Multifunctional design of inertially-actuated velocity feedback controllers

The vibration of a structure can be controlled using either a passive tuned mass damper or using an active vibration control system. In this paper, the design of a multifunctional system is discussed, which uses an inertial actuator as both a tuned mass damper and as an element in a velocity feedback control loop. The natural frequency of the actuator would normally need to be well below that of the structure under control to give a stable velocity feedback controller, whereas it needs to be close to the natural frequency of a dominant structural resonance to act as an effective tuned mass damper. A compensator is used in the feedback controller here to allow stable feedback operation even when the actuator natural frequency is close to that of a structural mode. A practical example of such a compensator is described for a small inertial actuator, which is then used to actively control the vibrations both on a panel and on a beam. The influence of the actuator as a passive tuned mass damper can be clearly seen before the feedback loop is closed, and broadband damping is then additionally achieved by closing the velocity feedback loop.     

Experimental validation of a collocated PVDF volume velocity sensor/actuator pair

The active control of sound transmission through a rectangular panel is experimentally verified. The control system is based on a collocated volume velocity sensor/actuator pair which measures and excites the first radiation mode of the panel. Suppression of the first radiation mode is an efficient strategy to control the low frequency sound radiation from the panel. This configuration leads to a simple single-input single-output control system, to which feedback control can be applied.Two implementations of the volume velocity sensor/actuator pair are tested. First, a polyvinyledene fluoride polymer (PVDF) volume velocity actuator foil with shaped electrodes is used in combination with an identical PVDF volume velocity sensor foil. Due to the mechanical coupling between the PVDF sensor and actuator foil, it is shown that a direct velocity feedback control scheme is not feasible because higher order structural modes will be destabilized. Instead integral force feedback is applied, such that the open-loop transfer function has a roll-off towards higher frequencies. Experiments show that this control strategy results in a reduction of the sound pressure in the receiving room of 10 dB at the first structural resonance without spillover to higher order modes. Due to the roll-off towards high frequencies, the control over higher order modes remains limited. Second, a discrete volume velocity sensor is constructed by summing the signals from 12 point sensors placed on the panel. The volume velocity actuator consists of two PVDF foils, glued on each side of the panel and driven in opposite phase. Direct volume velocity feedback is applied to this system, which is minimum phase. This control system is capable of reducing the sound pressure in the receiving room below 300 Hz by 10-15 dB without spillover to higher order modes.     

Development of high bandwidth powered resonance tube actuators with feedback control

A high bandwidth powered resonance tube (PRT) actuator potentially useful for noise and flow control applications was developed. High bandwidth allows use of the same actuator at various locations on an aircraft and over a range of flight speeds. The actuator selected for bandwidth enhancement was the PRT actuator, which is an adaptation of the Hartmann whistle. The device is capable of producing high-frequency and high-amplitude pressure and velocity perturbations for active flow control applications. Our detailed experiments aimed at understanding the PRT phenomenon are complemented by an improved analytical model and direct numerical simulations. We provide a detailed characterization of the unsteady pressures in the nearfield of the actuator using phase averaged pressure measurements. The measurements revealed that propagating fluctuations at 9 kHz were biased towards the upstream direction (relative to the supply jet). A complementary computational study validated by our experiments was useful in simulating the details in the region between the supply jet and the resonance tube where it was difficult to gather experimental data. High bandwidth was obtained by varying the depth of the resonance tube that determines the frequency produced by the device. Our actuator could produce frequencies ranging from 1600 to 15,000 Hz at amplitudes as high as 160 dB near the source. The frequency variation with depth is predicted well by the quarter wavelength formula for deep tubes but the formula becomes increasingly inaccurate as the tube depth is decreased. An improved analytical model was developed, in which the compliance and mass of the fluid in the integration slot is incorporated into the prediction of resonance frequencies of the system. Finally a feedback controller that varied both the resonance tube depth and spacing to converge on a desired frequency was developed and demonstrated. We are optimistic that numerous potential applications exist for such high bandwidth high dynamic range actuators.     

Stability and performance limits for active vibration isolation using blended velocity feedback

This paper presents a theoretical study of active vibration isolation on a two degree of freedom system. The system consists of two lumped masses connected by a coupling spring. Both masses are also attached to a firm reference base by a mounting spring. The lower mass is excited by a point force. A reactive control force actuator is used between the two masses in parallel with the coupling spring. Both masses are equipped with an absolute velocity sensor. The two sensors and the actuator are used to implement velocity feedback control loops to actively isolate the upper mass from the vibrations of the lower mass over a broad range of frequencies. The primary concern of the study is to determine what type of velocity feedback configuration is suitable with respect to the five parameters that characterise the system (the three spring stiffnesses and the two masses). It is shown analytically that if the ratio of the lower mounting spring stiffness to the lower mass is larger than the ratio of the upper mounting spring stiffness to the upper mass (supercritical system), feeding back the absolute upper mass velocity to the reactive force actuator results in an unconditionally stable feedback loop and the vibration isolation objective can be fully achieved without an overshot at higher frequencies. In contrast, if the ratio of the lower mounting spring stiffness to the lower mass is smaller than the ratio of the upper mounting spring stiffness to the upper mass (subcritical system), the upper mass velocity feedback is conditionally stable and the vibration isolation objective cannot be accomplished in a broad frequency band. For subcritical systems a blended velocity feedback is proposed to stabilise the loop and to improve the broad-band vibration isolation effect. A simple inequality is introduced to derive the combinations between the two error velocities that guarantee unconditionally stable feedback loops.     

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 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.     

Smart panel with active damping units. Implementation of decentralized control

This paper contains the second part of a study on a smart panel with five decentralized velocity feedback control units using proof mass electrodynamic actuators [Gonzalez Diaz et al., J. Acoust. Soc. Am. 124, 886 (2008)]. The implementation of five decentralized control loops is analyzed, both theoretically and experimentally. The stability properties of the five decentralized control units have been assessed with the generalized Nyquist criterion by plotting the loci of the eigenvalues of the fully populated matrix of frequency response functions between the five error signals and five input signals to the amplifiers driving the actuators. The control performance properties have been assessed in terms of the spatially averaged response of the panel measured with a scanning laser vibrometer and the total sound power radiated measured in an anechoic room. The two analyses have shown that reductions of up to 10 dB in both vibration response and sound radiation are measured at low audio frequencies, below about 250 Hz.     

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.     

ACTIVE CONTROL OF PRESSURE FLUCTUATIONS DUE TO FLOW OVER HELMHOLTZ RESONATORS

Grazing flows over Helmholtz resonators may result in self-sustained flow oscillations at the Helmholtz acoustic resonance frequency of the cavity system. The associated pressure fluctuations may be undesirable. Many solutions have been proposed to solve this problem including, for example, leading edge spoilers, trailing edge deflectors, and leading edge flow diffusers. Most of these control devices are “passive”, i.e., they do not involve dynamic control systems. Active control methods, which do require dynamic controls, have been implemented with success for different cases of flow instabilities. Previous investigations of the control of flow-excited cavity resonance have used mainly one or more loudspeakers located within the cavity wall. In the present study, oscillated spoilers hinged near the leading edge of the cavity orifice were used. Experiments were performed using a cavity installed within the test section wall of a wind tunnel. A microphone located within the cavity was used as the feedback sensor. A loop shaping feedback control design methodology was used in order to ensure robust controller performance over varying flow conditions. Cavity pressure level attenuation of up to 20dB was achieved around the critical velocity (i.e., the velocity for which the fundamental excitation frequency matches the Helmholtz resonance frequency of the cavity), relative to the level in the presence of the spoiler held stationary. The required actuation effort was small. The spoiler peak displacement was typically only 4% of the mean spoiler angle (approximately 1′). The control scheme was found to provide robust performance for transient operating conditions. Oscillated leading edge spoilers offer potential advantages over loudspeakers for cavity resonance control, including a reduced encumbrance (especially for low-frequency applications), and a reduced actuation effort.     

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.     

Modelling and characterization of a piezoceramic inertial actuator

An inertial actuator (also known as a proof mass actuator) applies forces to a structure by reacting them against an “external” mass. This approach to actuation may provide some practical benefits in the active control of vibration and structure-borne noise: system reliability may be improved by removing the actuator from a structural load path; effective discrete point-force actuation permits ready attachment to curved surfaces, and an inherent passive vibration absorber effect can reduce power requirements.This paper describes a class of recently developed inertial actuators that is based on mechanical amplification of displacements of an active piezoceramic element. Important actuator characteristics include resonance frequencies, clamped force, and the drive voltage to output the force frequency response function.The paper addresses one particular approach to motion amplification, the “dual unimorph,” in detail. A model of actuator dynamic behavior is developed using an assumed-modes method, treating the piezoelectrically induced stresses as external forces. Predicted actuator characteristics agree well with experimental data obtained for a prototype actuator. The validated actuator dynamic model provides a tool for design improvement.     

Base impedance of velocity feedback control units with proof-mass electrodynamic actuators

Control units comprising a proof-mass electrodynamic actuator and accelerometer-sensor pair with a time integrator and fixed gain controller are an effective way to implement velocity feedback control on thin flexible structures. These control units produce active damping provided the fundamental resonance frequency of the actuators is well below that of the structure under control. Control stability limits arise from the actuators fundamental resonances which introduce a 180° phase lag in the sensor-actuator frequency response functions, thus causing the feedback loops to be only conditionally stable. In contrast to previous studies, this paper discusses the response of a control unit with electrodynamic proof-mass actuator in terms of the open- and closed-loop base impedance that it exerts on the structure. This allows for a straight-forward physical interpretation of both stability and control performance. Experimental and simulation results show that the base impedance can be described as the sum of passive and active frequency response functions, where the active part of the control unit response depends on the actuator electromechanical response and also on the response function of the analogue controller circuit. The results show that the base impedance formulation can be effectively used to investigate new designs of both the actuator and electronic controller in order to optimise the stability and performance properties of the control unit.     

Stable single-mode operation of injection-seeded Q-switched Nd:YAG laser by sine voltage modulation

Based on the modified ramp and fire technique, a novel injection seeding approach with real-time resonance tracking is successfully demonstrated in a single-frequency Nd:YAG pulsed laser. Appling a high-frequency sinusoidal modulation voltage to one piezo actuator and an adjustable DC voltage to another piezo actuator for active feedback, single-mode laser output with high-frequency stability is obtained, and the effect of the piezo hysteresis on the frequency stability can be eliminated for a laser diode pumped Q-switched Nd:YAG laser at a repetition rate of 400 Hz.     

Feedback compensator for control units with proof-mass electrodynamic actuators

This paper presents theoretical and experimental work on a velocity feedback control unit with an electrodynamic proof-mass actuator. The study shows that the stability and performance of the feedback control loop can be substantially improved by implementing an appropriate compensation filter, which detunes the passive and active responses of the actuator. The control unit is analysed in terms of the open- and closed-loop base impedance it presents to the structure under control. In this way the analytical expression for the proposed compensator is derived directly from known actuator parameters. The compensation filter provides significant improvement over the uncompensated case, even for considerable variations in the actuator response. One drawback of the compensator is the enhancement of the feedback signal at low frequencies, which may lead to stroke/force saturation effects in the actuator. In this respect the study shows that it can be beneficial to implement an additional high pass filter, which however produces a loss in the phase and gain margins.     

Active vibration control of beam structures using acceleration feedback control with piezoceramic actuators

In this study, the active vibration control of clamped–clamped beams using the acceleration feedback (AF) controller with a sensor/moment pair actuator configuration is investigated. The sensor/moment pair actuator is a non-collocated configuration, and it is the main source of instability in the direct velocity feedback control system. First, the AF controller with non-collocated sensor/moment pair actuator is numerically implemented for a clamped–clamped beam. Then, to characterize and solve the instability problem of the AF controller, a parametric study is conducted. The design parameters (gain and damping ratio) are found to have significant effects on the stability and performance of the AF controller. Next, based on the characteristics of AF controllers, a multimode controllable single-input single-output (SISO) AF controller is considered. Three AF controllers are connected in parallel with the SISO architecture. Each controller is tuned to a different mode (in this case, the second, third and fourth modes). The design parameters are determined on the basis of the parametric study. The multimode AF controller with the selected design parameters has good stability and a high gain margin. Moreover, it reduces the vibration significantly. The vibration levels at the tuned modes are reduced by about 12 dB. Finally, the performance of the AF controller is verified by conducting an experiment. The vibration level of each controlled mode can be reduced by about 12 dB and this value is almost same as the theoretical result.     

The role of auditory feedback in sustaining vocal vibrato

Vocal vibrato and tremor are characterized by oscillations in voice fundamental frequency (F0). These oscillations may be sustained by a control loop within the auditory system. One component of the control loop is the pitch-shift reflex (PSR). The PSR is a closed loop negative feedback reflex that is triggered in response to discrepancies between intended and perceived pitch with a latency of approximately 100 ms. Consecutive compensatory reflexive responses lead to oscillations in pitch every approximately 200 ms, resulting in approximately 5-Hz modulation of F0. Pitch-shift reflexes were elicited experimentally in six subjects while they sustained /u/ vowels at a comfortable pitch and loudness. Auditory feedback was sinusoidally modulated at discrete integer frequencies (1 to 10 Hz) with +/- 25 cents amplitude. Modulated auditory feedback induced oscillations in voice F0 output of all subjects at rates consistent with vocal vibrato and tremor. Transfer functions revealed peak gains at 4 to 7 Hz in all subjects, with an average peak gain at 5 Hz. These gains occurred in the modulation frequency region where the voice output and auditory feedback signals were in phase. A control loop in the auditory system may sustain vocal vibrato and tremorlike oscillations in voice F0.     

800Hz Terfenol-D鱼唇式弯张换能器

本文研制了800Hz Terfenol-D鱼唇式弯张换能器，换能器设计中采用永磁偏磁场和能有效抑制涡流损耗的闭合磁路结构，最高声源级185dB，-3dB带宽180Hz,这种鱼唇工弯张换能器克服了连续直流提供偏磁场时发热强的缺点，并且仅需要普通的功率放大器，更适于长时间连续工作，使这一新型低频大功率水声换能器趋于实用化。     

薄膜型声学超材料对低频振动的隔声特性分析

高效共振混合机工作频率为60 Hz,且系统处于共振,产生较大低频噪声。针对振动机械产生的有害噪声,分析了高效共振混合机低频高加速度共振混合过程的特点,得到了60 Hz低频声波穿透力强的特点,相比传统的以吸声材料构建的50～100 mm厚度、隔声效果小于10 dB的隔声罩,分析了薄膜型声学超材料在低频减振降噪中的隔声特性。通过多物理场仿真分析,60 Hz时隔声量为31.4 dB,确定了硅橡胶弹性薄膜的预应力和质量块的面密度;采用3D打印机快速成型技术,构建了隔声实验装置,分析了独立隔声单元、面密度、薄膜尺寸等隔声特性规律。基于人耳在实际环境中感受到的噪声强度,提出了噪声衰减量和插入损失的分析方法,在距离声源380 mm和1000 mm的位置,60 Hz时隔声量分别为27 dB和38 dB。研究成果丰富了低频隔声特性理论,为薄膜型声学超材料的工程设计和优化提供了技术支撑。     

Nonlinear standing waves in a resonator with feedback control

An experimental study is presented to demonstrate that nonlinear effect on standing waves in a resonator can be reduced by a feedback loop responding to the second harmonic. The resonator was a cylindrical tube sealed at one end and driven by a horn driver unit at another end. The feedback control loop consisted of a pressure sensor, a frequency filter, a phase shifter, and an actuator. The results show that the waveform distortions can be eliminated and large amplitude sinusoidal pressure oscillations are obtained. A simple model is proposed for a qualitative discussion on the control mechanism, which shows that the feedback loop alters the imaginary part of the complex mode frequency so as to suppress (or enhance) the second harmonic.     

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.