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FAULT DIAGNOSIS OF DYNAMIC CRACKED STRUCTURE USING FUZZY INFERENCE SYSTEM N.V. Narasimha Rao .L1, K.V.P.Chandhu2, D .Satyanarayana3 1 PG Student, 2,3Assistant Professor Department of Mechanical Engineering SIR C.R.R.COLLEGE OF ENGINEERING Eluru-534007, West Godavari Dist, A.P
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ABSTRACT The paper aims the vibration analysis of a cracked cantilever beam with open transverse crack. It studies the free vibration response characteristics. In first phase local observance matrices of different degree of freedom have been used to model transverse cracks in beam on available expression of stress intensity factors and the associated expressions for strain energy release rates. By using this analysis, natural frequency and mode shapes can be obtained for structures with various boundary conditions. The results obtained numerically are validated with the results obtained from the simulation. The simulations have done with the help of ANSYS software. A fuzzy logic inference system (FIS) is used to analyze the crack in cantilever beam. The relative deviation of first three natural frequencies and relative value of first three mode shape difference are the input parameters to fuzzy logic inference system and relative crack depth and relative crack location are the output parameters of the fuzzy inference system. A series of fuzzy rules are derived from vibration parameters which are finally used for prediction of crack location and crack depth. The comparison is made between various membership functions (triangular, trapezoidal, Gaussian) by calculating deviation from expected values of crack depth and crack location. It is verified from both FIS that the presence of crack decreases the natural frequency of structure. The mode shapes also changes considerably due to the existence of crack. Keywords: Vibration analysis; cracked cantilever beam; Fault Diagnosis; Dynamic Cracked Structure; Fuzzy Inference System
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1.0 INTRODUCTION Vibration of cracked structure causes the disastrous breakdown of the total structure. The existences of cracks change the physical characteristics of a structure which in turn adjust its dynamic response characteristics. Therefore it is need to understand dynamics of cracked structures. In case of beam like structure, the crack depth and location are the main parameters for the vibration analysis. So it becomes very important to observe the changes in the response parameters of the structure to access structural reliability, performance and safety.

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Dynamics characteristics of structures with crack have been studied for last four decades intensively. Natural frequencies and mode shapes undergo variation due to presence of crack in terms of its location and intensity. Scientists are focusing their thoughts on various aspects of cracked structures. The current research addresses the investigation of the dynamic behavior of a cracked beam with a transverse crack. The presence of crack in structural member introduces a local flexibility that affects its dynamic response. For finding out the deviation in the vibrating signatures of the cracked cantilever beam the local stiffness matrices are taken into account. Theoretical expressions have been developed to calculate the natural frequencies and mode shapes of the cracked cantilever beam using local stiffness matrices. Strain energy release rate has been used for calculating the local stiffness of the beam. The local stiffness are dependent on the crack depth. Different boundary conditions are outlined which take into account the crack location. 1.1 Dynamic characteristics of a cantilever beam with a transverse crack A systematic approach has been adopted in the present investigation to develop theoretical expressions for calculation of natural frequencies and mode shapes of cracked cantilever beam with a transverse crack and to notice the effect of crack on natural frequencies and mode shapes .The results obtained numerically are validated with the results obtained from the simulation. The simulations have done with the help of ANSYS software. Natural frequencies and the shapes of the cracked cantilever beam specimen are found out both numerically and simulation with the help of ANSYS software for different relative crack depth and relative crack location from fixed end of the cantilever beam. Remarkable variations in mode shapes are noticed at the vicinity of crack location. 2.0 ANALYSIS OF FUZZY LOGIC TECHNIQUE FOR CRACK DETECTION It is observed that the human beings do not needs precise, numerical information input to make a decision, but they are able to perform highly adaptive control. Human have a remarkable capability to perform a wide variety of physical and mental tasks without any explicit measurements or computations. Examples of everyday tasks are parking a car, driving in city traffic, playing golf, and summarizing a story. In performing such familiar tasks, human use perceptions of time, distance, speed, shape, and other attributes of physical and mental objects. Fuzzy logic is a problem-solving control system methodology that lends itself for implementation in systems ranging for simple, small, embedded micro-controllers to large, networked, workstation-based acquisition and control systems. The theory of fuzzy logic systems is inspired by the remarkable human capability to operate on and reason with perception-based information. The rule-based fuzzy logic provides a scientific formalism for reasoning and decision making with uncertain and imprecise information. This methodology can be implemented in hardware, software, or a combination of both. Fuzzy logic approach to control problems mimics how a person would make decisions. Fuzzy systems allow for easier understanding as they are expressed in terms of linguistic variables. Damage detection is one of the key aspects in structural engineering both for safety reasons and because of economic benefits that can result. Many non-destructive testing methods for health monitoring have been proposed and investigated. These methods include modal analysis, strain analysis, photo-elastic techniques, ultrasound and acoustic emissions. A fuzzy logic methodology can be presented for structural fault detection based on Eigen value, and dynamic responses of vibrating structure.
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This proposes an on-line crack detection methodology embedded with a new intelligent fuzzy inference system. In this approach, the fuzzy logic controller is designed and is used to detect the relative crack location and relative crack depth. The designed fuzzy controller has six inputs and two outputs. The inputs to the designed fuzzy controller are relative deviation of first three natural frequencies and relative deviation of first three mode shapes and the outputs are relative crack location and relative crack depth. The fuzzy logic system learns the full dynamics of the cracked beam. The inputs have ten membership functions each and the outputs have forty seven membership functions for relative crack location and nineteen membership functions relative crack depth. Each membership function consists of triangular, trapezoidal and Gaussian membership functions. In this methodology six hundred and ninety two rules have been used to design the fuzzy controllers. This research focuses a fuzzy logic framework to be implemented for on-line crack detection. The results of proposed fuzzy controller have been compared with the numerical method which shows the effectiveness of the developed method. It is also concluded that the current method can be successfully employed for crack detection. 3.0 FUZZY INFERENCE SYSTEM Fuzzy inference is the process of formulating the mapping from a given input to an output using fuzzy logic. The mapping then provides a basis from which decisions can be made, or patterns discerned. The process of fuzzy inference involves: membership functions, fuzzy logic operators, and if-then rules. Fuzzy inference system has been successfully applied in fields such as automatic control, fault diagnosis, data classification, decision analysis, expert systems, and computer vision. In general, there are five parts of the fuzzy inference process. (i)Input fuzzification : The step is to take the inputs and determine the degree to which they belong to each of the appropriate fuzzy sets via membership functions. (ii)Antecedent matching: Once the inputs have been fuzzified , the degree to which each part of the antecedent has been satisfied for each rule is known. If the antecedent of a given rule has more than one part, the fuzzy operator is applied to obtain one number that represents the result of the antecedent for that rule. This number will then be applied to the output function. (iii)Rule fulfillment: A consequent of a rule is a fuzzy set represented by a membership function. In this step, the consequent is reshaped using a function associated with the antecedent. (iv)Consequent aggregation: Since decisions are based on all the rules in fuzzy inference system, the rules must be combined in some manner in order to make a decision. Aggregation is the process by which the fuzzy sets that represent the outputs of each rule are combined into a single fuzzy set. (v)Output defuzzification: Taking fuzzy sets as input, defuzzification outputs a crisp value, which is suitable for analysis and control. 3.1 Fuzzy Logic Controllers (FLC) and Fuzzy Reasoning Rules In a Fuzzy Logic Controllers (FLC), the dynamic behavior of a fuzzy system is characterized by a set of linguistic description rules based on expert knowledge. The expert knowledge is usually of the form IF (a set of conditions are satisfied) THEN (a set of consequences can be inferred). Since the antecedents and the consequents of these IF-THEN rules are associated with fuzzy concepts (linguistic terms), they are often called fuzzy conditional statement in which the antecedent is a condition in its application domain and the
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consequent is a control action for the system under control. Basically, fuzzy control rules provide a convenient way for expressing control policy and domain knowledge.

Figure.1: Schematic diagram of fuzzy logic controller for crack detection 3.2 Results of Fuzzy Controller Fuzzy controller has been addressed for prediction of crack location and crack depth. Three types of membership functions such as triangular function, Gaussian membership function and trapezoidal membership function shown in figure.2 have been used for designing the fuzzy controller. The working principle for the fuzzy controller has been depicted.The linguistic terms of the fuzzy membership function gives twenty sets of the fuzzy rules sets being used for the fuzzy controller. It is evident that the average percentage deviation of the results of the triangular membership function fuzzy controller is 2.9%, For Gaussian membership function fuzzy controller is 0.9% and for trapezoidal membership function fuzzy controller is 1.5%.

Figure.2: Trapezoidal fuzzy controller

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Figure.3: Resultant values of relative crack depth and relative crack location from trapezoidal fuzzy controller 4.0 Finite Element Modeling The ANSYS 12.0 finite element program was used for free vibration of the cracked beams. For the this purpose, the key points were first created and then line segments were formed. The lines were combined to create an area. Finally, this area was extruded and a three- dimensional V- shaped edge cracked beam model was obtained. A 20-node threedimensional structural solid element under SOLID 95 was selected to mode the beam. The beam was discredited into elements and Cantilever boundary conditions can also be modeled by constraining all degree of freedoms of the nodes located on the left end of the beam. The subspace mode extraction method was used to calculate the natural frequencies of the beam. The subspace mode extraction method was used to calculate the natural frequencies of the beam.

Figure.4: First mode of vibration, a1/W = 0.427, L1/L = 0.079.

Figure.5: Second mode of vibration, a1/W = 0.427, L1/L = 0.079.

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Figure.6: Third mode of vibration, a1/W = 0.427, L1/L = 0.079.

Figure.7: First mode of vibration, a1/W = 0.451, L1/L = 0.40388.

Figure.8: Second mode of vibration, a1/W = 0.451, L1/L = 0.40388.

Figure.9: Third mode of vibration, a1/W = 0.451, L1/L = 0.40388.

Figure.10: First mode of vibration, a1/W = 0.542, L1/L = 0.535

Figure.11: Second mode of vibration, a1/W = 0.542, L1/L = 0.535

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Figure.12: Third mode of vibration, a1/W = 0.542, L1/L = 0.535 5.0 RESULTS AND DISCUSSIONS Table.1: Results table for natural frequency using ANSYS
s. no . 1 2 3 4 5 6 7 8 9 10 Relative crack depth Relative crack location First natural frequency (/sec) 7.6092 7.4740 7.4354 7.5381 7.6123 7.5126 7.5899 7.5798 7.6185 7.5984 Second natural frequency(/sec ) 48.2026 48.7960 48.1542 48.2898 48.3285 48.2172 48.7864 47.4814 48.6411 47.8812 Third natural frequency(/sec)

0.202 0.427 0.537 0.394 0.231 0.556 0.451 0.497 0.426 0.542

0.06888 0.0790 0.15988 0.18675 0.23625 0.2825 0.40388 0.42388 0.50125 0.535

63.8499 63.6451 63.9011 63.8307 63.7987 63.8450 63.4915 63.5683 63.9331 63.8435

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Table.2: Comparison of Results between FIS and ANSYS Relati ve First Natur al Frequ ency Relati ve Secon d Natura l Freque ncy Relative Third Natural Frequen cy Relati ve First Mode Shape Differ ence Relati ve Secon d Mode Shape Differ ence Rela tive Thir d Mod e Shap e Diff eren ce tmd
0.3158 0.3923 0.0774 0.1898 0.2572 0.4105 0.3994 0.392 0.3965 0.3507

Triangular Fuzzy Controller (Relative crack depth rcd and locationrcl)

Gaussian Fuzzy Controller (Relative crack depth rcd and locationrcl)

Trapezoidal Fuzzy Controller (Relative crack depth rcd and locationrcl)

ANSYS (Relative crack depth rcd and location rcl)

fnf
0.9848 0.9673 0.9623 0.9756 0.9852 0.9723 0.9823 0.981 0.986 0.9834

snf
0.9958 0.9874 0.9948 0.9976 0.9984 0.9961 0.9872 0.9809 0.9842 0.9685

tnf
0.9975 0.9943 0.9983 0.9972 0.9967 0.9818 0.9919 0.9931 0.9988 0.9974

fmd
0.2709 0.3969 0.1814 0.1383 0.01 0.1947 0.0726 0.0898 -0.032 0.038

smd
0.2372 0.3247 0.0279 -0.0823 -0.8678 0.0672 0.2567 0.3154 0.322 0.4558

Rcd
0.202 0.441 0.557 0.382 0.229 0.545 0.446 0.498 0.428 0.534

rcl
0.07163 0.08238 0.15825 0.18475 0.23613 0.27625 0.40338 0.42263 0.50363 0.53538

rcd
0.203 0.431 0.548 0.389 0.227 0.552 0.449 0.495 0.425 0.537

rcl
0.07138 0.08138 0.15913 0.18725 0.23688 0.28375 0.40438 0.42363 0.50188 0.53313

rcd
0.202 0.441 0.557 0.382 0.229 0.545 0.446 0.498 0.428 0.534

rcl
0.07163 0.08238 0.15825 0.18475 0.23613 0.27625 0.40338 0.42263 0.50363 0.53538

rcd
0.202 0.427 0.537 0.394 0.231 0.556 0.451 0.497 0.426 0.542

rcl
0.07163 0.07900 0.15988 0.18675 0.23625 0.28250 0.40388 0.42388 0.50125 0.53500

7.0 CONCLUSIONS The main purpose of this research work has been to develop a proficient technique for diagnosis of crack in a vibrating structure in short span of time. The present investigation based on Fuzzy inference system (FIS). Numerical analysis and the finite element analysis using ANSYS results draws the following conclusions. Theoretical analysis is performed for single crack cantilever beam. Significant changes in natural frequencies of the vibrating beam are observed at the vicinity of crack location. When the crack location is constant but the crack depth increases, The natural frequency of the beam decreases in the cracked cantilever. When crack depth is constant and crack location from the cantilever end varies, The natural frequencies of first , second and third modes are also changed. The fuzzy inference system has been adopted in the present investigation to predict the location of the crack with the help of modal natural frequencies in the cracked cantilever beam. The fuzzy inference system is developed with triangular, Gaussian, trapezoidal membership functions. The input parameters are the first three natural
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frequencies and first three mode shape differences . The outputs from the fuzzy inference system are relative crack depth and relative crack location. By comparing the fuzzy results from three member ship functions it is observed that the developed Gaussian fuzzy controller can predict the relative crack depth and relative crack location in a very accurate manner. The finite element formulation is performed using the ANSYS environment and the modal natural frequencies are calculated for comparison with the values obtained in fuzzy controller. By comparing the fuzzy results with the FEA results it is observed that the developed fuzzy inference system can predict the relative crack depth and relative crack location in a very accurate manner. 8.0 REFERENCES [1] Harish Ch. Das and Dayal R. Parhi, Online fuzzy logic crack detection of a cantilever beam, International Journal of Knowledge-based and Intelligent Engineering Systems, Vol. 12, Issue 2, (2008), Pages: 157-171. [2] S.Suresh, S.N.Omkar, Ranjan Ganguli and V. Mani, Identification of crack location and depth in a cantilever beam using a modular neural network approach IOP electronic journal, Vol. 13, Issue 4, (2004), Pages: 907-915. [3] Prashant M. Pawar, Ranjan Ganguli, Matrix Crack Detection in Thin-walled Composite Beam using Genetic Fuzzy System Journal of Intelligent Material Systems and Structures, Vol. 16, Issue 5, (2005) Pages: 395-409. [4] Harish Ch. Das and D. R. Parhi, Detection of the Crack in Cantilever Structures Using Fuzzy Gaussian Inference Technique AIAA Journal, Vol. 47, Issue 1, (2009). [5] Mohammad Taghi and Vakil Baghmisheh, Crack detection in beam-like structures using genetic algorithms, Applied Soft Computing ,Vol. 8, Issue 2, (2008), Pages: 11501160. [6] Norhisham Bakhary, Hong Hao and Andrew J. Deeks, Damage detection using artificial neural network with consideration of uncertainties, Engineering Structures, Vol. 29, Issue 11, (2007), Pages: 2806-2815. [7] Damodar Maity and Asish Saha, Damage assessment in structure from changes in static parameter using neural networks, Publisher Springer India, Issue 3, Vol. 29, (2004). [8] X. Fang, H. Luo and J. Tang, Structural damage detection using neural network with learning rate improvement, Computers & Structures, Vol. 83, Issues 25 -26, (2005), Pages: 2150-2161. [9] K. M. Saridakis, Applying neural networks, genetic algorithms and fuzzy logic for the identification of cracks in shafts by using coupled response measurements, Computers and Structures, Vol. 86, Issue 11-12, (2008), Pages: 1318-1338. [10] Huijian Li, Changjun He, Jialin Ji, Hui Wang and Caizhe Hao, Crack damage detection in beam-like structures using RBF neural networks with experimental validation, International Journal of Innovative, Computing, Information and Control, Vol. 1, Issue 4, (2005),Pages:625-634. [11] Fernando S. Buezasa, Marta B. Rosalesb, and Carlos P. Filipich, Damage detection in structural elements taking into account a crack contact model, Mecanica Computacional, Vol. XXVII, Issue 35, Pages: 2715-2732. [12] S. K. Panigrahi, S. Chakraverty and B. K. Mishra, Vibration based damage detection
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in a uniform strength beam using genetic algorithm, Springer Publication, Vol. 44, Issue 6, (2009), Pages: 697-710. [13] Jung-Huai Chou and Jamshid Ghaboussi, Genetic algorithm in structural damage detection, Computers & Structures, Vol. 79, Issue 14, (2001), Pages: 1335-1353. [14] M. W. Suh, M. B. Shim and M. Y. Kim, Crack identification using hybrid neurogenetic technique, Journal of Sound and Vibration, Vol. 238, Issue 4, (2000), Pages: 617-635. [15] T. Horibe and N. Asano, Crack identification in elastically supported beam by genetic algorithm, International Symposium on Inverse Problems in Engineering Mechanics, (2001), Pages: 161-166. [16] B. Sahoo and Damodar Maity, Damage assessment of structures using hybrid neurogenetic algorithm, Applied Soft Computing, Vol. 7, Issue 1, (2007), Pages: 89 -104. [17] S.W. Doebling, C.R. Farrar and M.B. Prime, A summary review of vibration based damage identification methods, Shock Vibration Digest, 30, (1998), Pages: 91105.

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