Transient response dynamics of dynamic vibration

absorbers for the attenuation of fluid flow pulsations

in hydraulic systems
J. Mikota and B. Manhartsgruber

Johannes Kepler University of Linz, Austria

Department of Foundations of Machine Design

Abstract
The application of passive and adaptive-passive (also known as semi-active) vibration
absorbers in hydraulic systems has been investigated for the case of a linear frequency
rise of the excitation. The investigation is based on a simulation model consisting of a
main hydraulic system, modelled as an ideal flow source (mean flow and one harmonic),
a hydraulic line and a sharp edged orifice. The vibration absorber was modelled as a
constant mass m, a stiffness c (constant or either continuously or discretely variable in
value) and a damping d.

1 Introduction
Positive displacement pumps and motors, as well as the application of control strategies
involving discontinuous switching elements, create significant flow- and pressure pulsa-
tions in hydraulic circuits. These unpleasant effects may lead to excessive (acoustic)
noise, compromised actuator dynamics or even to fatigue problems of components. Apart
from measures to reduce fluid flow pulsations in the first place by optimised pump/motor
designs [UHBV01], or the utilisation of damping devices (e.g. accumulators, in partic-
ular featuring a Pulse tone design), vibration absorbers such as λ/4 line silencers, λ/4
side branch resonators, Helmholtz resonators, multiple-volume resonators [KI98], or novel
devices incorporating a hydraulic spring may be used to greatly attenuate flow induced
pressure pulsations in hydraulic systems.
Vibration absorbers may be classified as passive, adaptive passive or fully active devices.
Whereas fully active devices offer the greatest flexibility and effectiveness in dealing with
pulsations, they are generally complex and require fast and expensive actuation. Adaptive
devices, on the other hand, are comparatively simpler than fully active systems and offer
the following benefits: (a) minimise transient pulsations during start-up and shut-down,
and (b) adapt to changes in steady-state operating conditions such as might occur in
pumps when load conditions vary [WL92].
In this paper, the steady-state and transient behaviour of both passive vibration absorbers
and adaptive-passive vibration absorbers will be investigated. Since a general treatment
of the transient behaviour is beyond the scope of this paper, the special case of a linear
frequency rise of the excitation will be treated. In Sec. 6, a novel realisation of an adaptive-
passive absorber using a hydraulic spring will be presented.

2 Passive vibration absorbers

2.1 Steady-state behaviour

Since the steady-state behaviour of passive vibration absorbers is widely known and well
understood [Hun79, Inm94], only a brief description covering the application of these
devices in hydraulic systems will be given in this section.
The pulsating volume stream Q(t) originating at the flow source produces a pulsating
pressure p(t) in the pressure line according to the dynamics of the overall system. This
pressure p(t) acts on the mass m, which is thus stimulated by a Force F (t) = p(t)·A, where
A is the piston area. Assuming perfect tuning of the oscillator
p and neglecting the influence
of damping, the natural frequency of the oscillator ω = c/m is placed at the harmonic
of the pulsating flow Ω. This ensures that after the system has settled, a harmonic
pressure signal p(t) = p0 + p1 cos(Ω t) generates a harmonic motion of the oscillator
x(t) = x0 + x1 cos(Ω t + ϕ) with the same frequency, where ϕ = −π/2. Consequently, the
velocity signal v(t) = ẋ(t) and hence also the flow Q(t) = v(t)·A taken up by the oscillator
has a phase difference of π, which thereupon cancels out incoming flow pulsations.
However, the explanation of the system behaviour given above is only valid in case the
natural frequency of the compensator ω is equal to the harmonic Ω of the pressure pul-
sation. Apart from this frequency, the modified system dynamics of the overall system
becomes obvious due to the fact that the order of the overall system has been increased
by the addition of a mass-spring system to the initial hydraulic system (see Fig. 2).

p re s s u re lin e d a m p in g in th e g a p
Q (t) b e tw e e n c y lin d e r w a ll a n d m
L o a d

c d
s e a lin g e le m e n t

F (t) = p (t) A

Figure 1: Mass-spring oscillator utilised as vibration absorber in hydraulic systems

 B o d e D ia g r a m : S y s te m w ith o u t v ib r a tio n a b s o r b e r
1 5

1 0

M a g n itu d e [d B ]
0

-5

-1 0
0 0 .2 0 .4 0 .6 0 .8 1 1 .2 1 .4 1 .6 1 .8 2
w [ra d /s ]

B o d e D ia g r a m : S y s te m w ith v ib r a tio n a b s o r b e r
2 0

1 0

M a g n itu d e [d B ]
-1 0

-2 0

-3 0

-4 0
0 0 .2 0 .4 0 .6 0 .8 1 1 .2 1 .4 1 .6 1 .8 2
w [ra d /s ]

Figure 2: Steady-state response of a single DOF system with/without vibration absorber

– Resonance frequency of the absorber placed at the resonance of the main system

2.2 Transient behaviour (linear frequency rise)

An analytical treatment of the transient behaviour of an undamped single DOF mass-
spring system with vibration absorber is given in the paper of Ascari [Asc80] for the case
of a linear frequency rise of the excitation. Also, Walsh et.al. [WL92] investigated the
transient dynamics of rotating machinery with fitted vibration absorber for the case of a
linear frequency rise of the excitation. As already mentioned above, the special case of an
excitation with linear frequency rise may occur, e.g. in the start-up/shut-down process of
rotating machinery, such as electric motors, pumps etc.
In Sec. 4.2, a simulation study of a simple hydraulic system with passive vibration absorber
will be presented.

3 Generic adaptive-passive vibration absorber

3.1 Modification of resonance frequency (tuning)

In order to change the natural frequency of a vibration compensator in an on-line manner,
i.e. while the system is in operation, two possibilities exist:

1. modification of mass: m → m + ∆m

2. modification of spring rate: c → c + ∆c

With respect to a practical implementation of an adaptive vibration absorber, a modifi-

cation of the spring stiffness (see Fig. 3) appears to be easier to accomplish and will hence
be discussed in this publication. Furthermore, the modification of the spring rate may
be either continuous or discrete in value. While a continuous modification may result in
a better performance of the compensator, a discrete modification of the spring stiffness
may be easier to accomplish.
The force exerted by a spring with discretely adjustable stiffness may be written as:

Domain I F = cI s (1)
Domain II F = FSW 1 +cII (s − sSW 1 ), (2)
| {z }
sSW 1 cI

where FSW 1 and sSW 1 (see Fig. 4) are respectively the force and the displacement of the
spring at the time where the modification of the stiffness, e.g. the clamping of the spring
. . . , takes place.

3.2 Control strategy

In general, the reference signal for the resonance frequency of a vibration absorber con-
nected to a hydraulic system may be deduced from the following information1 :

1. Speed signal of hydraulic pump:

In case the flow pulsation primarily originates at the hydraulic pump, the harmonics
of the flow pulsation are directly determined by the pump speed and the number of
piston elements [Bac94]. This reference frequency may then be used to directly set
the parameters of the compensator.

⊕ Simple method, computationally inexpensive, pump speed signal easily de-

tectable
ª Parameter uncertainties may result in non-optimal tuning of oscillator

2. Phase difference between the system pressure and displacement signal of the com-
pensator:
As outlined in Sec. 2, a properly tuned vibration compensator features a phase
1
Pros and Cons are represented by ⊕ and ª, respectively.

m m m

c = m a x
s p rin g s s p rin g s
c v a ria b le a c tiv e in -a c tiv e
c la m p in g
c = m in p o s itio n

C o n n e c tio n to A A IA IA

E n g in e e rin g s y s te m
}

c M a x = 4 c

(a) Generic adaptive (b) Continuously (c) Discretely adap-

absorber adaptive absorber tive absorber

Figure 3: Concepts of adaptive vibration absorbers

 F

II
F

c
S w 1

II
c I

I s
s S w 1

Figure 4: Stiffness of a spring with discretely adjustable spring rate

difference of −π/2 at resonance between the excitation F (t) = p(t) · A and the dis-
placement of the oscillator x(t). Locally, this information is sufficient to tune the
absorber.

⊕ Accurate method, compensation of parameter uncertainties

ª Computationally more expensive, 2 signals (system pressure and absorber dis-
placement) required

3. FFT of pressure pulsation:

The most general method is based on a direct FFT analysis of the pressure pulsation.
The identified harmonic of the pressure pulsation is, as in point 1, used to set the
parameter of the compensator.

⊕ Accurate method — also suitable for pseudo-random oscillations

ª Computationally expensive, no compensation of parameter uncertainties

4 Simulation model
In order to study the steady-state and transient behaviour of passive and adaptive-passive
vibration absorbers, a simulation model depicted in Fig. 5 was investigated in MAT-
LAB [Mat96].

H y d ra u lic lin e
V ib ra tio n m o d e l b a se d u p o n
c o m p e n s a to r Z ie lk e -S u z u k i-M e th o d
2 1 n o d e s
s e e [ Z ie 6 8 ,S T S 9 1 ]

Id e a lis e d flo w s o u rc e S h a rp e d g e d
Q = Q 0 + Q 1 c o s (W t) V H V H o rific e

Figure 5: Structure of simulation model

The model comprises an idealised flow source2

Q = Q0 + Q1 cos(Ω t) (3)

with constant mean flow Q0 and constant amplitude of the pulsation Q1 , a hydraulic
line [Zie68, STS91] and a sharp edged orifice. The vibration absorber was modelled as a
constant mass m, a stiffness c (constant or either continuously or discretely variable in
value) and damping d. The simulation parameters are given in Tab. 1.
The effect of a linear frequency rise of the flow pulsation was modelled by F = Ω/(2 π)
rising from 120 Hz to 240 Hz within a time t = tRise .

4.1 System without absorber

As can be seen in the simulation results given in Fig. 7 for tRise = 1 s, the system without
compensator has a resonance at f ≈ 180 Hz. The amplitudes of the pressure pulsation
pi Ref without absorber are given in Tab. 2 for different frequencies Fi of the excitation.

4.2 System with passive absorber

In the simulation model depicted in Fig. 8, the natural frequency of the absorber f =
ω/(2 π) was kept constant at f = 180 Hz.
Tab. 3 lists the pressure amplitudes pi and pRefi (with and without vibration absorber,
respectively) and the insertion loss LPi [BV92]
h p i2 pi
i
L Pi = 10 log = 20 log , (4)
pRefi pRefi

at different frequencies Fi of the excitation.

As can be seen in Tab. 3, the attenuation performance of a passive absorber is best at
the resonance frequency of the device. Further away from that frequency, the pulsations
in the system may be even worse than without compensator. With respect to different
rising times tRise of the excitation, passive absorbers deliver good attenuation results even
for fast rise times.

4.3 System with adaptive-passive absorber

Whereas the performance of passive vibration absorbers deteriorates further away from
the resonance frequency of these devices, adaptive-passive absorbers are able to overcome
this problem.
 Table 1: Simulation parameters
Parameter Value Description
B 14000 bar Bulk modulus
3
Hydr. fluid ρ 860 kg/m Mass density
ν 46 mm2 /s Viscosity
Q0 50 l/min Mean flow
Flow source
Q1 0.5 l/min Amplitude of flow pulsation
Additional Additional volume before/after hy-
VH 0.1 l
capacities draulic line
dIn 12 mm Internal diameter
l 2.11 m Length
Hydr. line Number of discretisation elements
nDist 20
for method of characteristics
∆pN om 200 bar Nominal pressure drop at QN om
Orifice
QN om 50 l/min Nominal flow
m 2 kg Mass
Compensator d 135.7 N/(m/s) Damping ratioa
A 707 mm2 Piston area (mass m)
a
This damping ratio corresponds to a dimensionless damping ratio of ζ = 0.03 for p
a mass of m = 2 kg
and a stiffness c = 2.558 kN/mm, which results in natural frequency f = 2ωπ = 21π c/m = 180 Hz of
the compensator.

5 0
Q M e a n
C o n s ta n t1

0 .5 A m p litu d e
Q A m p O u t1
A n g le [r a d ] F lo w p u ls a tio n
C o n s ta n t2
Q T o ta l
S in u s G e n e r a to r
f [H z ] o m e g a [ra d /s ] 1
-K -
s
R a m p S a tu r a tio n G a in 1 In te g ra to r

Q [l/m in ] p [b a r]

C a p a c ity
p

p _ L [b a r] Q _ L [l/m in ]

Q [l/m in ] p [b a r] d p [b a r] Q D r [ l/ m in ]
p _ R [b a r] Q _ R [ l/ m in ]

C a p a c ity 1 O r ific e
p ip e - m o d e l d u e to Z ie lk e , S u z u k i, e t. a l.

Figure 6: Simulation model: System without absorber

Table 2: Simulation results: System without absorber (tRise = 1 s)

Fi [Hz] pRefi [bar]
120 0.26
180 2.7
240 0.69
 2 5 0

2 0 0

F [H z ]
1 5 0

-0 .2 0 0 .2 0 .4 0 .6 0 .8 1 1 .2
T im e [s ]

2 0 4

2 0 2
[b a r]
S y s

2 0 0
P

1 9 8
-0 .2 0 0 .2 0 .4 0 .6 0 .8 1 1 .2
T im e [s ]

Figure 7: Simulation results: System without absorber (tRise = 1 s)

5 0
Q M e a n
C o n s ta n t1

0 .5 A m p litu d e
Q A m p O u t1 Q T o ta l
A n g le [r a d ] F lo w p u ls a tio n
C o n s ta n t2
Q T o ta l
S in u s G e n e r a to r
1 Q T o ta l
In te g ra to r
s

o m e g a [ra d /s ] Q
p
p W ith
G a in 1 ( 1 8 0 * 2 * p i) ^ 2 * m a s s e c
-K -
S y s w ith C o m p e n s a to r
f [H z ] C o n s ta n t
f [H z ]

S a tu r a tio n
p
Q p
p W ith o u t

S y s w ith o u t C o m p e n s a to r
R a m p

Figure 8: Simulation model: System with passive absorber

2 0 1 .8

2 0 1 .6

2 0 1 .4
[b a r]

2 0 1 .2
S y s
P

2 0 1

0 0 .0 2 5 0 .0 5 0 .0 7 5 0 .1
T im e [s ]

Figure 9: Simulation results: System with passive absorber (tuning frequency f = 180 Hz,
tRise = 0.1 s)
Table 3: Simulation results: System with passive absorber (tuning frequency f = 180 Hz)
tRise [s] Fi [Hz] pi [bar] pRefi [bar] LPi [dB]
120a 0.29 0.26 0.95
0.1 180a 0.035 2.7 -38
a
240 0.34 0.69 -6.1
a
Transient considered
tRise [s] pM ax [bar] pRef M ax [bar]
1 0.33 2.7
0.1 0.34 2.7
0.01 0.41 2.7

0 .0 5
[b a r]

0
S y s
D P

-0 .0 5
0 0 .0 2 5 0 .0 5 0 .0 7 5 0 .1
T im e [s ]

Figure 10: Simulation results: System with continuously adjustable absorber (tRise =
0.1 s)

4.3.1 Absorber with continuously adjustable resonance frequency

Assuming both continuous adjustment of the spring-rate of the vibration absorber and
no dynamics of the adjustment process, excellent levels of pulsation attenuation may be
achieved (see Tab. 4), although the design equation ωResonator (t) = ΩP ulsation (t) is strictly
speaking only valid for a constant frequency of the excitation3 .
Similarly to passive devices, absorbers with continuously adjustable resonance frequency
seem to be suitable for fast rise times tRise of the excitation.

4.3.2 Absorber with discretely adjustable resonance frequency

Since compensators with continuously adjustable spring-rate are generally quite difficult
to accomplish, vibration absorbers with discretely adjustable spring rate may be of inter-
2
This simplification makes it possible to easily compare different vibration compensators (purely pas-
sive or adaptive passive absorber – continuously adjustable or discretely adjustable) and furthermore
allows a simple calculation of the insertion loss LP , since the effect of higher order harmonics of the flow
pulsation does not need to be considered.
3
According to Ascari [Asc80], a quasi steady-state tuning law for the absorber (i.e. ω(t) = Ω(t) for
linear frequency rise of excitation) delivers good attenuation results if the rise time from standstill to the
nominal frequency tRise ≥ 100/fN om .
 Table 4: Simulation results: System with continuously adjustable absorber
tRise [s] Fi [Hz] pi [bar] pRef i [bar] LPi [dB]
a
120 0.025 0.26 -20
a
0.1 180 0.035 2.7 -38
a
240 0.045 0.69 -24
a
Transient considered
tRise [s] pM ax [bar] pRef M ax [bar]
1 0.043 2.7
0.1 0.045 2.7
0.01 0.058 2.7

est. In Fig. 11, the performance of a vibration absorber featuring three spring rates4 is
presented.
As can be seen in the second case of Fig. 11 featuring spring rates of cSpring 120 , cSpring 180
and cSpring 240 , the steady-state performances at F = 120 Hz and F = 240 Hz compare
well with Fig. 10. Although the steady-state attenuation performance in the first case
of Fig. 11 is inferior to the second case, there’s a lower maximum pulsation considering
transient effects.
In general, discretely adjustable absorbers seem to be a viable alternative to continuously
adjustable devices even for fast rise times tRise .

5 Optimal adaption
The stiffness adaption of the continuously adjustable absorber has been computed from a
quasi-stationary point of view. The result in Fig. 10 shows the excellent performance of
4
Note that a spring rate of e.g. cSpring 180 corresponds to a resonance frequency of the absorber of
f = 180 Hz.

Table 5: Simulation results: System with discretely adjustable absorber

tRise [s] Fi [Hz] pi [bar] pRefi [bar] LPi [dB]
a
120 0.1 0.26 -8
a
0.1 180 0.035 2.7 -38
240a 0.1 0.69 -17
tRise [s] pM ax [bar] pRef M ax [bar]
1ab 0.17 2.7
0.1a,b 0.16 2.7
a,b
0.01 0.16 2.7

a
First case of Fig. 11 featuring spring rates of cSpring 140 , cSpring 180 and cSpring 220 .
b
Transient considered.
 0 .3
0 .2 c S p rin g 1 4 0 c S p rin g 1 8 0

0 .1

[b a r]
0

S y s
-0 .1

D P
-0 .2
c S p rin g 1 8 0 c S p rin g 2 2 0

0 0 .2 5 0 .5 0 .7 5 1
T im e [s ]
0 .3
c S p rin g 1 2 0 c S p rin g 1 8 0
0 .2
0 .1
[b a r]

0
S y s

-0 .1
D P

-0 .2
c S p rin g 1 8 0 c S p rin g 2 4 0

0 0 .2 5 0 .5 0 .7 5 1
T im e [s ]

Figure 11: Simulation results: System with discretely adjustable absorber (tRise = 1 s)

4
c [kN/mm]

1
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07

0.02
∆pSys [bar]

−0.02

0 0.01 0.02 0.03 0.04 0.05 0.06 0.07

Figure 12: Optimal stiffness copt (solid), steady-state solution c (dashed)

this adaption scheme. A further improvement of the remaining pressure pulsation can be
achieved by an optimal adaption function for the absorber spring stiffness. An optimal
control input is now computed with the nonlinear sparse solver HQP and the optimal
control front-end Omuses 1.5 [FA96]. The optimization model is simplified with respect
to the pipeline dynamics. A simple lumped parameter model with one degree of freedom
replaces the distributed parameter model (method of characteristics).
The optimal control input is computed via a minimization of the time integral of the
squared pressure pulsation. The time interval of the optimization model covers one period
of oscillation at 120 Hz, the linear frequency rise from 120 Hz to 240 Hz within 0.05 s
and four periods of oscillation at 240 Hz. The state values at t = 0 and at the end of the
first period are constrained to match each other and the control input is zero during the
first period. Thus, the omptimization model starts with the steady state system answer.
The optimization interval is divided into 720 subintervals each having a constant rate
of change of absorber stiffness. Special attention has to be paid to the constraints on
the control input. Constraining the maximum absolute value of the stiffness change rate
results in a bang-bang type control input. Therefore, the absolute stiffness change, i.e.
the integral of the absolute value of its change rate, has been constrained to the difference
between the steady state optimum at 120 Hz and the optimum at 240 Hz. The result of
this optimization is given in Fig. 12. The optimal control function is very similar to the
steady-state solution even at this high rate of change of the excitation frequency.

6 Practical implementation of vibration absorbers

The proposed device5 depicted in Fig. 13 is connected to the main hydraulic system (1).
The working piston (3) with mass m is excited by the pressure pulsation p(t) in the main
system. Furthermore, the working piston seals off (e.g. by a gap seal between (3) and the
housing (0)) the hydraulic volume (2) – also called the hydraulic spring – from the main
system (1) and permits only the (slow) balancing of the mean pressures between (1) and
(2). In order to keep the working piston (3) in a centred position after the mean pressure
compensation, two springs (4) are used. However, in most practical cases the stiffness of
these springs may be neglected from the dynamics point of view.
5
For a more detailed description of the device including simulation results and experimental results
refer to [Pat01, Mik01].

0
1
2

Figure 13: Schematics: Novel vibration absorber featuring a hydraulic spring

This system represents a resonator with mass m (the mass of the working piston (3)),
stiffness cHS (due to the stiffness of the hydraulic spring (2))

BT0 ot A2P
cHS = (5)
VHS
and damping d due to the shear stresses in the fluid, leakage and the flow losses in the
chamber (3), where BT0 ot represents the combined bulk modulus of hydraulic oil considering
the flexibility of the surrounding enclosure, AP represents the area of the working piston
and VHS represents the oil volume in the hydraulic spring.
Assuming that the working piston is centred by two springs with stiffness cCS and ne-
glecting their masses, the natural frequency of the vibration compensator is given as
r
cHS + 2 cCS
ω= . (6)
m

The natural frequency of the compensator may be modified by either changing the volume
VHS of the hydraulic spring (2) in a discrete (see Fig. 14(a)) or continuous (see Fig. 14(b))
manner, or by the utilisation of an additional (mechanical) spring with adjustable spring
stiffness.

7 Conclusions
The dynamic behaviour of a simple hydraulic circuit (consisting of an ideal flow source,
hydraulic line and a sharp-edged orifice) with a passive or adaptive-passive vibration
absorber has been investigated for the case of a linear frequency rise of the excitation.
The vibration absorber was modelled as a constant mass m, a stiffness c (constant or
either continuously or discretely variable in value) and damping d. The simulation study
indicates that both the application of continuously and discretely variable vibration ab-
sorbers results in significant pressure pulsation attenuation levels over a wide frequency
range. Hitherto, the practical implementation of adaptive-passive vibration absorbers for

3 2

SV2

4
SV1

D1

(a) Discrete adjustment (b) Continuous adjustment

Figure 14: Principles of frequency tuning

real-world hydraulic systems has been proven to be difficult, particularly due to high pres-
sure levels. In Sec. 6, a novel implementation of a vibration absorber has been presented
utilising a hydraulic spring.

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