed analytically and by numerical simulation. The extent of natural frequency variation and
of the additional damping is assessed and optimised. Based on the developed theory and experimental data, from a similar
experiment the advantages of this actuating principle for vibration control are exploited.
KEY WORDS: Beam theory; Vibration control; Electromagnetic actuator; Harmonic excitation; Coupled problem; Numerical
simulation.
1

INTRODUCTION

Many of the vibration control problems of rotating machinery

are associated with various resonance phenomena. Possible
measures to avoid such phenomena are, for example:
detuning of the structural eigenfrequencies from the range
of machine operational frequencies
reducing excessive vibrations by means of damping.
Some innovative approaches have been explored recently
using active and semi-active methods of vibration control.
Piezoelectric, electro-dynamic and electro-magnetic actuators
were used for this purpose [1, 2].
The shunt circuit dampers are widely used in vibration
control of structural elements especially connected to the
piezoelectric elements [1, 2, 3]. The implementation of
piezoceramics for large machine vibration control is
complicated, because the material is brittle, it cannot be
exposed to large strains and requires special high voltage
amplifiers [1,3]. On the other hand, when a permanent magnet
passes the coil connected to the electric circuit, electromotive
force (EMF) is induced in the circuit as a result of Faradays
law of induction. This principle is used e.g. by Cheng [4] for
vibration control of a cantilever beam. In his set-up the current
generated by the induced EMF in a coil is dissipated within a
shunt circuit, which consists of a battery of series RLC
circuits. Similar approach is presented in [5]: a cantilever
beam is equipped with an electromagnet connected to a shunt
resistance. The eddy currents damping was exploited in [6].
In the contribution, the electromagnetic actuation principle
is investigated. It forms the essence of the contribution.
2

centre of a coil. As the yoke vibrates, the air gap width d(t)
varies with time. The change of d(t) is responsible for the
change of the air gap reluctance and consequently the primary
magnetic flux time variations, which induce alternating
voltage u(t) in the coil. The induced voltage forces a current
i(t) flowing in the closed electrical circuit. The direction of i(t)
is such that the generated magnetic field in the coil opposes
the primary field of the PM (Lenzs law). The alternating
dynamic magnetic force due to the induced current acts both
as a damping and a spring force. The current i(t) is dissipated
in the shunt resistance R (including also the coil resistance).
The combination of the static magnetic force of the PM and
that one of the induced current i(t) influences the structure
stiffness and thus the natural frequency. Moreover, the
induced current i(t) intensity influences the extent of damping.
Both effects are non-linear, because of the 1/d(t)2 character of
the magnetic force expression, which is dependent on the
square of the sum of the current i(t) and the PM
magnetisation.

CONCEPT OF THE VIBRATION CONTROLLER

The paper analyses the use of an industrial circular pot type

magnet (Figure 1) with a ferromagnetic yoke fixed in the
middle of a diamagnetic slender beam, ideally clamped at the
ends to form a vibration control system. Static magnetic field
is generated by a permanent magnet (PM) located in the

Figure 1. Scheme of the set-up (the flux line is denoted by

a dashed closed curve).
3

ANALYSIS OF THE MAGNETIC FIELD

Let us assume, that there is a periodic force F(t) exciting the

clamped-clamped, slender beam at its midpoint (Figure 1).

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Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

When the centre of the beam is oscillating, the air gap width
d(t) between the yoke and the core is periodically varying.
According to Faradays law of induction, in the coil of
winding cross-section SW and number of turns N, alternating
voltage u(t) is generated, due to time variable magnetic
induction (magnetic field density) B(t) in the air gap:
u (t ) = -

d
dB (t )
= - NS W
,
dt
dt

(1)

where = N SW B(t) is the total magnetic flux in the opened

magnetic circuit, consisting, according to Hopkinsons law, of
series connection of the reluctances of the air gap (twice), the
pot core, the yoke and of the PM itself. Assuming constant
core cross-section SC and neglecting fringing effects and
core/yoke material magnetic non-linearity and hysteresis, it
can be derived [1, 7]:
=

FF
FF (t )
,
=
lg
R

l
lPM
1
M
C
+
+

S C m rFe m 0 m 0 m rPM m 0

When a current i(t) is flowing through the coil, then as

follows from the Amperes law, the magnetomotive force F
is given [7-9]:
r r
FF = H dL = M + Ni (t ) ,
(7)
C

where the contour integral over the closed curve C follows the
middle magnetic flux line. Hence:
FF (t ) = M + Ni (t ) = H PM lPM + H C lC + H g lg (t ) ,

where HPM, HC and Hg are magnetic fields in the permanent

magnet, core and air gap, respectively.
From the assumption (3) it follows that:
BPM = Bg = BC = B (t ) = BN (t ) .

B ( t ) - Br
B( t )
B( t )
lPM +
lC +
lg (t ) = M + Ni(t ) .
m 0 m rPM
m 0 m rC
m0

(2)

(3)

Assuming operation of the PM in the linear part of the

second quadrant demagnetization curve (Figure 2) [8], using
the so-called Sommerfeld convention, the static magnetic
induction (magnetic flux density) in the air gap is given as:
B0 = m 0 m rPM ( H PM - H c ' ) = Br + m 0 m rPM H PM ,

B0 = m 0 ( H PM + M ) .

(5)

Hence:
M = m rPM ( - H c ' ) =

Br
.
m0

(6)

In this linearised description the apparent coercivity Hc is

related to the linear representation and is a bit larger than
material coercivity Hc (Figure 2).

(10)

Figure 2. Demagnetization curve of PM after [8].

Introducing
scaled
dimensions
dC = lC/(2rC),
dPM = lPM/(2rPM), 2(d(t) - d0) = lg, the non-dimensional
parameters = BrlPM/0, = (dC + dPM)/d0 and solving Eq. (8)
for magnetic flux density leads to:
B(t ) =

(4)

where:

Br = m 0 m rPM ( - H c ' ) is the remanence (Figure 2)

Hc is the so-called apparent coercivity (Figure 2)
mrPM is the PM material relative permeability
m0 is the permeability of vacuum.
The concept of magnetisation M can be introduced [7-9].
Then the magnetic field in the air gap can be expressed as:

(9)

Then Eq. (8) can be modified to:

where lC, lg, and lPM are in turn the length of the flux line in
the core/armature of relative permeability rFe, of the air gap
and of the PM, with material relative permeability rPM,
respectively. F(t) is the magnetomotive force in the magnetic
circuit, which has a steady state component, due to the PM,
and a time varying component, due to the yoke vibrations.
Assuming that the tangential magnetic induction component
at the interface between the yoke surface and the air gap is
negligible (no fringing effects) and the normal component is
homogenously distributed over the whole core surface of area
SC, then:
(t ) = BN (t )S C = B (t )S C .

(8)

and

m 0 [M + Ni (t )]
m M [1 + i (t ) N M ]
= 0
, (11a)
2d 0 [(1 + d ) + e (t )] 2d 0 [(1 + d ) + e (t )]
FF (t ) = M + Ni (t ) ,

(11b)

where:
d0 is the equilibrium distance between yoke and the PM
w(t) is the dynamic displacement of the yoke from the
equilibrium position d0: w(t) = d(t) d0 in the positive
(upwards) direction (Figure 3)
(t) is the relative dynamic displacement: (t) = w(t)/d0,
positive in the upward direction, further referred to as the
relative air gap width (a non-dimensional quantity).
It will be assumed that |w(t)| << d0, i.e. | (t)| << 1.
Eq. (11a) represents the general form of magnetic induction
in the air gap in the time domain. If the shunt circuit is not
connected, no current is flowing and the last term in
numerator is zero. There is no oscillating magnetic field and
so the magnetomotive force of Eq. (11b) is constant.
According to Lenzs law, the current flowing through the
closed electrical circuit with resistance R (in general external
impedance Zext) has such direction, that its force action is

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Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

opposite to the generating influence, so i(t) = u(t)/R. Voltage

u(t) can be substituted from Eq. (1) leading to:
i(t ) = -

NS W dB (t )
.
R
dt

(12)

Hence:
F F = M + Ni ( t ) = M -

N 2 S W dB (t )
.
R
dt

(13)

Now, when all the characteristics of the electro-magnetic

circuit have been under given assumptions stated, the
magnitude of the magnetic force FM acting onto the yoke
downwards can be expressed. Only the normal magnetic
induction component BN of the magnetic induction B(t) is
taken into account. Hence, in this particular case [7]:
1
2
FM (t ) = 2
BN (t ) S C .
2m0

1 l3
,
z m = mg N

192 E Y I b

where EY is the modulus of elasticity (Youngs module) of the

beam material, Ib is the second moment of inertia of the beam
cross-section. The static force given by the first term bends
the beam from an ideal straight form a little. The second term
is the inverse of the lumped bending stiffness kS [3, 11].
Let us now locate the PM at a hypothetical distance d0* from
the statically bent beam to the PM core upper plane. Same
formula holds for static beam deflection by the magnetic force
FM at midpoint; however, the first term in (16) is substituted
by the acting force. Due to the static magnetic field the beam
is bent further to attain a static equilibrium position in the
distance d0. Equilibrium is described by the equation [3, 10]:
( d 0* - d 0 )k S = FM ( d 0 ) =

(14)

The Maxwells magnetic pulling force is acting both at the

inner core and at outside annulus of assumed same crosssection SC as the inner core. After substitution from Eq. (11a):
1
m S [M + i (t ) N ]
2
FM (t ) =
BN (t ) S C = 0 2C
2 ,
4d 0 [(1 + d ) + e (t )]
m0

B0 =

(15a)

4.2

(15b)

Note, that the magnetic force due to squared magnetic

induction has a non-linear form and is difficult to calculate
exactly. Some simplifications should be proposed to make the
problem tractable.
At this point the influence of the eddy currents should be
mentioned. The eddy currents are the consequence of the
Lorenz force acting onto movable charges in magnetic field of
r r
induction B and are described by a vector product v B . In
r
the treated case the beam velocity vector v has the same
r
direction as the vector of the magnetic induction B giving a
zero vector product. Hence, no eddy currents occur in this
particular configuration.
VARIATION OF
THE AIR GAP

THE

MAGNETIC

FIELD

IN

The time dependence of the magnetic field in the air gap plays
a decisive role in the electro-magnetic system description.
4.1

(17)

m0 M
= const ( d 0 ) ,
2d 0 (1 + d )

(18)

which, except of PM and magnetic circuit properties, depends

mainly on the initial air gap width d0.

or using the expression for the induced current (12):

1 2
B0 S C .
m0

In principle d0* > d0, albeit the difference is negligible.

From (11a), the static magnetic inductance B0 in air gap of
width d0 is:

N 2 S W dB (t )

M
R
dt
mS
FM (t ) = 0 2C
.
4d 0
[(1 + d ) + e (t )]2

(16)

Static analysis

Firstly, let us analyse the static deflection of a slender beam of

length l, rigidly fixed on both ends, loaded at beams midpoint
by the mass of the yoke and a dead weight, jointly of mass m,
without the presence of the PM (Figure 1). Let us assume, that
the length of the yoke is negligible in respect to the overall
beam length l. Using the standard expression of equivalent
(lumped) stiffness for the clamped-clamped beam, the
deflection, zm at the beam midpoint due to mass m is [3, 11]:

Dynamic analysis

When the harmonic excitation is applied, after passing the

transition phase (whose analysis is well beyond the scope of
this contribution) eventually, a steady state will be reached. In
this state two effects play role (see Eq. (11a)):
the time variable relative air gap width e(t)
variable magnetic field due to the induced current, which
corresponds to e& (t ) .
This is reflected by the two terms in the numerator of
formulas (15). Then:

m 0 N 2 S w d 2 B(t )
dB (t ) B de B di B
=
+
=
e& , (19)
dt
e dt i dt e
2d 0 R(1 + d ) dt 2
where in the second term e in the denominator was neglected
because |e(t)| << 1. From Eq. (11a) follows for B/e:
B
m M [1 + i (t ) N M ]
m0 M
= - 0
2
2 .
e
(
)
2d 0 1 + d
2d 0 (1 + d )

(20)

Here the current influence was neglected (i(t)N << M), to

proceed any further. This is a simplifying assumption used in
magnetic circuit analysis [1, 7] and for small (t) was proved
also experimentally [12]. So Eq. (19) can be re-arranged to:
d 2 B (t )
dt 2

m 0 N 2 S W 1 dB(t )
B0
=e& .

+
(1 + d )
dt
2d 0 (1 + d ) R

(21)

Note, that the term in the square bracket is in fact the

inductance L0 of a coil with a ferromagnetic core and air gap
of width d0. Eq. (21) is a first order differential equation in
dB/dt in respect to e& .

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Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

Let us assume, that the relative air gap width e(t) changes
harmonically with the excitation angular frequency wa, i.e.
e(t) = e0sin( wat+je) = e0Re{exp[j( wat+je)]}, where je is the
phase angle in respect to the excitation force and j = - 1 .
Then the Eq. (21) can be transformed into frequency domain,
using the Fourier transform and neglecting all transient
phenomena (electro-magnetic and mechanic):

B0 ~ jw
~ jw L
B e jw a 0 + 1 = Ee ,
(1 + d )

R
a

or

~
B=-

B0
~
E.

jw a L0
(1 + d )
+ 1
R

(22)

(23)

Eq. (23) gives the simplified relation between the alternating

~
component of the magnetic induction phasor B and the
~
relative air gap width phasor E , both related to the acting
harmonic force of angular frequency wa, in respect to the
static magnetic field induction B0.
5

~
~
cS kS ~ jw t Fe jw t
FM

2
w
+
j
w
+
E
e
=
,
a
a

m m
md 0 md 0

(26)

~
~
Fe jw t FMO
~
,
+ 2 jx S ]Ee jw t =
ks d 0
ks d 0

(27)

and

[1 -

where:

= w a w 0 is the non-dimensional frequency ratio

w 02 = k S m is the square of the beam first eigenfrequency

x S = cS cC is the damping ratio with cC = 2 k s m being

the critical damping coefficient.

The term in the square brackets on the left hand side is a
linear second order operator, describing the behaviour of the
beam excited at the first eigenfrequency without the influence
~
of the PMs magnetic field. The overall magnetic force FMO is
to be calculated next.

COUPLING MAGNETIC AND MECHANIC SYSTEM

Now the equation of motion of the mass-less slender beam

with rigidly clamped fixtures at both ends can be derived in
the coordinate system associated with the beam, while the
positive z-axis is pointing upwards. . From all the eigenmodes
of the beam only the odd ones are feasible, as there is an
antinode is in the mid-point of the beam.
If, for sake of simplicity, just the first eigenmode is
analysed, then the beam continuum can be approximated by a
lumped parameter single Degree-Of-Freedom (SDOF)
oscillatory system (Figure 3), described by the bending
stiffness of the clamped-clamped beam kS, defined in
Section 4.1. Considering a small, relative velocity dependent
viscous damping, described by the damping coefficient cS,
then the equation of motion for the lumped SDOF equivalent
system, in the DAlembert form is:
&& - cS w& - k S w + F (t ) - FM ( d 0 , i (t )) = 0 ,
- mw

(24)

where m is the mass of the yoke and possible vibrating

equipment mass and w is the displacement in the upward
direction (Figure 3) and its time derivatives (with over dot).
Introducing the relative air gap width e(t):
F (t ) FM (t )
c
k
e&& + S e& + S e =
.
md 0
md 0
m
m

Figure 3. Equivalent SDOF oscillatory system.

6

CALCULATION OF THE MAGNETIC FORCE

The magnetic force in complex domain is given by the Fourier

transform of Eq. (15b), wherein for the magnetic induction
time derivative has to be introduced using Eq. (23). To make
the problem tractable, let us expand the dependence in e(t) by
a MacLaurins polynomial and let consider just the linear
term. Such linearisation is feasible, because, as assumed
before, |e(t)| << 1:

(25)

This is a standard equation of motion of kinematically excited

SDOF oscillatory system with an additional force of nonmechanical origin (see Figure 3).
The response of the system is analyzed under steady state
harmonic forced vibration by the oscillating force
F(t) = F0sin(wat) of angular frequency wa, expressed, using the
complex notation, as F(t) = F0Re{exp(j wat)}. It is assumed,
that all transient phenomena (electric and mechanic) are
extinct. Assuming, that the response will be harmonic too, the
complex relative air gap width will be expressed
~
as Ee jwa t = e 0 e jj e jwa t . Then:

m 0 S C FF
m 0 S C FF
2
2 2
3 e (t ) .
4d 0 (1 + d )
2 d 0 (1 + d )
2

FMO (e ) =

(28)

Next, let now convert the magnetic force into the frequency
domain. Since a square of the magnetomotive force FF
according to the numerator of Eq. (15b) has to be performed,
it is a good to assume multi-component magnetic force, while
each component would oscillate (i.e. rotate in the complex
plain) with a specific multiple of the excitation angular
frequency wa and own phase in respect to acting excitation
~
force Fe jw t . Hence:
~2
~2 ~
Q
mS
FF
m 0 S C FF Ee jw t
~
~
FMO = FMn e jnw t = 0 2C
,
(29)
2
2
3
4d 0 (1 + d )
2d 0 (1 + d )
n =0
a

with magnetomotive force expanded into form:

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Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

(F~ )

= M

( ),

2j M w a N 2 S W ~ w a2 N 4 S W2 ~
B B
R
R2

wherein the magnetic induction phasor B has to be

substituted from Eq. (23). Looking at Eqs. (29) and (30) it can
be qualitatively stated that after performing the prescribed
multiplications and some algebraic re-arrangement following
magnetic force components emerge:
a static component for n = 0, contributing to the righthand side of Eq. (17), affecting the equilibrium position
and so in fact the static magnetic induction B0. This effect
will be in further neglected, because the dynamic
response of the system is of interest only.
a component at the angular frequency wa (n = 1),
contributing to the equation of motion. It has the form:
~
FM1 =

F
k w 0 L0 ~
2

(
)
1
k

2
j

x
E
=
. (35)
+
+

S 2 R + jw L
kS d 0

a 0

(30)

jw a m 0 S C S W MN 2 B0
m0 S C M 2 ~
~
E E . (31)
2
3
2d 0 (1 + d ) ( jw a L0 + R )
2d 02 (1 + d )3

Both terms give relation between the relative air gap

~
~
phasor E and the magnetic force component phasor FM 1 .
a second harmonic component at the angular frequency
2wa (n = 2), which is well known to be associated with
magnetic circuits [1]. However, in the case of clampedclamped beam excited at the midpoint, i.e. in the antinode
no mechanical effect could result. Hence, this component
does not enter the analysis, unless wa w0/2. Then the
first eigenmode would be excited. This situation has to be
averted.
a third harmonic component at the angular frequency
3wa (n = 3), which would excite the third eigenmode of
the beam. However, being of the order of |e |3 it can be
assumed for simplicity, that it does not markedly
influence the system behaviour.
Introducing a coefficient k*M1 for the factor in front of the
second term in formula (31) and substituting from (18) for B0
and for L0 (introduced in Eq. (21)) the formula (31) is
modified to the form:

The expression in the square bracket is the inverse of the

~
transfer function of displacement response phasor E to the
~ jw t
harmonic force phasor Fe [3]. A complex electro-magnetic
damping ratio xE can be introduced:
a

x E (w a , R) =

k
w 0 L0

.
2 R + jw a L0

(36)

The influence of the permanent magnet with a coil

electrically loaded with resistance R modifies the dynamic
properties of the vibrating beam in dependence on the
excitation force frequency. In particular it introduces further
damping depending on the electrical properties of the
enclosed circuit (in here resistance R).
By proper choice of PM, the system can be tuned in respect
to match desired natural frequency, as indicated by the first
term in the square brackets in (35), i.e. (1 - ), where is
function of beam and PM properties, as well as of the initial
air gap width d0.
7

OPTIMISATION OF THE EXTERNAL RESISTANCE

Let us analyse first some limiting cases of the electrical

parameters of the external circuit:
1. If there is no magnet, the original beam at its first
eigenfrequency would behave as described by following
common formula:
~
[1 - 2 + 2 jxS ] E~N = F .
(37a)
kS d 0

(32)

The subscript N indicates that no electromagnetic damping

is introduced.
2. For assumed R = 0, the electro-magnetic damping ratio
becomes xE0 = -jk/(2W). It is substituted into Eq. (35).
After algebraic manipulation, it yields following formula:
~
[1 - 2 + 2 jxS ] E~0 = F .
(37b)
kS d 0

Concluding this section, it can be stated that under the

simplifying conditions discussed, the equation of motion of
the clamped-clamped beam in the vicinity of its first
eigenfrequency (for wa > w0/2) is described by following
equation:
~
* ~
* ~
[1 - 2 + 2 jxs ] E~ = F + k M1E - jw a L0 k M1E . (33)
ks d 0 ks d 0
jw a L0 + R k s d 0

i.e. as if no electro-magnetic damping would be present.

This is understandable, because for R 0 there is no mean
for electrical energy dissipation. The induced current
generates a magnetic field, which fully compensates that
one of the PM.
3. If R , then xE 0 and Eq. (35) is modified to:
~
[(1 - k ) - 2 + 2 jxS ] E~ = F .
(37c)
kS d 0

~
FM1 =

jw a L0
~
~
k M* 1 E - k M* 1 E .
jw a L0 + R

The factor k*M1 has dimension Newton, thus the ratio k*M1/d0
has the same dimension as the beam stiffness kS, i.e. N/m. It is
possible to define new quantity magnetic field stiffness:
kM =

m0 S C M 2
k
, and the ratio k = M .
2d 03 (1 + d ) 3
kS

(34)

Introduction of the magnetic field stiffness enables to relate

the influence of the first harmonic of the magnetic force to the
beam stiffness. Then the Eq. (33) is modified to:

The system modified natural angular frequency is

wM = w0(1 - k). However no additional damping due to
the presence of alternating magnetic field is obtained.
4. There is a special value of R: R* = w0L0. After algebraic
manipulation Eq. (35) becomes:
~

k 1 - j ~
F
2

E
=
, (37d)
1 - k - + 2 j xS +

E
2 1 + 2
kSd 0

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Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

where the subscript E indicates the response under the

influence of the electro-magnetic damping. Expression in
the square bracket attains a maximum at Wo = (1- k).
Note, that all derivations have been undertaken assuming
the same excitation by harmonic force F. The response of the
system using the specific shunt resistor R*, given by Eq. (37d)
can be compared with the response without using the electromagnetic damping sub-system (Eq. (37a). In particular, it can
be compared at the beam first eigenfrequency, i.e. for W = 1:
~
2 EE
4x S
2x
4x S
1
1
=
+
+

S
~
k
k
k

EN


1
2

2,

(38)

because in practice it can be assumed that xS << k.

As seen from Eq. (38) the amplitude of response at
resonance of the beam due to introduction of the electromagnetic sub-system would be much smaller than the
response for the beam without the sub-system, assuming that
it is subjected to the optimal resistance of the electrical circuit:
R* = w0L0. By varying the resistor R between (theoretically)
zero and a very large value the natural frequency of the
combined system varies between w0 and w0(1 - k).
The formula (36) can be re-written, using the optimal
resistance R* as:

k R
k (R R* - j )

.
+ j =

2
2 R*
2 (R R* ) + 2

-1

x E ( , R) =

(39)

Introducing the optimal resistance R* into Eqs. (23) and

(32) for the magnetic induction and the magnetic force after
re-arrangement the following formulas are obtained:
~
B=-

-1

B0
R R
~
+ j E .

(1 + d ) R* R*

(40)

-1

~
~
~
R
FM = d 0 k M j
+ j E - d 0 k M E .
R*

(41)

For the special case of R = R* and W = 1,

|B| = B0|E|(1 - j)/(2+2d) and |FM| = d0kM|E| (1 - j)/2. The |B| is
the oscillating magnetic induction component magnitude.
Note, that in above formulas the term (R R* + j )-1 is present,
traceable back to the derivation of formulas (21) and (23) for
the alternating magnetic induction component of the total
normal component of the magnetic induction in the air gap.
8

Note the blue peak for R at W = (1 - k), corresponding

to formula (37c) and the saddle point (circle) according to
(37d) for Wo = (1 - k) and R* =w0L0. The maximum values of
~
E for various values of R are plotted in red, starting at
Rw = 35 Ohm. The frequency response curve for the beam
with structural damping only (xS = 0.002) is drawn in black
for comparison. The variable k is assumed having the value
k = 0.20. Figure 4 illustrates the changes in system natural
frequency due to the influence of the PM and the extent of
damping due to variation in the resistance R.

Figure 4. Courses of E for different values of resistance R

(explanation see text).
It is interesting to compare the frequency dependence of the
amplitude of displacement w(t) obtained at the same
excitation force magnitude of F = 10 N for the analysed beam
without the proposed damping circuit (black course) in
Figure 5 with the frequency dependence for an circuit with an
optimal shunt resistance R* (green course) corresponding to
the particular magnet [12] in the vicinity of the first
eigenfrequency. The vertical axis is graded in millimetres
(for d0 = 0.75 mm) and the horizontal axis is given in Hz,
assuming beam eigenfrequency 39.5 Hz ( w0 = 248.19 rad/s),
as emerged from measurements [12]. Note the change in
damped natural frequency and the decrease in displacement
magnitude |w| due to damping. The vibration attenuation
gained at W = 1, i.e. at the first beam eigenfrequency
comparing the system with and without the electro-magnetic
sub-system is given by Eq. (38) and is approx. 35. So with the
resistance R* the maximum at W = 1 is 35-times decreased.

A SPECIFIC SIMULATION EXAMPLE

The analytical results derived in previous section are

illustrated in Figure 4, where the non-dimensional
~
displacement response magnitude E , originating from
Eq. (35), is plotted for a constant excitation force magnitude
in respect to W and R for a particular system, corresponding to
a prototype system (described in more detail in [12]). Specific
parameters, based on magnet vendors data and/or measured
on a magnet, retrieved from [12], were introduced in the
respective formulas to arrive at the numerical values for L0
(Eq. (21)), kS (Eq. (16)) and kM (Eq. (34)), as well as the
minimal value of R for the coil winding Rw.

Figure 5. Comparison of beam midpoint displacement under

constant force excitation at first eigenfrequency: black - sole
beam, green - beam with the optimised damping system.

Proceedings of the 8th International Conference on Structural Dynamics, EURODYN 2011

DISCUSION

The derived formulas and the simulation example indicate

approximately 35-fold attenuation of the transversal vibration
amplitude at beam first eigenfrequency, subject to optimal
external shunt resistance enclosed. This result may be,
however,
an
optimistic
oversimplification.
Some
simplifications have been introduced in the course of analysis
to make the problem tractable. Following issues have been
neglected, which might affect the vibration control properties:
simplification in the description of the magnetic field
lines and resulting description of the magnetic field by
Eq. (21). Especially the fringing effects and magnetic
field non-uniformity may affect the systems dynamic
properties. More adequate description of the magnetic
field distribution would imply use of other means for its
description, which is beyond scope of this contribution
the magnetic material of the PM and of the core/armature
has been assumed to have linear magnetic properties. This
may hold for weak magnetic fields only. Saturation and
hysteretic phenomena do occur in a real material, which
have to be accounted for in the future by using a more
appropriate description of the magnetic material in more
advanced models
it has been assumed, that there is no eddy currents flow in
the armature. This would be true, if the magnetic field is
only perpendicular to the armature surface and
perpendicular to its movement. In a similar configuration,
treated by Sodano et al. [6] it was shown, that when more
complex magnetic field is considered the eddy currents
occur and markedly contribute to the damping of the
beam transversal vibrations, as given in more detail in [6].
Hence, in the case treated here eddy current effects would
inevitably influence the vibration damping. This effect
has not been included in the presented model
the hysteretic effects of the magnetic material could be
treated as internal electrical losses and accounted by a
shunt resistance, connected in parallel to the external
resistance. This would obviously decrease the overall
circuit resistance and would influence the extent of
vibratory power dissipation. This has to be accounted for
in a more sophisticated model of the electric part
the amplitude of beam vibration is assumed to be
sufficiently small (|(t)| << 1). In industrial applications
this conditions may not be fulfilled easily and thus more
complicated non-linear coupled problem needs to be
solved in more complex way
some verification, especially of non-linear behaviour, can
be done using numerical tools; however, the experimental
investigation is crucial to prove the results.
There are reports of using electromagnetic actuator as a
device for de-tuning the beam natural frequency [13]. As seen
from formula (34) this is possible by changing the distance d0
between the beam and the permanent magnet (PM), or more
favourably, by replacing the PM by an energised coil with a
controllable DC current. Variation in the magnetic stiffness kM
and corresponding decrease in the system first eigenfrequency
from W = 1 to W = (1 - k) is possible. This effect is often
regarded as the introduction of the negative stiffness and
used in vibration control [13].

10

1741

CONCLUSION

Based on the developed theory and data from prototypes and

similar experiments [12], the advantage of this actuating
principle for vibration control is exploited. Optimal external
resistance R*, which facilitates the highest vibration
attenuation, is found analytically. The extent of attenuation at
beam first eigenfrequency, i.e. the decrease of response
amplitude under same force excitation depends on the external
resistance R. The introduced parameter kM called magnetic
field stiffness is fully described by the permanent magnet
properties and the distance d0.
The presented results form a basis of further laboratory
experiments in order to validate the assumptions used in
above derivations.
ACKNOWLEDGMENTS
This contribution is a result of the project No. 2/0075/10 of
the Slovak VEGA Grant Agency for Science and
InterReg IV A Silent Spaces Project, whose one Partner is
Aalborg University.
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[8]
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[10]
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