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Mechanics of Advanced Materials and Structures

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Active control of nonlinear forced vibration in a

flexible beam using piezoelectric material
a

Feng-Ming Li , Guo Yao & Yimin Zhang

a

College of Mechanical Engineering, Beijing University of Technology, Beijing 100124, China

School of Mechanical Engineering and Automation, Northeastern University, Shenyang

110819, China
Accepted author version posted online: 18 Nov 2014.

To cite this article: Feng-Ming Li, Guo Yao & Yimin Zhang (2014): Active control of nonlinear forced vibration in a flexible
beam using piezoelectric material, Mechanics of Advanced Materials and Structures, DOI: 10.1080/15376494.2014.981613
To link to this article: http://dx.doi.org/10.1080/15376494.2014.981613

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Active control of nonlinear forced vibration in a flexible beam using piezoelectric material
Feng-Ming Li 1, Guo Yao 2, Yimin Zhang2
1. College of Mechanical Engineering, Beijing University of Technology, Beijing 100124, China
2. School of Mechanical Engineering and Automation, Northeastern University, Shenyang

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110819, China
Abstract: Geometric nonlinearities of the beam and piezoelectric patch are considered. Velocity
feedback control algorithm is implemented applying piezoelectric materials. The equation of
motion of the system is established using Hamiltons principle. The effects of control gains on
primary resonance properties of the beam are studied. It is observed that with the amplitude of
external excitation increasing, the amplitude of resonance curve increases. The velocity feedback
control can improve unstable resonance of the beam. When the control gain is increased to a
certain value, the unstable regions in the resonance and amplitude-frequency curves disappear.
Key words: Beam; piezoelectric material; nonlinear vibration; active control; multiple-scales
method.

Corresponding author. Tel.: +86 10 67392704.

Email address: fmli@bjut.edu.cn (F.-M. Li). Dr., Professor of Beijing University of Technology, Beijing, China.

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1 Introduction
The nonlinear forced vibrations of the mechanical structures are commonly seen in many
mechanical applications and the nonlinear dynamic characteristics of these structural systems are
focused by numerous researchers. Maccari [1] studied the time-delayed feedback control of the

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primary resonance of a cantilevered beam. By applying the asymptotic perturbation method, the
amplitude-frequency relation of the system was obtained and the effects of the time delay and
feedback control gains on the resonance of the beam were studied. El-Bassiouny [2] studied the
resonances and control of a cantilevered beam by using the multiple-scales method and found
that the quantic velocity feedback control can stabilize the unstable amplitude. Yao and Li [3]
studied the bifurcation and chaotic motions of the two-dimensional composite laminated plates in
subsonic flow. They obtained the critical instability velocities of the plate by computing a
generalized double integral. Li and Liu [4] studied the nonlinear vibration and active control of a
simply supported beam subjected to axial harmonic excitation. The effects of the velocity
feedback control gains on the stability of the beam were discussed.
Based on the Euler-Bernoulli beam theory, Rafiee et al. [5] studied the nonlinear free and
forced vibration of a nanotube by using the multiple-scales method. The effects of the spring
constant of the elastic foundation and the aspect ratio of the nanotube on the nonlinear oscillation
properties of the system were discussed. Shooshtari and Rafiee [6] investigated the primary and
secondary resonances of a symmetric functionally graded beam by using the multiple-scales
method. The amplitude-frequency relation of the system was obtained and the effects of the
system parameters on the resonance properties of the beam were studied. Emam and Nayfeh [7]
studied the nonlinear vibration of a clamped beam subjected to uniform axial load and transverse

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harmonic excitation. The bifurcation and chaos of the buckled beam were analysed.
The nonlinear vibration and its control of the plates and shells were also extensively studied.
Abe et al. [8] investigated the primary resonance of a composite rectangular plate by using the
multiple-scales method. Zhang [9] analysed the chaotic motion of a composite plate subjected to
parametric excitation. Tang and Chen [10] researched the nonlinear vibration of a plate

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considering the internal resonance. Singha and Daripa [11] studied the nonlinear forced vibration
of a plate under transverse harmonic excitation and in-plane periodical load. Amabili [12-14]
conducted a series of relevant investigations in the nonlinear vibration of the cylindrical shells.
Li and Yao [15] studied the 1/3 subharmonic resonance of a composite cylindrical shell subjected
to subsonic airflow. The necessary condition for the 1/3 subharmonic resonance of the shell was
obtained.
From the literatures mentioned above, it can be seen that the unstable nonlinear resonances
of the flexible structures are common in the mechanical engineering. So it is necessary to
investigate the characteristics of the nonlinear resonance and to search for appropriate control
algorithm to stabilize the nonlinear vibration system. In the present study, the equation of motion
of the beam bonded with piezoelectric patch is established using the Hamiltons principle. The
nonlinear forced vibration of the beam is studied by applying the multiple-scales method. The
velocity feedback control algorithm is adopted to stabilize the unstable resonance and the applied
external control voltages on the piezoelectric actuators are presented to show the feasibility of
the active control strategy.

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2 Structural equation of motion

The simply supported beam with rectangular cross section as shown in Fig. 1 is considered.
The piezoelectric patch is well bonded on the surface of the beam. Fig. 1 shows the Cartesian

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coordinates, in which the x-axis is established at the neutral surface of the base beam and along
the axial direction. The harmonic force F(t) = F0cos(t) is applied transversely at the position x
= xF of the base beam. In the study, the effects of the axial deformation on the transverse
displacement of the beam are neglected.
The material of the base beam is homogenous and isotropic. The normal stress and normal
strain in the beam are expressed as
x E x ,

x z

2 w 1 w 2
( ) ,
x 2 2 x

(1)

where w is the transverse deflection of the beam, and x, x and E are the normal stress, normal
strain and elastic modulus, respectively.
The piezoelectric material is transversely isotropic and the polarization direction is in the
z-axis. The constitutive equation of the piezoelectric material is expressed as

xp c11 xp e31Ez ,

Dz e31 xp 33E z ,

(2)

where xp and xp are the normal stress and normal strain of the piezoelectric material, c11, e31
and 33 are the elastic constant, piezoelectric constant and dielectric constant of the piezoelectric
material, Dz is the electric displacement in the z direction, and Ez = V0(t)/hp is the electric
intensity, in which V0 is the external applied voltage on the piezoelectric layer and hp is the
thickness of the piezoelectric layer. Since the piezoelectric material is well bonded on the surface

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of the base beam and the influences of the axial deformation on the transverse displacement of
the beam are neglected, it is assumed that the normal strain xp of the piezoelectric material is
the same as that of the base beam, i.e. the deformations between the piezoelectric material and
the base beam are consistent.

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The kinetic and potential energies of the total structure can be obtained as [4]
T

1
2

1
2

m(

dV 2
x x

a1
a4V0

xp x dV

1
2

(3a)

Vp

Dz Ez dV

2w 2
) dx a2V0
x 2

w 2
) dx a5
x

w 4
) dx a6V02 ,
x

Vp

w 2
) dx ,
t

2w
dx a3
x 2

2 w w 2
( ) dx
x 2 x

(3b)

where L is the length of the base beam, m = S +pSp is the mass per unit length of the base beam
and piezoelectric material, and p are the mass densities of the base beam and piezoelectric
material, S and Sp are the section areas of the base beam and piezoelectric patch, and the
coefficients can be expressed as

a1

a4

Ebh 3 c11bhp (4hp2 6hhp 3h 2 )

e31b
,
2

24
a5

Ebh c11bhp
8

a6

a2

be31(hp 2h)
2

bL33
,
2h p

a3

bc11hp (hp h)
4

(4)

where h is the thickness of the base beam and b is the width of the base beam and piezoelectric
patch.
The work done by the external applied force F is written as

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WF Fw x xF .

(5)

Hamiltons principle is written as

t2

t1

t2

(T U )dt WF dt 0 ,

(6)

t1

where denotes the first variation, and t1 and t2 are the integration time limits.

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The first order expansion of the transverse displacement of the simply supported beam is
considered. So the displacement w can be expressed as

w( x, t ) W (t ) sin

x
L

(7)

where W(t) is the displacement amplitude, i.e. the generalized coordinates.

Substituting Eqs. (3), (5) and (7) into Eq. (6), and performing the variation operation in
terms of W, the following nonlinear equation of motion of the whole structure can be obtained:

d 2W
a7V0 a8W a9V0W a10W 2 a11W 3 F1 cos t ,
dt 2
where

a7

4a2
,
mL2

F1

2 F0
x
sin F .
mL
L

a8

2a1 4
,
mL4

a9

2a4 2
,
mL2

a10

4a3 3
,
mL4

(8)

a11

3a5 4
,
mL4

and

One can observe that the second and fourth terms in Eq. (8) are the electromechanical
coupling terms which relate the external applied voltage to the structural deformation, and
indicate that the external applied voltage will affect the nonlinear dynamic properties of the
structural system. Furthermore, it can be seen that the structural vibration equation is cubic
nonlinear.

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3 Controller design
The piezoelectric material can be activated by appropriate external control voltage to obtain
active damping and improve structural vibration stability. To achieve this aim, a velocity
feedback control strategy can be applied. The velocity at position x0 of the beam is measured by
a velocity sensor and fed back to the controller. The controller calculates control voltage with

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velocity feedback control method, and exerts the voltage to the piezoelectric actuator patch to
produce control force. The control voltage exerted to the piezoelectric actuator is proportional to
the velocity at the position x0, and can be expressed as

V0 K

dw( x0 , t )
x dW
,
K sin 0
dt
L dt

(9)

where K is the feedback control gain for the piezoelectric actuator.

Substituting Eq. (9) into Eq. (8), and combining with Eq. (7), the equation of motion is
changed to the following cubic nonlinear equation with active damping

d 2W
dW
dW
cp
a8W a12W
a10W 2 a11W 3 F1 cos t ,
2
dt
dt
dt
where c p Ka7 sin

x0
L

and a12 Ka9 sin

x0
L

(10)

The second term in Eq. (10) is the active damping force due to the velocity feedback, and
the coefficient cp is the active damping coefficient which is related to the feedback control gain K.
We can see from Eq. (10) that by applying the piezoelectric material and velocity feedback
control, the active damping can be produced to influence the structural dynamic response. By
actively adjusting the feedback control gain K, the structural dynamic properties will be changed.

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4 Active control of nonlinear vibration
The active control for the nonlinear vibration of the beam will be investigated by solving
the steady response of the equation of motion, i.e. Eq. (10). By defining 02 a8 , Eq. (10) can
be changed to the following form:

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d 2W
dW
dW
cp
02W a12W
a10W 2 a11W 3 F1 cos t .
2
dt
dt
dt

(11)

Defining the following non-dimensional variables:

where 1 2

W
,
h

0
,
1

t 1t ,

(12)

EI
bh3
is
the
first
natural
frequency
of
the
base
beam,
in
which
is the
I

12
mL4

moment of inertia for the cross section of the base beam. Substituting the above non-dimensional
variables into Eq. (11) results in the following dimensionless equation of motion:

d 2W c p dW
dW

02W W
W 2 W 3 F cos t ,
2
dt
1 dt
dt

(13)

a h
a h
where , and are the dimensionless coefficients and expressed as: 12 , 102

and

a11h 2

2
1

F
, and F 1 2 is the dimensionless force amplitude. For the sake of the
h1

convenience of writing, the symbol over the non-dimensional variables will be omitted in
what follows.
The method of multiple-scales [16, 17] will be used to solve the nonlinear equation of
motion. So the following substitutions are made:

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cp

c , ,

F f ,

(14)

where is a small dimensionless perturbation parameter. Then Eq. (13) can be changed to
d 2W
dW
dW
c
02W W
W 2 W 3 f cos t .
2
dt
dt
dt

(15)

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Suppose the solution of Eq. (15) can be expressed as the following form:
W (t , ) W0 (T0 , T1 , T2 ,) W1 (T0 , T1 , T2 ,) 2W2 (T0 , T1 , T2 ,) ,

(16)

where Tn = nt (n = 0, 1, 2, ), and the first two time scales are taken. T0 = t is the fast varying
time scale and T1 = t is the slowly varying time scale. So the time derivatives are written as
follows:

D0 D1 ,
dt T0
T1
d2
2
2

D02 2D0 D1 .
2
2
dt
T0
T0T1

(17)

In this paper, the nonlinear primary resonance is studied. So we set

02 2 ,

(18)

where is the tuning parameter describing the approaching degree between and .
Substitution of Eqs. (16)-(18) into Eq. (15), after equating coefficients of same power of ,
results in the following differential equations:

D02W0 2W0 0 ,
D02W1 2W1 2D0 D1W0 cD0W0 W0 D0W0 W02 W03 f cos(T0 ) .

(19)
(20)

The complex solution of Eq. (19) can be obtained as

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W0 a(T1 ) exp(iT0 ) a (T1 ) exp( iT0 ) ,

(21)

where a is the complex conjugate of a.

Substituting Eq. (21) into Eq. (20) yields the following equation:

D02W1 2W1 (2ia ica 3a 2a a

1
f ) exp(iT0 ) (ia 2 a 2 ) exp( 2iT0 )
2

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a3 exp(3iT0 ) aa cc ,

(22)

where a is the derivative of a with respect to T1, and cc indicates the complex conjugate part at
the right hand side of Eq. (22). Eliminating the secular terms in Eq. (22) leads to

2ia ica 3a 2a a

1
f 0.
2

(23)

In order to solve function a, one writes a in exponential function form as follows:

1
A exp(i ) ,
2

(24)

where A and are all real function of T1. Substituting Eq. (24) into Eq. (23) and dividing the real
parts from the imaginary parts yield

1
1
A cA
f sin ,
2
2

3 2
f
A

cos .
8
2 2 A

By letting A 0 and substituting

(25)

(26)

02 2
in Eqs. (25) and (26), the stationary

solution can be obtained as

9 6 2 3 4 02 2
2 2 2
A A (
) [( 0
) 2 c 2 ] A2 f 2 0 .
16
2

10

(27)

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The above formulation is called as the resonant curve equation which relates the displacement
amplitude A with the force amplitude f and frequency . From Eq. (27) one can see that the
feedback control gain K (which is related to the damping coefficient c) has effects on the
structural dynamic response.
When the active control is implemented, the external applied voltage amplitude can be

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obtained by combining Eqs. (9), (21) and (24) as

V0 KAh1 sin

x0
L

(28)

Next, the influences of the different parameters on the structural primary resonant curve
characteristics will be analyzed.

5 Example and discussions

A simply supported beam with geometric nonlinearity bonded with piezoelectric layer
subjected to external force F is shown in Fig. 1. The parameters for the base beam and
piezoelectric material are shown in Table 1. The velocity sensor is located at the middle position
of the beam, i.e. x0 = L/2. The external force F is assumed to be also applied at the middle
position of the beam, i.e. xF = L/2.
5.1 Validity of the present methodology
In this section, the validity of the present study is verified by comparing the amplitude-frequency
curve obtained from Eq. (27) with that by numerical simulation. In numerical calculation, the
time-domain responses of the beam under certain excitation frequencies are computed using the
4th order Runge-Kutta method. The response amplitudes corresponding to different excitation
frequencies are extracted from the time-domain responses. Fig. 2 shows the comparison of the

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amplitude-frequency response at the center of the beam obtained by this method with that by the
numerical calculation. In Fig. 2 the solid curve represents the stable response of the beam, the
dashed line denotes the unstable response, and the dots represent the vibration amplitude of the
beam obtained from the numerical simulation. From Fig. 2 it can be seen that the
amplitude-frequency curve obtained by the present method is in agreement with that from the

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numerical simulation, which verifies the validity of the present methodology.

5.2 Nonlinear dynamic properties of the uncontrolled beam
In this section, the nonlinear dynamic properties of the uncontrolled beam under harmonic
external excitation are investigated. From Eq. (27), one can obtain the relation between the
amplitude of the resonance displacement and the amplitude of the external excitation. For =
1.2, it implies that the frequency of the external excitation is 1.2 times of the fundamental natural
frequency of the beam with piezoelectric actuator. Fig. 3 shows the variations of the
displacement amplitude A with the force amplitude f of the uncontrolled dynamic system. It can
be seen in Fig. 3 that the displacement amplitude is a multi-valued function of the external force
amplitude. This may lead to instability of the system. For example, with the force amplitude f
increasing from 0, the amplitude of the displacement A increases continuously from 0. When f
increases to 1.75, the displacement amplitude rapidly changes from 0.15 to 0.32 and then
increases gradually. Similarly, when the non-dimensional amplitude of the external excitation f
decreases from 6, the displacement amplitude A of the beam decreases continuously first and
jumps suddenly from 0.27 to 0 when f decreases to 0. This is called the jump phenomenon. The
discontinuous changes of the displacement amplitude with respect to the force amplitude may
make damage to the structural system.

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Fig. 4 shows the amplitude-force curves of the beam for different non-dimensional external
excitation frequencies. It can be seen in Fig. 4 that when =1.1, the amplitude-force curve is a
single-valued curve and the displacement amplitude of the beam increases with the external
excitation amplitude increasing. When = 1.15 and = 1.2, the amplitude-force curves are

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multi-valued ones. For = 1.2, the interval of the external excitation amplitude for the
multi-valued range of the steady state response is larger than that for = 1.15. Fig. 5 shows the
amplitude-frequency curves of the beam under different force amplitudes. In Fig. 5, the solid
lines represent the stable displacement amplitudes and the dashed lines represent the unstable
amplitudes of the displacement. It can be seen in Fig. 5 that with the frequency of the external
excitation increasing, the vibration amplitude increases first and then decreases. The beam
exhibits the hardening-type nonlinearity and with the amplitude of the external excitation
increasing, the vibration amplitude increases also and the frequency interval for the unstable
region is prolonged.
5.3 Active vibration control
The effects of the velocity feedback control on the resonance curve and the
amplitude-frequency relations of the beam are investigated. Fig. 6 shows the variations of the
displacement amplitude A with the force amplitude f under different feedback control gains. In
the simulation, the frequency of the external excitation is chosen as = 1.2. It can be seen in Fig.
6 that with the velocity feedback control gain increasing, the interval for the unstable resonance
amplitude of the beam is reduced. When K is increased to 1000, the displacement amplitude is a
single-valued function of the force amplitude. In such situation, the jump phenomenon of the

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displacement amplitude with respect to the amplitude of the external force will disappear.
Fig. 7 shows the external applied control voltage amplitudes with respect to the force
amplitude f for different feedback control gains when = 1.2. It can be seen that with the
feedback control gain increasing, the amplitude of the external applied voltage increases and the
maximal amplitude of the control voltage is about 450V.

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Fig. 8 shows the amplitude-frequency curve of the beam with different feedback control
gains when F0 = 2N. It can be seen in Fig. 8 that with the feedback control gain increasing, the
amplitude of the resonance is decreased and the unstable region of the displacement amplitude is
reduced. When K is increased to 1000, the unstable region of the vibration amplitude disappears.
Fig. 9 represents the relations between the amplitudes of the applied external voltages and
the frequency of the external force under different control gains. It can be seen in Fig. 9 that the
peaks of the voltage amplitudes are about 420V for different control gains. But for K = 1000, the
unstable region of the voltage amplitude will disappear. So the effects of the velocity feedback
control gain on the stability of the applied external voltage can not be ignored.
Fig. 10 shows the displacement-time histories at the center of the beam with and without
velocity feedback control. It can be seen in Fig. 10 that for the uncontrolled beam, the maximum
non-dimensional amplitude of the transverse vibration is about 0.5. When the feedback control
gain K is chosen to be 1000, the maximum amplitude of the vibration is fallen to about 0.25,
which implies that the velocity feedback control strategy can stabilize the nonlinear primary
resonance of the beam.

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6 Conclusions
The nonlinear primary resonance properties and active control of a flexible beam under
transverse harmonic excitation are studied. The equation of motion of the beam with geometric
nonlinearity is established using the Hamiltons principle. The method of multiple-scales is
applied to analyze the primary resonance properties of the beam, and velocity feedback control is
used to stabilize the nonlinear vibration of the beam. From the theoretical analysis and numerical

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simulations, the following conclusions can be drawn:

(1) For the uncontrolled system, the jump phenomenon appears. When the excitation frequency
> 1, the vibration amplitude can be multi-valued function of the external excitation
amplitude and the frequency interval for the unstable region is prolonged with the excitation
frequency increasing.
(2) The beam exhibits the hardening-type of nonlinearity. With the amplitude of the external
excitation increasing, the amplitude of the steady state response increases and the
hardening-type of nonlinearity is strengthened.
(3) The velocity feedback control can stabilize the unstable primary resonance. With the
feedback control gain increasing, the amplitude of the resonance curve and the peak values of
the amplitude-frequency curves are reduced.
(4) When the feedback control gain is increased to a certain value, the unstable region of the
vibration amplitude will disappear, and the jump phenomenon is also avoided. The applied
external voltages are in reasonable range, which shows the feasibility of the active control.
Acknowledgements
This research is supported by the National Basic Research Program of China (No.
2011CB711100) and the National Natural Science Foundation of China (No. 11172084 and
10672017).

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The list of the figures

xF

F(t)

Piezoelectric material

x
O
Base beam

0.7

Present result
0.6

Numerical simulation

0.5

w/h

0.4
0.3
0.2
0.1
0
0

0.5

1.5

Fig. 2 Comparison of the amplitude-frequency curve of the beam calculated by the present method with that by
numerical simulation (F0 = 5N, K = 1103).

0.4
0.35
0.3
0.25

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Fig. 1 The schematic diagram of a beam with piezoelectric patch.

0.2

0.15
0.1
0.05
0
0

f
Fig. 3 The variation of the displacement amplitude A with the force amplitude f when = 1.2.

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0.4
0.35
0.3

0.25
0.2

= 1.1

0.15

= 1.15

0.1

= 1.2

0
0

0.5

1.5

2.5

3.5

4.5

f
Fig. 4 Amplitude-force curves of the beam for different external excitation frequencies.

F0 = 1N
F0 = 2N
F0 = 3N
A

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0.05

Fig. 5 Amplitude-frequency curves of the beam for different force amplitudes.

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0.4

0.35
0.3
0.25

0.2

K=0

0.15

K = 300

0.1

K = 600

0.05

K = 1000

0
0

f
control gains when = 1.2.

500

400

K = 300
K = 600
K = 1000

300

V0(V)

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Fig. 6 The variations of the displacement amplitude A with the force amplitude f under different feedback

200

100

0
0

f
Fig. 7 The amplitudes of the applied external voltages with respect to the force amplitude f for different
feedback control gains when = 1.2.

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K = 300
K = 600

Fig. 8 Amplitude-frequency curves of the beam with different feedback control gains when F0 = 2N.

K = 300

V0(V)

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K = 1000

K = 600
K = 1000

Fig. 9 Variations of the amplitudes of the applied external voltages with the frequency of the external force for
different feedback control gains when F0 = 2N.

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0.6

K=0

K = 1000

0.4

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w/h

0.2
0

-0.2
-0.4

50

100

150

200

250

300

t
Fig. 10 Displacement-time histories at the center of the beam under different feedback control gains.

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Table 1 The parameters for the base beam and piezoelectric material.
Elastic constant Mass density
/(kgms2)

Base beam(Al)

71

2710

Piezoelectric layer(PZT-5H)

126

7500

e31/(Cm2)

Length Width Thickness

L/(m)

b/(m)

h/(m)

0.5

0.01

0.005

6.50

0.5

0.01

0.001

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E or c11/(GPa)

Piezoelectric constant

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