Modified independent modal space control of m.d.o.f. systems

The performance of the independent modal space control (IMSC) algorithm for structural vibration control is examined in this paper. Both the theoretical analysis and numerical simulation show that, for a multi-degree-of-freedom system, the modal control forces may increase the contributions of the vibration of higher modes (uncontrolled modes) to the system response if the IMSC algorithm is used to design a structural control system. Therefore, the responses of the controlled structure may be underestimated if the effects of control forces on the higher modes are not considered in the response analysis. A new control algorithm—modified independent modal space control (MIMSC) algorithm is proposed in this paper for eliminating the effect of modal control force on the uncontrolled modes. Numerical example shows that the structural responses can be effectively reduced when control system design is carried out based on the proposed algorithm. By comparing the simulated results obtained by the IMSC and MIMSC algorithms, it is found that, in order to achieve the same control objective, the proposed algorithm is more effective than IMSC since the modal control forces do not have any effect on the uncontrolled modes. In order to verify the effectiveness of the proposed algorithm, a practical example—active control design of UCLA Math-Science Building is presented and discussed.     

Active vibration suppression of a cantilever wing

A method for the active vibration suppression of a cantilever wing is presented. The approach is based on modal control, in which a modal feedback control law relating the motion of the control surfaces to the controlled modes is implemented. Modal displacements and velocities required for feedback are extracted from sensor measurements by means of modal filters. A numerical example is presented.     

极点配置法弹性平板有源隔声系统优化

对混响声场中的弹性平板有源隔声系统进行优化。根据激励频率范围确定受控模态阶次,在模态空间中建立系统降阶方程,基于极点配置方法,采用分布式系统增加受控模态的阻尼,降低低频共振声传输。同时设计模态滤波器,为控制器提供所需的状态信息。为提高控制效能,本文对传感器和作动器布放位置进行优化,尝试不同极点配置方案,并对耦合控制与独立模态控制方法的隔声效果进行比较。仿真结果显示,极点配置法有源隔声可以有效降低共振声传输,优化布放和独立模态控制方式下,控制力明显降低。优化后的有源隔声系统效能有所提升。      

ROBUST VIBRATION CONTROL OF A BEAM USING THE H∞-BASED CONTROLLER WITH MODEL ERROR COMPENSATOR

The vibration control of a flexible beam subjected to arbitrary, unmeasurable disturbance forces is investigated in this paper. The beam is analyzed by using modal expansion theorem. The independent modal space control is adopted for the active vibration control. Discrete sensors and actuators are used here. The modal filters are used as the state estimator to obtain the modal co-ordinates and modal velocities for the state feedback control. Because of the existence of the disturbance forces, the vibration control only with the state feedback control law cannot suppress the vibration well. The method of disturbance forces cancellation is then added in the feedback loop. In order to implement the disturbance forces cancellation, the unknown disturbance forces must be observed. The model error compensator is employed to observe the unknown disturbance modal forces for the direct cancellation. After the implementation of the disturbance modal forces cancellation, there are still some residual disturbance modal forces which excite the beam. The disturbance attenuation problem is of concern in the design of the state feedback control law. For ensuring that influence of the residual disturbance modal forces is reduced to an acceptable level, the robust static H_∞ state feedback controller is designed. The vibration control performances of the feedback control with the H_∞ controller and the disturbance forces cancellation are discussed.     

Experimental identification of viscous damping in linear vibration

This paper is concerned with the experimental evaluation of the performance of viscous damping identification methods in linear vibration theory. Both existing and some new methods proposed by the present authors [A.S. Phani, J. Woodhouse, Viscous damping identification in linear vibration, Journal of Sound and Vibration 303 (3–5) (2007) 475–500] are applied to experimental data measured on two test structures: a coupled three cantilever beam with moderate modal overlap and a free–free beam with low modal overlap. The performance of each method is quantified and compared based on three norms and the best methods are identified. The role of complex modes in damping identification from vibration measurements is critically assessed.     

Control of a rotating cantilever beam using a torque actuator and a distributed piezoelectric polymer actuator

A torque actuator and a distributed piezoelectric polymer (PVDF) actuator are utilized for control of a rotating cantilever flexible beam. The torque control contains proportional and derivative (PD) feedback for rigid motion control and a PVDF actuator control for vibration damping. Unlike previous approaches in the literature in which the angular velocity feedback was utilized, in this study we propose to use the linear velocity feedback (L-type) in our controller design for feasible implementation and avoiding modal truncation. The stability of the system with the L-type control has been analyzed, using the concept of a virtual joint model. The advantage of the proposed scheme lies in easy implementation, avoidance of modal truncation, efficient suppression of the dominant mode of vibration, and allowing high-speed motions. Numerical examples demonstrate the effectiveness of the proposed approach.     

Active modal control simulation of vibro-acoustic response of a fluid-loaded plate

Active modal control simulation of vibro-acoustic response of a fluid-loaded plate is presented. The active modal control of the vibro-acoustic response is implemented using piezoelectric actuators/sensors. The active modal damping is added to the coupled system via negative velocity feedback. The feedback gain between the piezoelectric actuators/sensors for the modal control is obtained using the in-vacuo modal matrix and the incompressible fluid-loaded modal matrix. The modal control performance of structural vibration and acoustic radiation of a baffled plate is numerically studied. It is shown that the proposed method increases the modal damping ratio and achieves reduction in the mean square velocity and the sound power for given modes of the fluid-loaded plate.     

Theoretical and experimental study on the transverse vibration properties of an axially moving nested cantilever beam

An axially moving nested cantilever beam is a type of time-varying nonlinear system that can be regarded as a cantilever stepped beam. The transverse vibration equation for the axially moving nested cantilever beam with a tip mass is derived by D’Alembert?s principle, and the modified Galerkin?s method is used to solve the partial differential equation. The theoretical model is modified by adjusting the theoretical beam length with the measured results of its first-order vibration frequencies under various beam lengths. It is determined that the length correction value of the second segment of the nested beam increases as the structural length increases, but the corresponding increase in the amplitude becomes smaller. The first-order decay coefficients are identified by the logarithmic decrement method, and the decay coefficient of the beam decreases with an increase in the cantilever length. The calculated responses of the modified model agree well with the experimental results, which verifies the correctness of the proposed calculation model and indicates the effectiveness of the methods of length correction and damping determination. Further studies on non-damping free vibration properties of the axially moving nested cantilever beam during extension and retraction are investigated in the present paper. Furthermore, the extension movement of the beam leads the vibration displacement to increase gradually, and the instantaneous vibration frequency and the vibration speed decrease constantly. Moreover, as the total mechanical energy becomes smaller, the extension movement of the nested beam remains stable. The characteristics for the retraction movement of the beam are the reverse.     

Design of shaped piezoelectric modal sensors for cantilever beams with intermediate support by using differential transformation method

In this paper a solution to the problem of finding the shape of piezoelectric modal sensors for a cantilever beam with intermediate support is proposed by using the differential transformation method (DTM). A general expression for designing the shape of a piezoelectric modal sensor is presented, in which the output signal of the designed sensor is proportional to the response of the target mode. Other modes are filtered out. The modal sensor shape is expressed as a linear function of the second spatial derivative of the structural mode shape function. By using boundary condition and continuity condition equations at intermediate support, the closed-form series solution of the second spatial derivative of the mode shapes can be determined based on DTM. Then the shapes of the designed modal sensors are obtained. Finally, numerical examples are given to demonstrate the feasibility of the proposed modal sensors for the cantilever beam with intermediate support.     

Dynamic behavior of time-delayed acceleration feedback controller for active vibration control of flexible structures

This paper addresses the design problem of the controller with time-delayed acceleration feedback. On the basis of the reduction method and output state-derivative feedback, a time-delayed acceleration feedback controller is proposed. Stability boundaries of the closed-loop system are determined by using Hurwitz stability criteria. Due to the introduction of time delay into the controller with acceleration feedback, the proposed controller has the feature of not only changing the mass property but also altering the damping property of the controlled system in the sense of equivalent structural modification. With this feature, the closed-loop system has a greater logarithmic decrement than the uncontrolled one, and in turn, the control behavior can be improved. In this connection, the time delay in the acceleration feedback control is a positive factor when satisfying some given conditions and it could be actively utilized. On the ground of the analysis, the developed controller is implemented on a cantilever beam for different controller gain–delay combinations, and the control performance is evaluated with the comparison to that of pure acceleration feedback controller. Simulation and experimental results verify the ability of the controller to attenuate the vibration resulting from the dominant mode.     

On utilizing delayed feedback for active-multimode vibration control of cantilever beams

We present a single-input single-output multimode delayed-feedback control methodology to mitigate the free vibrations of a flexible cantilever beam. For the purpose of controller design and stability analysis, we consider a reduced-order model consisting of the first n vibration modes. The temporal variation of these modes is represented by a set of nonlinearly coupled ordinary-differential equations that capture the evolving dynamics of the beam. Considering a linearized version of these equations, we derive a set of analytical conditions that are solved numerically to assess the stability of the closed-loop system. To verify these conditions, we characterize the stability boundaries using the first two vibration modes and compare them to damping contours obtained by long-time integration of the full nonlinear equations of motion. Simulations show excellent agreement between both approaches. We analyze the effect of the size and location of the piezoelectric patch and the location of the sensor on the stability of the response. We show that the stability boundaries are highly dependent on these parameters. Finally, we implement the controller on a cantilever beam for different controller gain-delay combinations and assess the performance using time histories of the beam response. Numerical simulations clearly demonstrate the controller ability to mitigate vibrations emanating from multiple modes simultaneously.     

Coupling analysis of a matched piezoelectric sensor and actuator pair for vibration control of a smart beam

This paper presents a theoretical and experimental study of the in-plane and out-of-plane coupling of a matched piezoelectric sensor/actuator pair bonded on a beam. Both the sensor and actuator are triangularly shaped polyvinylidene fluoride (PVDF) transducers and are intended to provide a compact sensor/actuator system for beam vibration control. The measured sensor-actuator frequency response function has shown an unpredicted increase in magnitude with frequency, which was found, to be due to in-plane vibration coupling. An analytical model has been developed to decompose the sensor-actuator response function into an in-plane contribution and an out-of-plane contribution. This in-plane coupling can limit the feedback control gains when a direct velocity feedback control is applied. A method called the j omega s compensation method is proposed to identify the effect of the in-plane vibration coupling at low frequencies. Even after this compensation, however, there was unexpected strong out-of-plane coupling at even modes, which may have been caused by a lack of accuracy in the shaping of the PVDF sensor and actuator. Numerical simulations have confirmed the sensitivity of the matched sensor/actuator pair with shaping errors.     

Vibration control of beams on elastic foundation under a moving vehicle and random lateral excitations

The formulation of three-dimensional dynamic behavior of a Beam On Elastic Foundation (BOEF) under moving loads and a moving mass is considered. The weight of the vehicle is modeled as a moving point load, however the effect of the lateral excitation is considered by modeling: (case 1) a lateral moving load with random intensity for wind excitation and (case 2) a moving mass just in lateral direction of the beam for earthquake excitation. A Dirac-delta function is used to describe the position of the moving load and the moving mass along the beam. The beam foundations are considered as elastic Winkler-type in two perpendicular transverse directions. This model is proposed to investigate the bending response of the rails under the effect of traveling vehicle weight while a random excitation such as earthquake or wind takes place. The results showed the importance of considering the effect of earthquake/wind actions as in bending stress of the beam on elastic foundations. The effect of different regions (different support stiffness) and different velocities of the vehicle on the response of the beam are investigated in mentioned directions. At the end, a linear optimal control algorithm with displacement–velocity feedback is proposed as a solution to suppress the response of BOEFs. By the method of modal analyses and taking into account enough number of vibration modes, state-space equation is obtained, then sufficient number of actuators was chosen for each direction. Stochastic analyses were performed in lateral direction in order to illustrate a comprehensive view for the response of the beam under the random moving load in both controlled and uncontrolled systems. Furthermore, the efficiency of control algorithm on critical velocities is verified by parametric analyses in the vertical direction with the constant moving load for different regions.     

A study of modal characteristics and the control mechanism of finite periodic and irregular ribbed plates

An analytical solution is presented in this paper to investigate the control mechanism and modal characteristics of finite periodic and irregular ribbed plates. Peak responses of a finite periodic ribbed plate were examined where they were grouped into two sets of propagation zones according to the coupling mechanism at beam/plate interfaces. Details of modal characteristics in pass bands of the periodic ribbed plate were elucidated and the control mechanism was discussed. Modes in each pass band that are governed by shear force couplings were characterized by one of the beam flexural modes whose modal responses could be represented approximately by those of the corresponding orthotropic plate modes. Modes in the second set of pass bands were found to retain the resonance frequencies of the corresponding modes of the unribbed base plate. Higher order orthotropic plate modes were also identified, which could not be grouped into any pass bands defined by the classical periodic theory. The control mechanism leading to vibration confinement in disordered and irregular ribbed plates was also discussed. It was found that beam spacing irregularity attributes to localization of the group of modes associated with flexural wave couplings but not the group of modes associated with moment couplings.     

同轴脉冲形成线的运输振动环境适应性研究

为了准确评估某MV级Tesla型脉冲功率源的运输振动环境适应性水平,针对脉冲功率源中采用悬臂绝缘支撑结构的同轴脉冲形成线,通过仿真和试验结合的方法开展研究。针对叠层结构式内外磁芯,提出一种通过结构元胞等效材料参数和坐标变换的等效建模方法进行有限元建模,通过模态试验修正有限元模型,首次对比研究了绝缘油对形成线的模态频率和阻尼的影响,仿真分析了形成线车载运输典型工况的应力及响应,设计实施了大尺寸形成线等效件振动试验进行验证。通过振动试验发现了形成线结构存在非线性,通过仿真分析和等效件试验验证,同轴脉冲形成线现有结构设计基本满足车载运输振动环境适应性要求。     

IDENTIFICATION OF MODAL PARAMETERS FROM MEASURED OUTPUT DATA USING VECTOR BACKWARD AUTOREGRESSIVE MODEL

In this paper, a modal identification system that is based on the vector backward autoregressive (VBAR) model has been developed for the identification of natural frequencies, damping ratios and mode shapes of structures from measured output data. The modal identification using forward autoregressive approach has some problems in discriminating the structure modes from spurious modes. On the contrary, the VBAR approach provides a determinate boundary for the separation of system modes from spurious modes, and an eigenvalue filter for the selection of physical modes is existent in the proposed method. For convenience of application, the backward state equation established from VBAR model is transformed into a forward state equation, which is termed as transformed VFAR model in this paper. In addition, the extraction of equivalent system matrix of state equation of motion for structures from the transformed VFAR model has been developed, and then the normal modes can be calculated from the identified equivalent system matrix. Two examples of modal identification are carried out to demonstrate the availability and effectiveness of the proposed backward approach: (1) Numerical modal identification for a three-degree-of-freedom dynamic system with noise level in 20% of r.m.s of measured output data; (2) experimental modal identification of a cantilever beam. Finally, to show the advantage of the proposed VBAR approach on the selection of physical modes, the modal identification by stochastic subspace method was performed. The results from both methods are compared.     

Statistical damage identification of structures with frequency changes

Model updating methods based on structural vibration data have being rapidly developed and applied to detect structural damage in civil engineering. But uncertainties existing in the structural model and measured vibration data might lead to unreliable damage detection. In this paper a statistical damage identification algorithm based on frequency changes is developed to account for the effects of random noise in both the vibration data and finite element model. The structural stiffness parameters in the intact state and damaged state are, respectively, derived with a two-stage model updating process. The statistics of the parameters are estimated by the perturbation method and verified by Monte Carlo technique. The probability of damage existence is then estimated based on the probability density functions of the parameters in the two states. A higher probability statistically implies a more likelihood of damage occurrence. The presented technique is applied to detect damages in a numerical cantilever beam and a laboratory tested steel cantilever plate. The effects of using different number of modal frequencies, noise level and damage level on damage identification results are also discussed.     

Resonant vibration control of rotating beams

Rotating structures, like e.g. wind turbine blades, may be prone to vibrations associated with particular modes of vibration. It is demonstrated, how this type of vibrations can be reduced by using a collocated sensor-actuator system, governed by a resonant controller. The theory is here demonstrated by an active strut, connecting two cross-sections of a rotating beam. The structure is modeled by beam elements in a rotating frame of reference following the beam. The geometric stiffness is derived in a compact form from an initial stress formulation in terms of section forces and moments. The stiffness, and thereby the natural frequencies, of the beam depend on the rotation speed and the controller is tuned to current rotation speed to match the resonance frequency of the selected mode. It is demonstrated that resonant control leads to introduction of the intended level of damping in the selected mode and, with good modal connectivity, only very limited modal spill-over is generated. The controller acts by resonance and therefore has only a moderate energy consumption, and successfully reduces modal vibrations at the resonance frequency.     

A hybrid method of modal synthesis using vibration tests

The assembly of structures along continuous boundaries presents great difficulty in the context of modal synthesis. In order to solve such problems, a method is proposed in which a hybrid model is defined reflecting the dynamic behavior of a structure loaded along a boundary. It is based on Weinstein's method and corresponds to a generalization of the impedance matrix method. Generalized boundary co-ordinates are defined from branch modes obtained by introducing mass loading along the boundary. Thus, the hybrid model can be derived from testing as a result of two independent modal identifications. The method permits high precision prediction of the influence of strong structural modifications. Thus, in the case of rectangular plates, it has been possible to find the modes of a cantilever plate and of a plate with stiffeners from the free modes.     

应用长度极化压电陶瓷33模态的 半主动减振技术研究*

本文提出利用长度方向极化的压电材料的33模态来实现半主动减振。论文以横梁为例,通过理论分析和有限元仿真,对比研究了当压电材料分别连接31, 33两种模态对应的最佳分流电路时,压电材料两种模态在横梁的共振频率附近的减振效果。结果表明33模态比31模态具有更高的减振效率。此外,鉴于33模态存在极化长度有限的问题,仿真分析了压电材料的尺寸和位置对减振效果的影响。在此基础之上,提出了一个利用压电材料33模态的多模态减振的组合设计,对横梁的前三个模态起到了很好地减振作用。相对31模态而言,横梁的每个振动模态均有约15dB的减振提升。