Active vibroacoustic control with multiple local feedback loops

When multiple actuators and sensors are used to control the vibration of a panel, or its sound radiation, they are usually positioned so that they couple into specific modes and are all connected together with a centralized control system. This paper investigates the physical effects of having a regular array of actuator and sensor pairs that are connected only by local feedback loops. An array of 4 x 4 force actuators and velocity sensors is first simulated, for which such a decentralized controller can be shown to be unconditionally stable. Significant reductions in both the kinetic energy of the panel and in its radiated sound power can be obtained for an optimal value of feedback gain, although higher values of feedback gain can induce extra resonances in the system and degrade the performance. A more practical transducer pair, consisting of a piezoelectric actuator and velocity sensor, is also investigated and the simulations suggest that a decentralized controller with this arrangement is also stable over a wide range of feedback gains. The resulting reductions in kinetic energy and sound power are not as great as with the force actuators, due to the extra resonances being more prominent and at lower frequencies, but are still worthwhile. This suggests that an array of independent modular systems, each of which included an actuator, a sensor, and a local feedback control loop, could be a simple and robust method of controlling broadband sound transmission when integrated into a panel.     

ACOUSTIC POWER SUPPRESSION OF A PANEL STRUCTURE USING H∞OUTPUT FEEDBACK CONTROL

This paper presents a robust control system design for suppressing the radiated acoustic power emitted from a vibrating planar structure, and spillover effect caused by neglected high-frequency modes. A state-space model of a simply supported panel structure is derived and an output equation is formed based on the one-dimensional PVDF film sensors. An output feedback H_∞control is designed by introducing a multiplicative perturbation which represents unmodelled high-frequency dynamics in the control system. The simulation and experimental results demonstrated significant decrease in sound radiation for the considered structural power modes in control.     

用于三层有源隔声结构误差传感的压电传感薄膜阵列及其优化设计

基于平面声源的三层有源隔声结构系统易于实现且具有良好的低频隔声性能,实现该系统需解决的关键问题是误差信号的检测.本文将压电传感薄膜聚偏氟乙烯(polyvinylidene fluoride, PVDF)阵列检测简支梁辐射模态的理论拓展到二维结构, 并应用到三层隔声结构实现误差传感的优化设计.根据三层结构中特殊的能量传输规律, 对误差传感方案中目标函数的选取、PVDF数目确定以及传感系统优化等问题进行深入分析.研究表明, 由于辐射板能量主要集中在有限个振动模态上, 只需将少数经固定系数加权的PVDF薄膜输出电流求和即可获得前三阶辐射模态幅值.辐射模态幅值的检测值与理论值符合良好, 保证传感精度的同时有效简化了系统. 关键词： 三层有源隔声结构 误差传感策略 压电传感薄膜阵列 辐射模态     

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.     

Comparison of decentralized velocity feedback control for thin homogeneous and stiff sandwich panels using electrodynamic proof-mass actuators

Theoretical and experimental work is presented to compare the effect of decentralised velocity feedback control on thin homogeneous and sandwich panels. The decentralised control system consists of five control units, which are composed of a proof-mass electrodynamic actuator with an accelerometer underneath its footprint and an analogue controller. The stability of the feedback loops is analysed by considering the sensor-actuator open-loop frequency response function of each control unit and the eigenvalues of the fully populated matrix of open-loop frequency response functions between the five sensors and five actuators. The control performance is then analysed in terms of the time-averaged total kinetic energy and total sound power radiated by the two panels. The results show that for a stiff sandwich panel higher stable feedback gains can be implemented than on a thin homogeneous panel of comparable weight per unit area. Moreover the implementation of decentralised velocity feedback can offset some of the undesirable sound transmission properties of lightweight sandwich structures by efficiently reducing structural vibration and sound power radiation in the mid audio frequency range.     

基于分布式体积速度传感的结构声辐射有源控制实验研究

以简支矩形薄板为研究对象,首先在波数域内对结构振动体积速度与辐射声功率的关系进行分析,推导出反映结构模态对体积速度贡献规律的数学表达式。在此基础上,结合PVDF (Polyvinylidene Fluoride)压电薄膜的电荷输出方程,利用三角函数的正交性,给出一种方法来设计体积速度传感器,并针对具体模型进行了结构体积速度测量实验。结果表明,所设计的分布式体积速度传感器具有较好的传感精度。在此基础上,利用所设计的传感器进行了结构声辐射有源控制实验研究,分别针对单频和带宽信号激励情况下的有源控制实验取得了满意的控制效果,从而验证了本文PVDF体积速度传感器设计方法的正确性以及通过PVDF膜传感结构声辐射并作为误差传感器进行有源控制的有效性。      

OPTIMAL GAIN DISTRIBUTION FOR TWO-DIMENSIONAL MODAL TRANSDUCER AND ITS IMPLEMENTATION USING MULTI-LAYERED PVDF FILMS

Using finite element techniques to optimize the spatial gain distribution of PVDF film, we developed a modal transducer for specific modes to perform real-time vibration control of integrated smart structures. This method makes it possible to design the modal transducer for two-dimensional structure with arbitrary geometry and boundary conditions. As a practical means for implementation, the gain distribution was approximated by optimizing electrode patterns, lamination angles, and relative poling directions of the multi-layered PVDF transducer. This corresponds to the approximation of a continuous function using discrete values. A genetic algorithm was used in the optimization of the electrode pattern and lamination angle of each PVDF layer. For this purpose, the continuous value of the lamination angle was encoded into discrete values using binary 5-bit strings. Validity of the proposed concept was demonstrated experimentally. A modal sensor for the first and second modes of cantilevered composite plate was designed using two layers of PVDF films. The experimental results show that spillover signals by residual modes were successfully reduced using the optimized multi-layered PVDF sensor. The actuator was designed also using two layers of PVDF films to minimize the system energy in the control modes. Real-time vibration control system was successfully realized using the optimized sensor, actuator, and a discrete LQG controller. Closed-loop test showed that modal peaks of the first and second modes were reduced by amounts of 13 and 4 dB respectively.     

Broadband radiation modes: estimation and active control

In this paper we give a formulation of the most efficiently radiating vibration patterns of a vibrating body, the radiation modes, in the time domain. The radiation modes can be used to arrive at efficient weighting schemes for an array of sensors in order to reduce the controller dimensionality. Because these particular radiation modes are optimum in a broadband sense, they are termed broadband radiation modes. Methods are given to obtain these modes from measured data. The broadband radiation modes are used for the design of an actuator array in a feedback control system to reduce the sound power radiated from a plate. Three methods for the design of the actuator are compared, taking into account the reduction of radiated sound power in the controlled frequency range, but also the possible increase of radiated sound power in the uncontrolled frequency range.     

Local feedback control of light honeycomb panels

This paper summarizes theoretical and experimental work on the feedback control of sound radiation from honeycomb panels using piezoceramic actuators. It is motivated by the problem of sound transmission in aircraft, specifically the active control of trim panels. Trim panels are generally honeycomb structures designed to meet the design requirement of low weight and high stiffness. They are resiliently mounted to the fuselage for the passive reduction of noise transmission. Local coupling of the closely spaced sensor and actuator was observed experimentally and modeled using a single degree of freedom system. The effect of the local coupling was to roll off the response between the actuator and sensor at high frequencies, so that a feedback control system can have high gain margins. Unfortunately, only relatively poor global performance is then achieved because of localization of reduction around the actuator. This localization prompts the investigation of a multichannel active control system. Globalized reduction was predicted using a model of 12-channel direct velocity feedback control. The multichannel system, however, does not appear to yield a significant improvement in the performance because of decreased gain margin.     

Active damping control unit using a small scale proof mass electrodynamic actuator

This paper presents a study on the design and use of a small scale proof mass electrodynamic actuator, with a low mounting resonance frequency, for velocity feedback control on a thin rectangular panel. A stability-performance formula is derived, which can be effectively used to assess the down scaling effects on the stability and control performance of the feedback loop. The design and tests of a velocity feedback loop with a prototype small scale proof mass actuator are also presented. When a feedback control having a gain margin of about 6 dB is implemented, so that there is little control spillover effect around the fundamental resonance of the actuator, reductions of vibration between 5 dB and 10 dB in the frequency band between 80 Hz and 250 Hz have been measured at the control position.     

Self-tuning control systems of decentralised velocity feedback

This paper is concerned with decentralised velocity feedback for the control of vibration on a flexible structure. Previous studies have shown that a direct velocity feedback loop with a collocated force actuator produces a damping action. Multiple velocity feedback control loops thus reduce the vibration and sound radiation of structures at low frequency resonances, where the response is controlled by damping. However, if the control gains are too high, so that the response of the structure at the control point is close to zero, the feedback control loops will pin the panel at the control positions and thus no damping action is generated. Therefore, in order to maximise the active damping effect, the feedback gains have optimum values and the loops need to be properly tuned.In this paper, a numerical investigation is performed to investigate the possibility of self-tuning the feedback control gains to maximise the power absorbed by the control loops and hence maximise the active damping. The tuning principle is first examined for a single feedback loop for different excitation signals. The tuning of multiple control loops is then considered and the implementation of a practical tuning algorithm is discussed.     

任意边界板结构的声辐射模态误差传感器的设计

获取声辐射模态伴随系数是基于声辐射模态理论进行主动结构声控制(ASAC)的重要环节。以往PVDF分布式传感器的设计难点是振速展开受边界条件的限制,其设计过程往往是针对特定边界条件展开的。本文在声辐射模态理论和两维分布式传感器的压电方程的基础上,将板表面振速分布用Legendre多项式展开,给出了两维板结构的PVDF传感器形状与边界条件无关的设计方法。这样设计得到的传感器能应用于任意边界条件和任意振速分布的两维板结构,且实时性好,拓宽了其应用范围。本文还分别以固定边界条件板及在该板中任取一小区域两种情况为例,证明了该设计方法的可行性。     

ACTIVE CONTROL EXPERIMENTS FOR ACOUSTIC RADIATION REDUCTION OF A SANDWICH PANEL: FEEDBACK AND FEEDFORWARD INVESTIGATIONS

Experiments were conducted on a square panel of a honeycomb sandwich material, to compare and evaluate various active control strategies for acoustic radiation reduction. The panel was clamped between two soundproofed rooms, the receiving room being equipped with a moving system and a microphone. This paper compares different sensor/actuator arrangements. The two basic configurations are 8 PVDF patches used as sensors on one side of the panel and 8 PZT patches on the other side, versus several accelerometers or microphones as sensors and secondary shakers as actuators. In all cases, the primary excitation is provided by a shaker generating either pure tones or broadband noise on wide frequency bands (0-800 Hz). The second comparison level is relative to the control approaches: LMS feedforward and collocated feedback control strategies are investigated for broadband primary excitations. One of the most interesting aspects of the problem is to evaluate active control methods applied to a highly damped material. In particular, modal analysis and system identification are much more difficult than when applied to lightly damped metallic structures, due to the high modal overlap.     

Rectangular plate with velocity feedback loops using triangularly shaped piezoceramic actuators: experimental control performance

This paper presents experimental results on the implementation of decentralized velocity feedback control on a new smart panel in order to produce active damping. The panel is equipped with 16 triangularly shaped piezoceramic patch actuators along its border and accelerometer sensors located at the top vertex of the triangular actuators. The primary objective of this paper is to demonstrate the vibration and sound radiation control using the new smart panel. Narrow frequency band experimental results highlight that the 16 control units can produce reductions up to 15 dB at resonance frequencies between 100 and 700 Hz in terms of both structural vibration and sound power radiation.     

Active isolation of a flexible structure from base vibration

This paper presents a theoretical and experimental investigation into an active vibration isolation system. Electromagnetic actuators are installed in parallel with each of four passive mounts, which are placed between a flexible equipment structure and a base structure which is either flexible or rigid. Isolation of low-frequency vibration is studied, so that the passive mounts can be modelled as lumped parameter springs and dampers. Decentralized velocity feedback control is employed, where each actuator is operated independently by feeding back the absolute equipment velocity at the same location. Good control and robust stability have been obtained both theoretically and experimentally for the multichannel control systems. This is to be expected if the base structure is rigid, in which case the actuator and sensor are, in principle, collocated and the control system implements a skyhook damper. With a flexible base structure, however, collocation is lost due to the reactive actuator force acting on the base structure, but the control system is still found to be robustly stable and to perform well. Attenuations of 20 dB are obtained in the sum of squared velocities on the equipment structure at the rigid-body mounted resonance frequencies. In addition, attenuations of up to 15 dB are obtained at the resonance frequencies of both the low order flexible modes of the base structure and the equipment structure.     

双层板腔结构声传输及其有源控制研究

利用子系统模态综合方法,结合阻抗-导纳矩阵法,建立了双层板腔结构向自由空间声传输及其在入射板PZT控制、辐射板PZT控制,和腔中次级声源作动等多种控制策略下,系统物理模型的统一的分析模型,导出了系统模态响应及最优次级源强度的统一的阻抗-导纳矩阵表达式。该模型表达式各部分物理意义清晰、明确,便于进行系统耦合理论、有源控制及其机理的分析和数值研究。然后,在此基础上对双层板腔结构声传输有源控制进行了全面深入的数值计算和分析研究,重点探讨了控制方法策略及系统参数对有源控制效果的影响及其对应的控制机理。结果表明:入射板PZT作动辐射声功率最小控制策略是通过入射板、声腔和辐射板三个子系统的模态抑制或重组达到消声的目的,涉及多种复杂控制机理,对入射板、辐射板和声腔模态均有效,但对入射板模态更有效;在低频段声腔(0,0,0)模态在系统耦合响应中起主导作用,因此利用腔中次级声源作动能获得较理想的控制效果,是一种较好的控制策略;由于声腔模态与结构模态间复杂的耦合关系,使得某些频率处腔中声势能一定程度上的降低并不一定导致系统声传输损失的增加,因此,腔中声势能最小控制策略不一定能够获得理想的声传输控制效果。      

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.     

Reduction of turbulent boundary layer induced interior noise through active impedance control

The use of a single actuator tuned to an optimum impedance to control the sound power radiated from a turbulent boundary layer (TBL) excited aircraft panel into the aircraft interior is examined. An approach to calculating the optimum impedance is defined and the limitations on the reduction in radiated power by a single actuator tuned to that impedance are examined. It is shown that there are too many degrees of freedom in the TBL and in the radiation modes of the panel to allow a single actuator to control the radiated power. However, if the panel modes are lightly damped and well separated in frequency, significant reductions are possible. The implementation of a controller that presents a desired impedance to a structure is demonstrated in a laboratory experiment, in which the structure is a mass. The performance of such a controller on an aircraft panel is shown to be effective, if the actuator impedance is similar to but not the same as the desired impedance, provided the panel resonances are well separated in frequency and lightly damped.     

An indirect hybrid sound transmission loss controller

The control of sound transmission through panels is an important noise control problem in the aerospace, aeronautical, and automotive industries. The trend towards using lightweight composite materials that have lower sound insulation performance is a negative factor regarding low frequency transmission loss. Double-panel partitions with the gap filled with sound absorption materials are often employed to improve the sound insulation performance with reduced added weight penalty. However, in the low frequency range, the strong coupling between the panels through the air cavity and mechanical paths may greatly reduce the sound transmission performance, making it even lower than the performance of a single panel in some frequency ranges. In this work, an experimental investigation of a new kind of hybrid (active/passive) acoustic actuator is presented. The idea consists of replacing the acoustic absorption material by a hybrid actuator aiming at improving the transmission loss at low frequencies without altering the passive attenuation. A prototype of the system is tested in a plane wave acoustic tube setup. Different kinds of SISO feedforward control implementations were used to attenuate the sound power transmitted through the hybrid active–passive panel using an error microphone or a particle velocity sensor placed downstream with respect to the sample panel. Measurement results of the transmission loss with active and hybrid attenuation are presented and discussed.     

Active vibration control using an inertial actuator with internal damping

Collocated direct velocity feedback with ideal point force actuators mounted on structures is unconditionally stable and generates active damping. When inertial actuators are used to generate the control force, the system can become unstable even for moderate velocity feedback gains due to an additional -180 degree phase lag introduced by the fundamental axial resonant mode of the inertial actuator. In this study a relative velocity sensor is used to implement an inner velocity feedback loop that generates internal damping in a lightweight, electrodynamic, inertial actuator. Simulation results for a model problem with the actuator mounted on a clamped plate show that, when internal relative velocity feedback is used in addition to a conventional external velocity feedback loop, there is an optimum combination of internal and external velocity feedback gains, which, for a given gain margin, maximizes vibration reduction. These predictions are validated in experiments with a specially built lightweight inertial actuator.