Magnetostrictive actuation of a smart beam with hysteretic material behaviour

Magnetostrictive materials can be used as actuators in smart structures technology. The relation between induced strain and the applied magnetic field is nonlinear and shows hysteretic behaviour. Thus the magnetomechanical coupling coefficient is not constant and should be defined as a function of strain or magnetic field in computations. In this study the hysteresis of a mechanically unconstrained actuator is determined using the Michelson interferometry. The hysteretic behaviour is modelled phenomenologically by a Preisach model. Using these experimental data for the modelling of an active structure with embedded magnetostrictive actuators, the actual coupling coefficient can be determined utilising the Preisach model. With this procedure the actuation strain of an embedded actuator, including the physical nonlinearities, can be calculated using the material characteristics obtained with an unconstrained actuator. For the determination of the actual coupling coefficient a strain- and field-dependent approach is used. For an experimental validation of the method outlined above, a magnetostrictive actuator is characterised experimentally and then applied to a cantilever aluminium beam. Then, the tip displacement of the actuated beam is measured with a laser triangulation sensor and compared with the numerical results. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

电场作用下压电层合梁的分析

利用压电介质的二维本构关系,推导出带有上、下压电激励器的弹性梁在电场作用下的位移,应力分布的解析表达式,得到了压电激励器对弹性梁的等效作用力,最后给出了带有上,下压电激励的弹性梁在一端固支或两端简支边界条件下的算例。     

Experimental and Numerical Investigation of Nonlinear Piezoelectric Effects Including Minor Hystereses

Piezoelectric ceramics are often used in active structures for shape and vibration control. Since the operation range is not limited to small signals the nonlinear behaviour of the actuator under high electric loads has to be known. There are several approaches in literature to model the hysteretic effects, each having its assets and drawbacks. When a model is able to reproduce the minor loops of the strain - electric field hysteresis, it often lacks the consideration of stress dependence which is fundamental for actuators attached to elastic structures. On the other hand constitutive models which take into account all ferroelectric and ferroelastic effects are not capable of representing the minor hystereses in acceptable calculation times. In this work a phenomenological constitutive model is verified using the experimental data of an active plate structure. Therefore, the ceramic is characterised under mechanically unconstrained conditions and afterwards attached onto a steel plate. The bonding to the substructure leads to a mechanical stress depending on the actuation state of the ceramic. (© 2010 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Piezoelectric control of flexible vibrations in rotating beams: An experimental study

Active control of flexible vibrations by distributed piezoelectric actuators and sensors plays an increasing role in engineering, especially in light-weight structures. Exemplarily, in this contribution a rotating beam is studied which can be found in many practical applications, e.g. as robot arms or flexible manipulators in production processes. It has been intensively shown in the literature that it is possible to completely suppress the flexible vibrations by an appropriate distribution of piezoelectric actuation strains. In order to compensate the inertial forces in the considered rotating beam, a complex distribution is obtained, such that a practical realisation would be very extensive. To overcome the problem, a discrete approximation by piezoelectric patches is applied. In order to find an optimal configuration for an experimental setup, and to investigate several control strategies, a numerical simulation model has been implemented based on Bernoulli-Euler beam theory. The numerical results are verified by an experimental set-up, in which 48 piezoelectric patches have been attached on a beam with rectangular hollow cross-section. Each patch can be used either as an actuator or a sensor. Additionally, strain gauges can be used as sensors. For monitoring, acceleration sensors are used. The control system is implemented within a dSpace environment. The results show a significant reduction of the flexible vibrations. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Viscoelastic modelling and experimental results of a dielectric electro-active polymer diaphragm actuator

Common actuating principles e.g. solenoids or piezo-elements have mostly exploited their potential as electromechanical transducers. A new technology based on Dielectric Electro-active Polymers (DEAPs) enables major progress in efficiency and functionality for actuators. In order to use the advantages of this new technology in a feasible application, a silicone based DEAP diaphragm actuator was tested experimentally. Here, the mechanical properties of the fundamental parts of the DEAP diaphragm actuator, namely the stressstrain behaviour of an equibiaxially pre-stretched hyperelastic polymer and the mechanical response of a DEAP diaphragm actuator, were determined by appropriate test benches. The investigated DEAP diaphragm actuator consists of a dielectric, which corresponds to a thin elastic silicone film sandwiched between two compliant electrodes. Furthermore, DEAPs are pre-stretched, actually up to five times their in-plane dimensions, in order to improve their performance. In that context, the influence of the pre-stretched state on the actuator performance was investigated. In addition, a viscoelastic finite-element model of the electromechanical system has been developed and validated with the experimental results. The mechanical part of the DEAP diaphragm actuator was realized with an incompressible isotropic elastic model, whereas the electrical part was approximated with a circular parallel-plate capacitor. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Nonlinear vibrations of piezoelectric microcantilevers for biologically-induced surface stress sensing

In this paper, nonlinear vibrations of a piezoelectrically-driven microcantilever beam in presence of a biological monolayer are investigated and the corresponding equations of motion are derived and simulated. A part of the microcantilever beam surface is covered by a piezoelectric layer, which acts as an actuator. Inextensibility condition and the coupling between electrical and mechanical properties in piezoelectric materials are considered in the bending vibrations of the beam. The adsorbed biological layer is considered to be a monolayer and its adsorption induced surface stress is formulated from the molecular viewpoint. The nonlinear terms in the governing equations of motion of the beam appear in the quadratic form due to the presence of the piezoelectric layer, and the cubic form due to geometry of the beam and the adsorbed biological layer. Through extensive numerical simulations, it is demonstrated that the nonlinear effect of piezoelectric layer is significant in the microcantilever resonance sensing range. It is also shown that the effect of intermolecular attraction–repulsion on the surface stress is less dominant than other sources of surface stress (e.g., the electrostatic forces). Finally, it is observed that piezoelectrically-actuated microcantilever provides the ability of indirect measurement of vibrations and frequency response characteristics, instead of using bulky laser sensor.     

Finite volume analysis of adaptive beams with piezoelectric sensors and actuators

This paper presents a finite volume (FV) formulation for the free vibration analysis and active vibration control of the smart beams with piezoelectric sensors and actuators. The governing equations based on Timoshenko beam theory are discretized using the finite volume method. For the purpose of forced vibration control of beam structures, the negative velocity feedback controller is designed for the single-input, single-output system. To achieve the best effect, the piezoelectric sensors and actuators are coupled with the host structure in different positions and then the performance of the designed control system is evaluated for each position. In the test examples, first the shear locking free feature of the present formulation is demonstrated. This has been performed by doing static and natural frequency analysis of some reference models. Then, the capability of the proposed method for the prediction of uncontrolled forced vibration response and active vibration control of a beam structure is studied.     

Simulation of Wave Propagation in Complex Structures with the Spectral Element Method

In nondestructive testing, the use of ultrasonic elastic waves has proven as one of the most successful principles to detect structural damage like cracks, delaminations etc. Especially, Structural Health Monitoring (SHM) is characterized by permanently installed embedded or surface–mounted actuators and sensors (e.g. piezoelectric patches). The capability of most approaches strongly depends on adequate choice of parameters like excitation signals and actuator/sensor positions. For this reason there is a growing interest in efficient and accurate simulation tools to shorten time and cost of the necessary pretests. With respect to high frequency excitation a computationally efficient method is required. This contribution presents the theoretical background of the spectral element method including the electro–mechanical coupling of piezo elements. The spectral element method generates a diagonal mass matrix leading to significant savings of memory and to a crucial reduction of complexity of the time integration algorithm. Both in–plane and out–of–plane waves can be handled. Numerical examples for the propagation of waves in stiffened structures are presented. The effect of improper placement of actuators/sensors is shown. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Proposing a Pretwisted Bimorph Actuator

Though only small strains are available in piezoceramic materials, bending actuators provide reasonable deflections. Due to beam kinematics bending actuators usually are slender beams having flat cross-sections. This feature allows for maximum deflection in one direction. However, the axis orthogonal to it usually is not actuated. Instead of combining two straight bending actuators to overcome this problem we propose a bending actuator which is pretwisted. Controlling the pretwisted actuator segment-wise provides bending in several independent directions as well. Investigated is a pretwisted bimorph, similar to a helicoid. The active elements along the beam axis are subdivided and controlled separately, hence allowing independent control of the curvature of each section. Herein we give a first characterization of the pretwisted bimorph actuator. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Design of novel morphing structures based on bistable composites with piezoceramic actuators

Instead of attempts to avoid the large out-of-plane deformations of multilayered fiber-reinforced composites caused by residual stresses, these deformations can be advantageously used for technical applications such as novel morphing structures, where only a discontinuous energy impulse of an actuator is necessary to change the configuration of the structure. For the design of such innovative morphing structures with piezoelectric actuators, novel nonlinear semi-analytical and numerical simulation models have been developed and verified experimentally. Russian translation published in Mekhanika Kompozitnykh Materialov, Vol. 42, No. 4, pp. 475–494, July–August, 2006.     

Hybrid optimization procedure applied to optimal location finding for piezoelectric actuators and sensors for active vibration control

This paper presents an efficient hybrid optimization approach using a new coupling technique for solving the constrained optimization problems. This methodology is based on genetic algorithm, sequential quadratic programming and particle swarm optimization combined with a projected gradient techniques in order to correct the solutions out of domain and send them to the domain’s border. The established procedures have been successfully tested with some well known mathematical and engineering optimization problems, also the obtained results are compared with the existing approaches. It is clearly demonstrated that the solutions obtained by the proposed approach are superior to those of existing best solutions reported in the literature. The main application of this procedure is the location optimization of piezoelectric sensors and actuators for active control, the vibration of plates with some piezoelectric patches is considered. Optimization criteria ensuring good observability and controllability based on some main eigenmodes and residual ones are considered. Various rectangular piezoelectric actuators and sensors are used and two optimization variables are considered for each piezoelectric device: the location of its center and shape orientation. The applicability and effectiveness of the present methodological approach are demonstrated and the location optimization of multiple sensors and actuators are successfully obtained with some main modes and residual ones. The shape orientation optimization of sensors observing various modes as well as the local optimization of multiple sensors and actuators are numerically investigated. The effect of residual modes and the spillover reduction can be easily analyzed for a large number of modes and multiple actuators and sensors.     

几个关于Mercier恒等式的推广

本文建立了几个包含Gauss二项系数的恒等式，这些结果推广了几个Mercier的结果。     

Inversion-Based Feedforward Control for the Transient Shaping of a Piezo-Actuated Cantilevered Kirchhoff Plate

Nowadays piezoelectric actuators are successfully applied for vibration suppression in structural mechanics. The progress in material and actuator development allows to put focus also on novel applications. In this contribution, a systematic approach for inversion–based feedforward control and motion planning is presented for the realization of a transient deflection profile of a cantilevered piezo–actuated plate modeling an adaptive wing. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Dynamic response analysis of the two stators hybrid transducer type piezoelectric ultrasonic motor using finite element simulation

This paper presents the finite element simulation with an aim to analyse the dynamic response of the two stators hybrid transducer type piezoelectric ultrasonic motor. The three dimensional–model which includes the effects of piezoelectric coupling are formulated. The dynamic behaviours of a motor stator are calculated and later compared to the experimental results measured from the prototype of this motor. The impedance characteristic of the complete stator is validated using HP4294A precision impedance analyzer. In addition to the electrical measurements, the mechanical displacement and the mechanical velocity of the stator are measured directly using a single point laser Doppler vibrometer. This is to verify that finite element modelling is an appropriate approach to analyse the dynamic behaviour of this piezoelectric ultrasonic motor. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On the piezoelectric shear effect in ultrasonic motors

A new actuator for piezoelectric ultrasonic motors (USM) using the d₁₅ effect was conceived. Whereas the piezoelectric d₃₃ and d₃₁ effects are normally used in commercial motors, there exist hardly any USM based on shear actuation. The actuator is a piezoelectric block polarized in axial direction and electroded circumferentially with four electrodes. The suitable superposition of two standing waves generates ultrasonic traveling waves in the actuator, which drives the rotor. The dimensions of the actuator are optimized with respect to the dynamic piezoelectric coupling factor. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Genetic algorithm based wireless vibration control of multiple modal for a beam by using photostrictive actuators

The lanthanum-modified lead zirconate titanate (PLZT) actuator, which are capable of converting photonic energy to mechanical motion, have great potential in applications of remote structural vibration control of smart structures and machines. In this paper, a novel genetic algorithm based controlling algorithm for multi-modal vibration control of beam structures via photostrictive actuators is proposed. Two pairs of photostrictive actuators are laminated with the beams and the alternation of light irradiation is in accordance with the changing of the corresponding modal velocity direction. The modal force indexes for beams with different boundary conditions are derived and a binary-coded GA is used to optimize the locations and sizes of photostrictive actuators to maximize the modal force index and guarantee the overall modal force index induced by two pairs of photostrictive actuators is positive. The control effect of multiple vibration modes of beams under irradiation of set/variable light intensity is analyzed. Numerical results demonstrate that the method is robust and efficient, and the use of strategically positioned actuator patches can effectively control the first two bending modes that dominate the structural vibration.     

基于非约束模态的中心刚体-Timoshenko梁动力学建模与分析北大核心CSCD

梁的横向变形会导致梁纵向缩短,建模过程中考虑梁横纵变形二次耦合项则存在动力刚化现象,这说明梁的纵向变形会对模型的广义刚度造成影响.对于做旋转运动的梁结构,旋转运动时还会受到离心力的作用而产生轴向拉力,轴向拉力同样也会引起梁的轴向变形,这种影响对粗短梁更加明显.以大范围运动中心刚体-Timoshenko梁模型为研究对象:首先,运用Timoshenko梁理论以及Hamilton原理建立含离心力的动力学模型;其次,引入非约束模态概念,采用Frobenius方法求解非约束模态振型函数以及固有频率;最后,通过数值仿真探究不同恒定转速时非约束模态与约束模态广义刚度的差异和非约束模态条件下离心力对模型的影响.     

Flexible-link robots with combined trajectory tracking and vibration control

This work deals with asymptotic trajectory tracking and active damping injection on a flexible-link robot by application of Multiple Positive Position Feedback. The flexible-link robot is modeled and validated by using finite element methods and experimental modal analysis, and then a reduced order model of the flexible-link robot dynamics, up to the first dominant vibration modes, is employed for experimental evaluation on a test rig. Then, a combined control scheme is synthesized in two parts: first, a Sliding-Mode Control based on a cascaded Proportional-Integral-Derivative for regulation and trajectory tracking tasks, via a direct current motor torque as the control input for the overall system dynamics, and, second, a Multiple Positive Position Feedback for active vibration control and attenuation of residual vibrations on the tip position, via the input voltage applied to a piezoelectric patch actuator attached directly on the flexible beam. The results are evaluated on an experimental platform, where the dynamic performance of the overall active vibration control scheme leads to fast and effective tracking results, with damping ratios increased up to 300%.