Beruflich Dokumente
Kultur Dokumente
Nitesh P. Yelve
1,*
, S.M. Khot
2
, A.J. Kothadia
3
1
Lecturer,
2
Assistant Professor, Department of Mechanical Engineering,
Fr. C. Rodrigues Institute of Technology, Vashi, Navi Mumbai, India
3
Former Professor and Head, Department of Mechanical Engineering,
Veermata Jijabai Technological Institute, Matunga, Mumbai, India
*Corresponding author email: niteshpy@yahoo.co.in
Abstract:
Stringent behaviour requirements imposed on flexible structures have necessitated the
sensing and control of vibrations in these structures in a suitable manner. This issue is
particularly important for space and aircraft structures for which the mission
requirements are crucial and the divergence from these requirements may be
considerably expensive. One of the most likely alternatives to deal with this aspect of
vibrations is the use of active vibration control, which makes the structure a Smart
structure. Commercially available FEM softwares such as ANSYS
1. Introduction
It is desired to design lighter
mechanical systems carrying out higher
workloads at higher speeds. However, the
vibration may become prominent factor in
this case. This undesired vibration can be
reduced or eliminated by using active
vibration control. In active control the
effect of unwanted disturbance is cancelled
by deliberate addition of another
disturbance, equal in magnitude but
opposite in sign. Using piezoelectric smart
structures for the active vibration control
has been paid considerable attention over
the last decade.
Some recent works are reported
here. Xu et al [1] reported results on active
vibration control of cantilever beam type
of structures by using the commercial
finite element package ANSYS
. The
influence of sensor/actuator location is
studied for cantilever type beam. It is
observed that a location near to the
clamped end is better for vibration control.
Karagulle et al [2] extended the work of
Xu et al and proposed the procedure for
simulation of active vibration control in
ANSYS
can
be effectively used for simulation study of
active vibration control of mechanical
systems. Hence, ANSYS
Multiphysics is used to model smart
structure. The integration of control action
into the ANSYS
with that
obtained by analytical analysis, for the
active vibration control of a two degrees of
freedom system shown in the Fig.3.1.
The assumed data for the two
degrees of freedom system shown in the
Fig.3.1 are
m
1
= 1.2 kg, k
1
= 350 N/m, c
1
= 4 N.s/m,
m
2
= 1.0 kg, k
2
= 300 N/m, c
2
= 3 N.s/m
Fig.3.1 Two Degrees of Freedom System
3.1 Analytical Approach
The mathematical model of the
system shown in the Fig.3.1 can be found
out to be
)
`
=
)
`
+
)
`
+
+
)
`
2
1
2
1
2 2
2 2 1
2
1
2 2
2 2 1
2
1
2
0
0
1
f
f
x
x
k k
k k k
x
x
c c
c c c
x
x
m
m
&
&
& &
& &
-(3.1)
Here f
2
is the vibration exciting
force which is taken as unit impulse and f
1
is the controlling force. This analysis is
made in two parts; first without controlling
force i.e. with no active vibration control
(f
1
= 0) and second with controlling force
f
1
enforcing active vibration control.
Displacement of body 2 i.e. x
2
is tracked
for both the analysis.
3.1.1 Without Controlling Force
Substituting values of the variables
in Eq.3.1 and solving which yields two
simultaneous equations,
1 2 1 2 1 1
300 650 3 7 2 . 1 f x x x x x = + + & & & &
-(3.2)
2 2 1 2 1 2
300 300 3 3 f x x x x x = + + & & & & -(3.3)
Taking Laplace transform of
Eq.3.2 and Eq.3.3 assuming initial
conditions to be zero and arranging the
two equations in the matrix form, this
gives,
( ) ( )
( ) ( )
( )
( )
( )
( )
)
`
=
)
`
(
(
+ +
+ +
S F
S F
S X
S X
S S S
S S S
2
1
2
1
2
2
300 3 300 3
300 3 650 7 2 . 1
-(3.4)
By Cramers rule, for the case
without controlling force, F
1
(S) = 0 and
F
2
(S) = 1,
( )
|
\
|
+ + + +
|
\
|
+ +
=
105000 2250
2
1022
3
6 . 10
4
2 . 1
650 7
2
2 . 1
2
S S S S
S S
S X
-(3.5)
x
2
(t) can be found by taking
inverse Laplace transform of X
2
(S).
3.1.2 With Controlling Force
Closed loop control arrangement
for the system under study is shown in the
Fig.3.2.
Fig.3.2 Block Diagram of the Closed Loop
Control System
X
r
, X
2
, F
1
, and F
2
are the Laplace
transforms of the reference input x
r
, output
displacement x
2
, the forces f
1
and f
2
,
respectively. G
1
is the transfer function of
the control action, and for the
Proportional-Integral-Derivative (PID)
control it is given as [6,7],
( ) S K
S
K
K S G
D
I
P
+ + =
1
-(3.6)
K
P
, K
I
, K
D
are the proportional,
integral, derivative constants and they are
assumed to be 100, 40 and 10 respectively.
H
21
(S) is the transfer function from F
1
to
X
2
and H
22
(S) is the transfer function from
F
2
to X
2
. The reference input, x
r
, is taken
as zero for the vibration control. x
e
(t) is
defined as the error signal, where x
e
(t) =
x
r
(t) - x
2
(t). As x
r
(t) =0, x
e
(t) = - x
2
(t). The
vibration generating force is taken as a unit
impulse in this study, and thus F
2
(S) = 1.
From Fig. 3.2,
2 1 1
X G F = -(3.7)
From Eq.3.4 with F
2
(S) = 1, Eq.3.6
and Eq.3.7,
( )
|
\
|
+ + + + +
|
\
|
+ +
=
12000 135120
2
5550
3
1052
4
6 . 10
5
2 . 1
650 7
2
2 . 1
2
S S S S S
S S S
S X
-(3.8)
x
2
(t) can be found by taking inverse
Laplace transform of X
2
(S).
3.2 Simulation (ANSYS
) Approach
For the solution by ANSYS
,
MASS21 and COMBIN14 elements are
used. The system in Fig.3.1 is modeled in
ANSYS
Modal analysis is performed and
two undamped natural frequencies are
found. The time step (t) can be taken as
1/(20f
h
), where f
h
is the highest frequency.
However, it is taken as 1/(60f
h
) because,
the differential control action requires
smaller time steps for higher accuracy. t
s
is
the time at which the steady-state response
is approximately' reached. The undamped
natural frequencies for the open loop
system are found as 1.75 and 4.27 Hz. So,
t = 0.0039 s.
The value of f
2
is 1/t at t = t, and
it is zero otherwise. The value of f
1
is zero
at t = t. The part of the macro which
enables the calculations for the closed loop
analysis for t > t is given below.
sum=0
errp=0
*do,t,3*dt,ts,dt
*get,el,node,3,u,y
err=0-el
sum=sum+err*dt
dif=(err-errp)/dt
fl=kp*err+ki*sum+kd*dif
f,2,fy,fl
errp=err
time,t
solve
*enddo
The variables dt, ts, kp, ki and kd
are defined in the previous part of the
macro, and they correspond to t, t
s
, K
P
, K
I
and K
D
respectively. The variable f1
corresponds to the actuation force f
l
.
4. Active Vibration Control of Canti-
lever Beam
Active vibration control of
cantilever beam type of smart structure is
simulated by ANSYS
as
ANSYS
Solution
The time histories of X
2
(t) obtained
by the ANSYS
Solution
After testing the success of the
ANSYS
is found to
be appropriate and hence ANSYS
can be
used as an effective tool for simulating
active vibration control of mechanical
systems. The simulation study of
cantilever beam shows that the use of
piezoelectric sensor gives the same trend
of results as compared with that when
strain gauge is used as sensor.
The maximum voltage per
thickness of the piezoelectric actuator puts
check on the maximum controlling force
that can be applied on the host structure.
Active vibration control is successfully
simulated for cantilever beam type of
structure using ANSYS
, which saved
time and money involved in actual
experimentation.
7. References
[1] S.X. Xu and T.S. Koko, Finite Element
Analysis and Design of Actively
Controlled Piezoelectric Smart
Structures, Finite Element. Analysis
Designs 40, pp. 241-262, 2004
[2] H. Karagulle, L. Malgaca and H.F.
Oktem, Analysis of Active Vibration
Control in Smart Structures by
ANSYS, Smart Materials and
Structures 13, pp. 661-667, 2004
[3] Y.H. Lim, Finite Element Simulation
of Closed Loop Vibration Control of a
Smart Plate under Transient Loading,
Smart Materials and Structures, 12,
pp. 272-286, 2003
[4] S.T. Quek, S.Y. Wang and K.K. Ang,
Vibration Control of Composite Plates
via Optimal Placement o Piezoelectric
Patches, Journal of Intelligent
Material, Systems and Structures,14,
pp. 229-245, 2003
[5] Z. Xianmin, S. Changjian and A.G.
Erdman, Active vibration controller
design and comparison study of
flexible linkage mechanism systems,
Mechanical Machine Theory, 37, pp.
985-997, 2002
[6] K. Ogata, Modern Control
Engineering, Prentice Hall of India
Pvt. Ltd., 2000
[7] N.S. Nise, Control Systems
Engineering, John Willey and Sons
Inc., 2003