Vibration Control

Presentation in
Control engineering research seminar

21.2.2011
Why vibration control

• Vibrations occur almost everywhere

few examples:

Linear motion Rotation

Why vibrations control

• Vibrations are damped to get

– Less noise to surroundings

-> comfort for users

– Decrease conduction of vibration into the structures

-> comfort for users/operators

– Less wear of parts and need for maintenance

-> less costs
Passive and active vibration control

Vibrations can be controlled

Materials and structures are chosen/designed
such that the vibrations are minimized
+ cheap to design and maintain
- works well only on small frequency band

An actuator is added to the system to exert

opposite force to damp vibrations

+ more effective on all frequencies and for

all kinds of disturbances
- expensive to design and maintain
Active vibration control

• Vibration control consists of (as almost every control problem)

- How the system is modeled?

System modeling - How accurate model should be chosen?

Measurement and - What can be measured directly?

estimation - What needs to be estimated?
- Depends on the model structure

- What can be controlled?

Control - Depends on the model structure
and the measurements
System modeling
• How accurate the system modeling should be?

Lumped parameter system

Distributed parameter system

Finite element modeling

Example

• Simple model
𝑚𝑥ሷ 𝑡 = −𝑘𝑥 𝑡 + 𝐵 𝑥(𝑡)
ሶ + 𝐹 𝑡 + 𝑑(𝑡) d(t)

Choose signal F(t) such that disturbance

d(t) is eliminated
d

+ x
Only signal x(t) can be measured F System
+

Compensator
Vibrations in electrical machines

• Structure of an AC induction motor

Rotor vibrations
y
• Radial vibrations
x

• Torsional vibrations
ω
z
Actuator

• How can we apply force to the

stator?
• A common approach is to use a
magnetic bearing
rotor
• In our approach an additional
stator
winding mounted to the stator is
used stator windings

Department of Automation http://autsys.tkk.fi/en/

and Systems Technology
Laval-Jeffcott rotor model

y x
• Simply a disk attached
ω
to a shaft supported at z
both ends
• Disk is rotating at
constant speed ω
 Example Complex electro- Laval-Jeffcott
magnetic rotor model
equations inside
• A more complex model

d
Trc Trc   yem 
Plant:  xm  Am (t ) xm     v + ym
  0 0   f ex 
 Act Plant
 ym  0  rc  xm yem+
 yin
  rc 0 

 in  0   xm ,
y
  rc 

  yin 
x  A x 
Actuator:  em em em  em   S (t ) Qem (t )  B 
em   
 v
 y  C (t ) x
 em em em

 2 Trc Pem (t ) rc  2 

where Am (t )   
 I 0 
and Pem (t ), Cem (t ), Qem (t ), Sem (t ) are periodic
Example continues

• But the task is again the same

Choose signal F(t) such Process

d
that disturbance d(t) is Dist
eliminated v
+ ym
Act Plant
yin yem+
Only signal ym(t) can be
measured

Controller