Active control of high-frequency vibration: Optimisation using the hybrid modelling method

This work presents active control of high-frequency vibration using skyhook dampers. The choice of the damper gain and its optimal location is crucial for the effective implementation of active vibration control. In vibration control, certain sensor/actuator locations are preferable for reducing structural vibration while using minimum control effort. In order to perform optimisation on a general built-up structure to control vibration, it is necessary to have a good modelling technique to predict the performance of the controller. The present work exploits the hybrid modelling approach, which combines the finite element method (FEM) and statistical energy analysis (SEA) to provide efficient response predictions at medium to high frequencies. The hybrid method is implemented here for a general network of plates, coupled via springs, to allow study of a variety of generic control design problems. By combining the hybrid method with numerical optimisation using a genetic algorithm, optimal skyhook damper gains and locations are obtained. The optimal controller gain and location found from the hybrid method are compared with results from a deterministic modelling method. Good agreement between the results is observed, whereas results from the hybrid method are found in a significantly reduced amount of time.     

Genetic algorithm based active vibration control for a moving flexible smart beam driven by a pneumatic rod cylinder

A rod cylinder based pneumatic driving scheme is proposed to suppress the vibration of a flexible smart beam. Pulse code modulation (PCM) method is employed to control the motion of the cylinder's piston rod for simultaneous positioning and vibration suppression. Firstly, the system dynamics model is derived using Hamilton principle. Its standard state-space representation is obtained for characteristic analysis, controller design, and simulation. Secondly, a genetic algorithm (GA) is applied to optimize and tune the control gain parameters adaptively based on the specific performance index. Numerical simulations are performed on the pneumatic driving elastic beam system, using the established model and controller with tuned gains by GA optimization process. Finally, an experimental setup for the flexible beam driven by a pneumatic rod cylinder is constructed. Experiments for suppressing vibrations of the flexible beam are conducted. Theoretical analysis, numerical simulation and experimental results demonstrate that the proposed pneumatic drive scheme and the adopted control algorithms are feasible. The large amplitude vibration of the first bending mode can be suppressed effectively.     

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.     

基于主从交互式萤火虫群优化算法的船舶航向分数阶PID控制

为了改善船舶航向控制的效果,本文首次运用了分数阶PID控制方法,并提出一种新的主从交互式萤火虫优化算法,以优化控制器参数,使得达到控制性能指标最优的目标。根据船舶动力学模型,以船舶实际参数作实验,实验结果表明经过FA优化的分数阶PID控制器,比PSO算法具有更好的控制性能。通过敏感性分析验证了算法求出的FOPID参数具有鲁棒性,当系统参数大幅度变化时不需要重新设置。证明了经萤火虫算法优化的分数阶PID控制器能够更好地满足船舶航向控制的需求。     

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.     

Modulated angle beam ultrasonic spectroscopy for evaluation of imperfect interfaces and adhesive bonds

An experimental method incorporating high frequency pulsed angle beam ultrasonic measurements modulated by low frequency vibrations of a bonded structure is described. This method uses parametric/nonlinear mixing between high and low frequencies to characterize adhesive degradation. It is demonstrated that good quality (undamaged) bonds exhibit little dependence of ultrasonic signature on the overlay of low frequency vibration loads; however, environmentally degraded or imperfect bonds exhibit strong modulation of the resonance frequency of the ultrasonic signal reflected from the bond. The results are interpreted using a model for normal and oblique wave interaction with two nonlinear interfaces separated by an adhesive layer under quasi-static stress modulation.     

Smooth control of HIV/AIDS infection using a robust adaptive scheme with decoupled sliding mode supervision

In this paper, a robust adaptive controller subject to decoupled sliding mode controller as a supervisory controller has been implemented on the HIV infection dynamic model. A five-state dynamic model of HIV is utilized which the measurement of the CD4+T cells and the viral load counts are necessary to estimate all its parameters. Decoupled sliding mode control is a variable structure controller having significant and appropriate features, such as best tracking and regulation performance and robustness and elevate the performance of the controller. Generally, due to the importance of applied treatment strategy to mitigate viral escape, sliding mode control is utilized in accordance with PI control to deliver necessary control inputs. To achieve the least possible chattering, effectual methods such as the transfer function is used. To update the gains of PI control, an adaptation law is then employed. The results demonstrate the suitable performance of the controller via providing proper tracking performance, and also, elimination of the chattering problem and decrease the time of treatment. The number of infected CD4+ T-cells and the number of free virus particles can be controlled in less than five days. The proposed controller is capable of controlling the dynamic behavior of the virus concentration for different patients with the same control scheme.     

Calculation of Normal Vibrations of Chlorin by the Method of Density Functionals

Using the DFT/B3LYP method with a 6-31G(d) basis set, the structure, normal vibration frequencies, and the absolute band intensities in the IR spectra of the chlorin molecule and its four symmetric isotopomers have been calculated. Scaling of the force field by the Pulay method in independent and natural coordinates has been carried out. A method for obtaining effective force fields without using experimental data on the fundamental vibration frequencies is proposed. By comparing the vibration modes and constructing special matrices, complete assignment of the fundamental frequencies of porphin and chlorin has been carried out. It has been shown that the majority of porphin macroring vibrations upon pyrrolenine ring hydrogenation are frequency-characteristic and only 12 vibrations change considerably. A frequency correlation with regard for the mode transition between chlorin and all its isotopomers under consideration has been established. Comparative analysis of the force fields of porphin and chlorin in dependent natural coordinates has revealed the unique nonlocal character of the change in force constants of the macroring upon hydrogenation of one pyrrolenine ring. Modeling of the IR spectra of chlorin and its isotopomers has been performed. Assignment and interpretation of the normal vibrations of the molecules under consideration have been carried out.     

Free vibration characteristics of double-walled carbon nanotubes embedded in an elastic medium

In this Letter, a theoretical analysis of the resonant vibration of double-walled carbon nanotubes (DWCNTs) and the DWCNTs embedded in an elastic medium is presented based on Euler-Bernoulli beam model and Winkler spring model. The vibration modes of DWCNTs are quite different from those of single-walled carbon nanotubes (SWCNTs). The resonant vibrations of DWCNTs are found to have in-phase and anti-phase modes, in which the deflections of the inner and outer nanotubes occur in the same and opposite directions, respectively. For the vibration of DWCNTs with the same harmonic numbers, the resonant frequencies of anti-phase mode are larger than the ones of in-phase mode. Moreover, influence of the surrounding medium on the resonant vibrations is investigated using the Winkler spring model. The results show that surrounding medium makes a strong impact on the vibration frequencies of in-phase mode, but little on those of anti-phase mode.     

Numerical–experimental identification of the most effective dynamic operation mode of a vibration drilling tool for improved cutting performance

This study is concerned with application of numerical–experimental approach for characterizing dynamic behavior of the developed piezoelectrically excited vibration drilling tool with the aim to identify the most effective conditions of tool vibration mode control for improved cutting efficiency. 3D finite element model of the tool was created on the basis of an elastically fixed pre-twisted cantilever (standard twist drill). The model was experimentally verified and used together with tool vibration measurements in order to reveal rich dynamic behavior of the pre-twisted structure, representing a case of parametric vibrations with axial, torsional and transverse natural vibrations accompanied by the additional dynamic effects arising due to the coupling of axial and torsional deflections ((un)twisting). Numerical results combined with extensive data from interferometric, accelerometric, dynamometric and surface roughness measurements allowed to determine critical excitation frequencies and the corresponding vibration modes, which have the largest influence on the performance metrics of the vibration drilling process. The most favorable tool excitation conditions were established: inducing the axial mode of the vibration tool itself through tailoring of driving frequency enables to minimize magnitudes of surface roughness, cutting force and torque. Research results confirm the importance of the tool mode control in enhancing the effectiveness of vibration cutting tools from the viewpoint of structural dynamics.     

Global optimization of distributed output feedback controllers

When the frequency range over which a reduction in vibration is desired is limited to a particular structural mode of vibration, for example, it is shown that a centralized velocity feedback controller can perform better than a decentralized controller for a given level of control effort. The decentralized controller, however, has the desirable properties of scalability and ease of implementation. A number of strategies for clustering the control locations have been proposed to exploit both the performance of the centralized controller and the scalability of decentralized controllers but these have previously been only locally optimal. This paper describes methods by which these distributed controllers may be designed to be globally optimal and gives examples of simulated results of these optimal distributed controllers.     

Enhanced switching law for synchronized switch damping on inductor with bimodal excitation

Piezoelectric shunt damping is an emerging field of research. In recent years, a multitude of different electrical circuits have been developed aiming to increase the damping performance and robustness. Synchronized switch damping on inductor (SSDI) is a semi-active control technique that utilizes a passive inductance to build-up a voltage on the piezoceramics that is synchronized with the mechanical vibration. For a single mode excitation the voltage inversion should occur at the moments of maximum deformation, but for multimodal vibrations such a switching law may not be optimal.In this paper a novel switching law for bimodal vibrations is presented using a modal observer. An enhanced voltage build-up is generated by utilizing the vibration energy of the second mode. The amplification of dissipated energy is calculated in an analytical way using normalized parameters, yielding a general result which includes the influence of the frequency and amplitude ratio of the excitation signal. Measurements on a clamped beam test rig are conducted in order to validate the proposed method. An increase of nearly 350 percent in energy dissipation compared to the classical SSDI has been achieved. Furthermore, the increase in energy dissipation is higher than for a previously suggested, comparable switching law.     

Model independent control of lightly damped noise/vibration systems

Feedforward control is a popular strategy of active noise/vibration control. In well-damped noise/vibration systems, path transfer functions from actuators to sensors can be modeled by finite impulse response (FIR) filters with negligible errors. It is possible to implement noninvasive model independent feedforward control by a recently proposed method called orthogonal adaptation. In lightly damped noise/vibration systems, however, path transfer functions have infinite impulse responses (IIRs) that cause difficulties in design and implementation of broadband feedforward controllers. A major source of difficulties is model error if IIR path transfer functions are approximated by FIR filters. In general, active control performance deteriorates as model error increases. In this study, a new method is proposed to design and implement model independent feedforward controllers for broadband in lightly damped noise/vibration systems. It is shown analytically that the proposed method is able to drive the convergence of a noninvasive model independent feedforward controller to improve broadband control in lightly damped noise/vibration systems. The controller is optimized in the minimum H2 norm sense. Experiment results are presented to verify the analytical results.     

超声振动系统频率自动跟踪的模糊控制算法研究

针对大功率超声应用中,工作频带窄、频率跟踪速度要求快的特点,提出将模糊控制智能算法（Fuzzy Control）和数字频率直接合成技术（DDS）相结合的频率自动跟踪方案,依据经验归纳制定模糊控制器来快速跟踪工作频率,将驱动频率调节至谐振频率附近;随后只采用DDS进行频率的微调节,使得电源频率工作在超声换能器的谐振频率点上。最后,通过在MATLAB软件中对控制算法进行验证,表明本文算法具有可行性,能够实现对大功率超声波电源的频率自动跟踪。     

Influence of initial geometrical imperfections on vibrations of axially compressed stiffened cylindrical shells

The vibrations of stiffened cylindrical shells having axisymmetric or asymmetric initial geometrical imperfections and axial preload are analyzed. The analysis is based on a solution of the von Kárman-Donnell non-linear shell equations, an “exact” solution of the compatibility equation, and a first order approximation by the Galerkin method of the equilibrium equation. The stiffeners are closely spaced and “smeared” stiffener theory is employed. The results of an extensive parametric study carried out on shells similar to those used in vibration and buckling tests at the Technion show that stiffening of the shell will lower the imperfection-sensitivity of its free vibrations, but the decrease depends on the type of stiffening (stringers or rings), the mode shapes of the vibration and the imperfection, the stiffener strength and eccentricity. The imperfection-sensitivity decrease, caused by the stiffeners, is greater for vibration mode shapes with high imperfection-sensitivity than for other vibration mode shapes. The sensitivity differences between stringer and ring-stiffened shells depend especially on the vibration and the imperfection mode shapes, and on their coupling. Small imperfections change the natural frequencies of stiffened shells in the same directions as for isotropic shells, but to a smaller extent. The frequency dependence on the external load is also strongly affected by the imperfection mode shape. The results correlate well with earlier ones for isotropic shells.     

Ultrasonic plastic welding using fundamental and higher resonance frequencies

Ultrasonic plastic welding using fundamental and higher resonance frequency vibrations simultaneously was studied. Using higher frequency, welding characteristics is improved due to the larger vibration loss of plastic materials. The 26 kHz welding tip vibrates in maximum velocity of over 4.5 m/s (peak-to-zero value) under a fundamental resonance frequency and there are several higher resonance frequencies up to 95 kHz whose vibration velocities are over one-third that of the fundamental frequency. Welding characteristics of 1.0-mm-thick polypropylene sheets are measured in the cases the vibration system are driven under combined driving voltages of fundamental and higher resonance frequencies. Welded area increases as number of driven higher frequencies increases. The welded area by three frequencies is about three to four times that of the case where only the fundamental frequency is driven. The welding characteristics of ultrasonic plastic welding are improved significantly by driving higher resonance frequencies simultaneously.     

D-荧光素的结构和振动光谱的理论研究

采用密度泛函的B3LYP和B3PW91方法在6-311++G**基组水平上全优化了D-荧光素分子的平衡构型和振动光谱。采用标度量子力学力场(SQM)方法研究了D-荧光素分子的振动光谱。为了详细分析振动模式的贡献,定义了分子的局域内坐标,用改编的分子振动计算程序组将计算的笛卡尔坐标力常数转换成了局域内坐标力常数。用GF矩阵方法进行了简正坐标分析,获得了振动频率和势能分布(PEDs)。根据PEDs对所有的振动模式进行了指认。结果表明,在红外光谱中,所有振动模式均有红外活性,其中吸收强度最强的峰的振动频率为1 780 cm-1,吸收强度为507 KM·mol-1,根据计算所得的PEDs矩阵,可以清楚的看出该振动吸收峰主要由羧基C₂₁O₂₂双键伸缩振动所贡献,其PEDs为93%。在拉曼光谱中,D-荧光素分子的所有振动模式也表现出了拉曼活性,振动频率在1 200～1 700 cm-1范围的吸收峰具有较强的拉曼活性。其中吸收强度最强的吸收峰的频率为1 573 cm-1,吸收强度为297 KM·mol-1,是五元环CN键的伸缩振动所贡献。结果可为进一步研究荧光素衍生物的结构、发光活性提供一定的理论依据。     

Vibration suppression control of smart piezoelectric rotating truss structure by parallel neuro-fuzzy control with genetic algorithm tuning

The main goal of this paper is to develop a novel approach for vibration control on a piezoelectric rotating truss structure. This study will analyze the dynamics and control of a flexible structure system with multiple degrees of freedom, represented in this research as a clamped–free–free–free truss type plate rotated by motors. The controller has two separate feedback loops for tracking and damping, and the vibration suppression controller is independent of position tracking control. In addition to stabilizing the actual system, the proposed proportional–derivative (PD) control, based on genetic algorithm (GA) to seek the primary optimal control gain, must supplement a fuzzy control law to ensure a stable nonlinear system. This is done by using an intelligent fuzzy controller based on adaptive neuro-fuzzy inference system (ANFIS) with GA tuning to increase the efficiency of fuzzy control. The PD controller, in its assisting role, easily stabilized the linear system. The fuzzy controller rule base was then constructed based on PD performance-related knowledge. Experimental validation for such a structure demonstrates the effectiveness of the proposed controller. The broad range of problems discussed in this research will be found useful in civil, mechanical, and aerospace engineering, for flexible structures with multiple degree-of-freedom motion.