线性主动结构及模态(Ⅱ)——离散系统及梁

在“线性主动结构及模态(Ⅰ)”中给出了主动结构的基本概念及模态的若干属性的基础上,对主动离散系统及主动梁的属性做了进一步的讨论,包括稳定性和正交性,并用具体实例对模态做了解释．将伴随结构概念在梁结构中推广,具体讨论了两种配置的主动梁,它们分别代表离散传感和作动及分布传感和作动的配置,并给出了用主动梁振型和伴随主动梁振型表示的正交性条件．用实例给出了同位和非同位主动刚度梁的特征值随反馈大小的变化．     

An analytical solution for dynamic behavior of a beam–column frame with a tip body

This paper analyzes the vibration characteristics of a beam-column frame, typical examples of which are often found in optical pickup actuators of optical disc drives (ODDs) and many architectural structures. The dynamic behaviour of this beam structure is predicted by solving mathematically its vibration characteristics governed by beam configurations. For practical applications and simplicity in the analysis, the vibration analysis for the structure is limited to lateral and longitudinal directions of the beams. As a result, mode and modal frequencies are obtained from mathematical expressions. The accuracy of vibration characteristics, which is mathematically induced, is demonstrated by a finite element (FE) analysis. Finally, it is shown that mode shapes are modified by using design values with the mathematical expressions.     

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.     

Optimal scanning control of flexible structures in two-dimensional space

A class of optimal control problems for hyperbolic systems in two-dimensional space is considered. An approach is proposed to damp the undesirable vibrations in the structures by pointwise moving force actuators extending over the spatial region occupied by the structure. A class of performance indices is introduced that includes functions of the state variable, its first and second-order space derivatives and first-order time derivative evaluated at a preassigned terminal time, and a suitable penalty term involving the control forces. A maximum principle is given for such general scanning control problem that facilitates the determination of the unique optimal control. A solution method is developed for the active vibration control of plates of general shape. The implementation of the method is presented and the effectiveness of a single moving force actuator is investigated and compared to a single fixed force actuator by a specific numerical example.     

Optimal actuator locations and precision micro-control actions on free paraboloidal membrane shells

Flexible paraboloidal shells, as key components, are increasingly utilized in antennas, reflectors, optical systems, aerospace structures, etc. To explore precise shape and vibration control of the paraboloidal membrane shells, this study focuses on analysis of microscopic control actions of segmented actuator patches laminated on the surface of a free paraboloidal membrane shell. Governing equations of the membrane shell system and modal control forces of distributed actuator patches are presented first, and followed by the analysis of dominating micro-control actions based on various natural modes, actuator locations and geometrical parameters. Finally, according to the parametric analysis, simulation data reveal main factors significantly influencing active control behavior on smart free-floating paraboloidal membrane shell systems, thus providing design guidelines to achieve optimal control of paraboloidal shell systems.     

基于绳索作动器的大型太空望远镜桁架结构的振动主动控制

薄膜衍射是一种新型的太空望远镜的成像方式,它具有轻质、易折叠与展开、光学成像精度高等许多优点,是当今太空望远镜技术的研究热点.该文针对一类薄膜衍射太空望远镜桁架结构的振动主动控制进行了研究,提出了一种基于绳索作动器的振动主动控制策略.首先建立了望远镜桁架结构的动力学模型,然后采用粒子群优化算法研究了绳索作动器的优化布置...     

Vibration monitoring of cylindrical shells using piezoelectric sensors

From linear vibration theory for beams and plates, one can express the response as a linear combination of its natural modes. For beams, these eigenfunctions can be shown to be mutually orthogonal for any boundary conditions. For plates, orthogonality of the modes is not guaranteed, but can be proven for various boundary conditions. Modal analysis for beams and plates allows the system response to be broken down into simpler vibration models, due to the orthogonality of the modes. Here the modal analysis approach is extended to the vibration of thin cylindrical shells. The longitudinal, radial, and circumferential displacements are coupled with each other, due to Poisson's ratio and the curvature of the shell. As will be shown, the mode shapes can be solved analytically with numerically determined coefficients. The immediate application of this work will be for modal sensing of cylindrical shell vibrations using thin piezoelectric films.     

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)     

A computational method for solving optimal control of a system of parallel beams using Legendre wavelets

The optimal control of transverse vibration of two Euler–Bernoulli beams coupled in parallel by discrete springs is considered. An index of performance is formulated which consists of a modified energy functional of two coupled structures at a specified time and penalty functions involving the point control forces. The minimization of the performance index over these forces is subject to the equation of motion governing the structural vibrations, the imposed initial condition as well as the boundary conditions. By use of the modal space technique, the optimal control of distributed parameter systems is simplified into the optimal control of a linear time-invariant lumped-parameter systems. A computationally attractive method based on Legendre wavelets in time domain for solving the optimal control of the lumped parameter systems for any finite interval is proposed. Legendre wavelet integral operational matrix and the properties of a Kronecker product are used to find the approximated optimal trajectory and optimal law of the linear systems with respect to a quadratic cost function by only solving a linear system of algebraic equations. This method provides a straightforward and convenient approach for digital computation. A numerical example is provided to demonstrate the applicability and effectiveness of the proposed method.     

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。     

集成结构振动主动控制和抑制

采用一种新的压电板单元,建立了含有分布压电传感元件和执行元件的集成结构的有限元动力模型。研究了这种集成结构在常增益负速度反馈控制规律作用下,振动的主动控制与抑制的问题,并提出了集成结构振动主动控制和抑制的一般方法。最后,提供了数值示例,说明本文提出方法的有效性。     

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)     

Static and dynamic analysis of smart cylindrical shell

Shell type components and structures are very common in many mechanical and structural systems. In smart structural applications, piezolaminated plates and shells are commonly used. In this paper a finite element formulation is presented to model the static and dynamic response of laminated composite shells containing integrated piezoelectric sensors and actuators subjected to electrical, mechanical and thermal loadings. The formulation is based on the first order shear deformation theory and Hamilton's principle. In this formulation, the mass and stiffness of the piezo-layers have been taken into account. A nine-noded degenerated shell element is implemented for the analysis. The model is validated by comparing with existing results documented in the literature. A simple negative velocity feedback control algorithm coupling the direct and converse piezoelectric effects is used to actively control the dynamic response of an integrated structure through a closed control loop. The influence of the stacking sequence and position of sensors/actuators on the response of the laminated cylindrical shell is evaluated. Numerical results show that piezoelectric sensors/actuators can be used to control the shape and vibration of laminated composite cylindrical shell.     

Optimal boundary control of dynamics responses of piezo actuating micro-beams

Optimal control theory is formulated and applied to damp out the vibrations of micro-beams where the control action is implemented using piezoceramic actuators. The use of piezoceramic actuators such as PZT in vibration control is preferable because of their large bandwidth, their mechanical simplicity and their mechanical power to produce controlling forces. The objective function is specified as a weighted quadratic functional of the dynamic responses of the micro-beam which is to be minimized at a specified terminal time using continuous piezoelectric actuators. The expenditure of the control forces is included in the objective function as a penalty term. The optimal control law for the micro-beam is derived using a maximum principle developed by Sloss et al. [J.M. Sloss, J.C. Bruch Jr., I.S. Sadek, S. Adali, Maximum principle for optimal boundary control of vibrating structures with applications to beams, Dynamics and Control: An International Journal 8 (1998) 355–375; J.M. Sloss, I.S. Sadek, J.C. Bruch Jr., S. Adali, Optimal control of structural dynamic systems in one space dimension using a maximum principle, Journal of Vibration and Control 11 (2005) 245–261] for one-dimensional structures where the control functions appear in the boundary conditions in the form of moments. The derived maximum principle involves a Hamiltonian expressed in terms of an adjoint variable as well as admissible control functions. The state and adjoint variables are linked by terminal conditions leading to a boundary-initial-terminal value problem. The explicit solution of the problem is developed for the micro-beam using eigenfunction expansions of the state and adjoint variables. The numerical results are given to assess the effectiveness and the capabilities of piezo actuation by means of moments to damp out the vibration of the micro-beam with a minimum level of voltage applied on the piezo actuators.     

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.     

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%.     

Some problems associated with the control of distributed structures

Control of structures can be carried out conveniently by modal control, whereby the structure is controlled by controlling its modes. Modal control requires the estimation of the modal states for feedback, which can present a problem. One approach that does not require modal state estimation is direct feedback control, which implies collocated sensors and actuators. This paper examines some problems encountered in direct feedback control of distributed structures in conjunction with pole placement. A perturbation technique permits the computation of control gains for multi-input systems. The paper demonstrates that the difficulties experienced in using direct feedback in conjunction with pole placement are endemic to the approach.This research was sponsored by the Air Force Office of Scientific Research Grant No. AFOSR-83-0017, monitored by Dr. A. K. Amos, whose support is fully appreciated. This paper was presented at the Meeting on Optimal Control and Calculus of Variations, Oberwolfach, West Germany, June 15–21, 1986.     

Digital stochastic control of distributed-parameter systems

This paper presents a method for discrete-time control and estimation of flexible structures in the presence of actuator and sensor noise. The approach consists of complete decoupling of the modal equations and estimator dynamics based on the independent modal-space control technique and modal spatial filtering of the system output. The solution for the Kalman filter gains reduces to that of independent second-order modal estimators, thus permitting real-time digital control of distributed-parameter systems in a noisy environment. The method can be used to control and estimate any number of modes without computational restraints and is theoretically free of observation spillover. Two examples, the first using nonlinear, quantized control and the second using linear, state feedback control are presented.This work was supported by the National Science Foundation, Grant No. PFR-80-20623.     

Optimal actuators placements for the active control of flexible structures

A scheme for the optimal spatial placement of a limited number of sensors and actuators under a minimum energy requirement for the active control of flexible structures is proposed. The method is based on the interpretation of the functional relationship (transfer matrix/conrol influence matrix) between the actuators and modes of the structural system. It is shown that, from the form of the matrix, the controllability and observability of the system with respect to differing locations of the sensors and actuators can be established. The algorithm presented circumvents prevailing problems encountered in contemporary optimal control applications. In particular, and in order to enhance the results presented in this paper, numerical simulation for a prismatic beam subjected to horizontal random wind loads and a simply supported square plate modelled as a single degree of freedom system are given to illustrate the placement strategy.     

Multiphysics finite element model for the computation of the electro-mechanical dynamics of a hybrid reluctance actuator

ABSTRACT

In hybrid reluctance actuators, the achievable closed-loop system bandwidth is affected by the eddy currents and hysteresis in the ferromagnetic components and the mechanical resonance modes. Such effects must be accurately predicted to achieve high performance via feedback control. Therefore, a multiphysics electro-mechanical finite element model is proposed in this paper to compute the dynamics of a 2-DoF hybrid reluctance actuator. An electromagnetic simulation is adopted to compute the electromagnetic dynamics and the actuation torque, which is employed as input for a structural dynamic simulation computing the electro-mechanical frequency response function. For model validation, the simulated and measured frequency response plots are compared for two actuators with solid and laminated outer yoke, respectively. In both cases, the model accurately predicts the measurement results, with a maximum relative phase error of 1.7% between the first resonance frequency and 1 kHz and a relative error of 1.5% for the second resonance frequency..