A

Seminar Report
on

ACTIVE VIBRATION CONTROL ON

CYLLINDRICAL SHELL
Submitted in Partial Fulfillment of
the Requirements for the Degree
of

Master of Engineering
in

Machine Design
to

North Maharashtra University, Jalgaon

Submitted by

Miss.Dipmala S.Savale
Under the Guidance of

Prof.P.G.Damle

DEPARTMENT OF MECHANICAL ENGINEERING

SSBTs COLLEGE OF ENGINEERING AND TECHNOLOGY,

BAMBHORI, JALGAON - 425 001 (MS)
December 2014

SSBTs COLLEGE OF ENGINEERING AND TECHNOLOGY,

BAMBHORI, JALGAON - 425 001 (MS)
DEPARTMENT OF MECHANICAL ENGINEERING

CERTIFICATE
This is to certify that the seminar entitled ACTIVE VIBRATION CONTROL ON
CYLLINDRICAL SHELL, submitted by Miss.Dipmala S.Savale in partial fulfillment of the degree of Master of Engineering in Machine Design has been satisfactorily
carried out under my guidance as per the requirement of North Maharashtra University, Jalgaon.

Date: December 4, 2014

Place: Jalgaon

Prof.P.G.Damle
Guide

Prof. Dr. Dheeraj. S. Deshmukh

Prof. Dr. K. S. Wani

Head

Principal

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

DECLARATION
I hereby declare that the work presented in this seminar entitled ACTIVE
VIBRATION CONTROL ON CYLLINDRICAL SHELL, submitted to the
Department of Mechanical Engineering, SSBTs College of Engineering and Technology, Bambhori, Jalgaon - 425 001 (MS), in partial fulfillment of the degree of Master
of Engineering in Machine Design of North Maharashtra University, Jalgaon, is my
original work.
Wherever contributions of others are involved, every effort is made to indicate this
clearly, with due acknowledgement and reference to the literature.

Date: December 4, 2014

Place: Jalgaon

(Miss.Dipmala S.Savale)

In my capacity as guide of the candidates seminar, I certify that the above statements
are true to the best of my knowledge.

(Prof.P.G.Damle)

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

ii

Acknowledgements
Those who walk the difficult path to success never rest at this destiny they walk ahead
towards greater success. I consider myself lucky to work under guidance of such talented and
experienced people during the preparation of my Seminar report who guided me all through
it. I am indebted to HOD Dr. D. S. Deshmukh for his support at various stages during the
formation of this piece of work. A special mention must go to my guide Prof.P.G.Damle who
supported me with his vast knowledge, experience and suggestion. Only their inspiration has
made this seminar report easy and interesting. I would also like to thank our Principal Dr. K.
S. Wani For his warm support and providing all necessary facilities to us, the student. Last
but not list I am thankful to all the Teachers and Staff members of Mechanical Department
for their expert guidance and continuous encouragement throughout to see that the maximum
bene
t is taken out of this experience. At last, I would like to thanks to my Parents for their
support love and encouragement during the tenure of this Seminar.

Miss.Dipmala S.Savale

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

iii

Contents
Acknowledgements

iii

Abstract

1 Introduction

2 Vibrations Theory

2.1

General structural dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1

Vibration fundamentals

. . . . . . . . . . . . . . . . . . . . . . . . .

2.1.2

Frequency response function . . . . . . . . . . . . . . . . . . . . . . .

2.1.3

Coherence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.4

Modal analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 The concept of the active constrained layer damping

11

4 Variation modeling of the shell/ACLD system

13

4.1

Main assumptions of the model . . . . . . . . . . . . . . . . . . . . . . . . .

13

4.2

Kinematic relationships . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13

4.3

Stress-strain relationships . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

4.3.1

Cylindrical shell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14

4.3.2

Piezo-electric constraining layer . . . . . . . . . . . . . . . . . . . . .

15

Energies of shell/ACLD system . . . . . . . . . . . . . . . . . . . . . . . . .

16

4.4.1

Potential energies . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

4.4.2

Kinetic energies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

4.4.3

Work done on shell/ACLD system . . . . . . . . . . . . . . . . . . . .

17

4.5

The model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

4.6

Boundary control strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

4.6.1

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

4.6.2

Control strategy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

4.6.3

Implementation of the boundary control strategy . . . . . . . . . . .

21

4.4

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iv

5 Performance of shell with ACLD and PCLD treatments

22

5.1

Materials

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22

5.2

Performance of the shell/ACLD system . . . . . . . . . . . . . . . . . . . . .

22

6 Conclusion

26

Bibliography

29

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List of Tables

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vi

List of Figures
2.1

a) SDOF system b) and free body diagram . . . . . . . . . . . . . . . . . . .

2.2

Frequency response of a forced SDOF system . . . . . . . . . . . . . . . . . .

2.3

Example of a time and frequency domain transformation for a vibrating beam

2.4

First mode of vibration in a tensioned string. . . . . . . . . . . . . . . . . . .

2.5

Mode separation of frequency response function . . . . . . . . . . . . . . . .

10

3.1

The Shell/ ACLD system . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12

4.1

Schematic drawing of the structure and geometry of shell/ACLD system. . .

14

5.1

Performance of the ACLD with the boundary controller (a) compliance and
(b) control voltage. Mode (1,0)-1860 Hz, Mode (2,0)-2020 Hz, Mode (3,0)2060 Hz, Mode (4,0)-2880Hz.

. . . . . . . . . . . . . . . . . . . . . . . . . .

23

5.2

Shape of the dominant modes of vibration of the shell/ACLD system . . . .

24

6.1

Performance of the ACLD with proportional controller (a) compliance and

(b) control voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2

26

Performance of the ACLD with derivative controller (a) compliance and (b)
control voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

27

vii

Abstract
Cylindrical shell-like structures exist in pipelines, pressure vessels, aircraft fuselages, ship
hulls and submarine hulls. Improved understanding of the dynamic behavior and control
of vibration in these applications can reduce the associated problems of unwanted fatigue
stresses, component misalignment, increased wear, energy loss, sonar detectable acoustic signatures of submarines and passenger discomfort due to both noise and vibrations in aircraft.
Distributed-parameter modeling of thin cylindrical shells which are fully treated with
active constrained layer damping (ACLD) is presented. Hamiltons principle is utilized to
develop the shell/ACLD model as well as the associated boundary conditions. A globally
stable boundary control strategy is developed to damp out the vibration of the shell/ACLD
system. The devised boundary controller is compatible with the operating nature of the
ACLD treatments where the strain induced, in the active constraining layer, generates a
control force acting at the boundary of the treated shell. As the boundary control strategy
is based on a distributed parameter model of the shell/ACLD system, the classical spillover
problems resulting from using truncated finite element models is eliminated. Also, such
an approach makes the boundary controller capable of controlling all the modes of vibration of the shell/ACLD and guarantees that the total energy of the system is continuously
decreasing with time. Numerical examples are presented to demonstrate the effectiveness
of the ACLD in damping out the vibration of cylindrical shells. Such effectiveness is determined for different control gains and compared with the performance of conventional passive
constrained layer damping (PCLD). The results obtained demonstrate the high damping
characteristics of the boundary controller particularly over broad frequency bands.

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

Chapter 1
Introduction
Vibrations are inherently present in all aspects of everyday life. Examples of industries
where knowledge in the area of vibrations is deemed important include the transport, construction, aerospace, naval, manufacturing, military and music industries to name a few.
These applications all contain mechanical systems, which can be viewed upon a comprising
of distributed elements with characteristics of mass, stiffness and damping. A vibrating response in these systems occurs when an external or internal force excites the system. Such
a force is generally either periodic or random in nature. Periodic loadings are most often a
result of mass imbalances in machinery such as motors and propellers or cyclic impacts from
reciprocating compressors and punching machines.
The system responses from such harmonic forcing are generally steady state motion whilst
the response from a single random excitation is expected to be a decaying oscillation. In all
cases where the structure is surrounded by a fluid, it is possible for noise generation to occur
due to the fluctuating pressure disturbance that arises from vibrating motion. The specific
area of vibrations in thin cylindrical shells is applicable to understanding and controlling
the dynamic behavior of aircraft fuselages, submarine hulls, ship hulls, satellite launches,
pipelines and pressure vessels where vibrations and the associated noise are considered an
issue. Excitations caused by the operation of propellers, motors and other machinery in these
applications can generate potentially damaging fatigue stresses, component misalignment,
increased wear, energy loss, passenger stress and discomfort from both noise and vibration
and finally sonar detectable acoustic signatures in submarines. In order to reduce these
undesired effects it is necessary to have a knowledge base of the dynamic behavior of cylindrical systems and of strategies that can be employed to attenuate the vibration and noise
levels. Each cylindrical system, like all other mechanical systems, has a series of natural
vibration frequencies and mode shapes determined by the system geometry, size, material

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properties and boundary conditions. It is important to note that structural discontinuities

such as shell stiffeners, bulkheads, junctions, changes in diameter and end closures and other
complicating factors such as fluid loading and fluid dynamic effects should be considered if
a more realistic cylindrical shell vibration analysis is desired. Studies have shown that these
factors can play a significant part in determining the free response of the system. Once the
free response characteristics such as resonant frequencies of a system have been understood,
active and passive control methods can be implemented to reduce the undesired effects of
vibration. Passive control involves modifying the mass, stiffness and damper properties to
more effectively absorb radiated energy resulting from system disturbances. Active control
involves the use of feedback and feed forward control loops to detect the unwanted disturbance and apply a secondary force to minimize the resulting structural response.
Extensive efforts have been exerted to control the vibration of cylindrical shells using
either passive or active control means. For example, unconstrained passive damping layer
treatments to suppress the axi -symmetric vibrations of thin cylindrical shells. However, for
higher damping characteristics; the passive constrained layer damping (PCLD) treatments
have been successfully employed in various types of cylindrical shells. Recently, several attempts have been made to actively control the vibration of shells using discrete piezo-electric
actuators bonded to the shell surfaces or distributed piezo-electric actuators embedded in
the composite fabric of the shell .In all the above studies, the emphasis is placed on using
separately the passive or the active vibration control actions. In the present study, a radically different approach is adopted whereby the passive and active control strategies are
combined to operate in unison. In the proposed hybrid configuration, an optimal balance
is achieved between the simplicity of the passive damping and the efficiency of the active
control. A preferred embodiment of such hybrid configuration is the active constrained layer
damping (ACLD) treatment which has been recognized as an effective means for damping
the vibration of beams and plates. The ACLD treatments have been controlled using simple
proportional and/or derivative feedback of the transverse deflection or the slope of the deflection line. The control gains have generally been arbitrarily selected to be small enough to
avoid instability problems. In 1994, Shen developed the stability bounds for full ACLD treatments and Baz and Ro devised optimal control strategies for selecting the gains. In 1996,the
control gains are selected by Baz using the theory of robust controls to ensure stability in the
presence of parameter uncertainty and to reject the effect of external disturbances .In this
Seminar the focus is placed on extending the use of the ACLD treatments to control the vibration of cylindrical shells with particular emphasis on developing a distributed-parameter
model using Hamiltons principle to describe the axi-symmetric vibrations of shells which

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are fully-treated with ACLD treatments. The variational formulation, being energy-based, is
much simpler than the force equilibrium based shear model of Pan which is used to analyze
the dynamics of circular sandwiched shells treated with PCLD treatments. Also, it directly
provides the boundary conditions associated with the ACLD treatment.
The present model is an extension of the boundary control model developed by Deng,
to control the vibrations of plain and untreated shells. The variational model is utilized to
devise a globally stable boundary control strategy which is compatible with the operating
nature of the ACLD treatments. In this manner, the instability problems associated with the
simple proportional and/or derivative controllers are completely avoided. Furthermore, as
the control strategy is based on a distributed-parameter model, hence the classical spillover
problems resulting from using truncated finite element models are eliminated. Accordingly,
the devised boundary controller will be able to control all the modes of vibration of the
ACLD-treated structures.

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

Chapter 2
Vibrations Theory
2.1
2.1.1

General structural dynamics

Vibration fundamentals

A vibration or oscillation is any repeated motion of a physical system. Every mechanical system can be understood to consist of a continuous distribution of elements each displaying the
characteristics of mass, elasticity and damping. A single degree-of freedom (SDOF) model as
shown in figure 2.1 is the most basic unit from which more complex multi-degree-of-freedom
systems can be constructed for vibrations analysis. The number of degrees of freedom of a
system equals the number of independent coordinates necessary to completely specify the
motion of that system. Ideally, mechanical systems such as thin cylindrical shells would be
modeled as continuous systems with an infinite number of degrees of freedom. However,
obtaining the exact solutions to these systems is often very complicated and sometimes not
possible so it is best to use lumped parameter models to approximate the continuous behavior. In general, results of greater accuracy are obtained by increasing the number of degrees
of freedom; however, this comes with the downside of requiring more computations.

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Figure 2.1: a) SDOF system b) and free body diagram

On applying force equilibrium to the free body diagram of figure 2.1b for the system in
free vibration, the following homogeneous differential equation is obtained.
(M x + C x + Kx) = 0

(2.1)

Where M is the elemental mass, C is the damping coefficient, K is the spring constant
and x is the displacement of the mass from its equilibrium position. A single dot above the
x denotes the first derivative of displacement with respect to time, known as velocity. The
double dot above the x denotes the second derivative of displacement with respect to time,
known as acceleration. The general solution to a SDOF system in free vibration is given by
an exponentially decaying sine function as follows:
x(t) = Aen t sin(d t + )

(2.2)

Where A is the amplitude, t is the time, is the phase angle, is the damping ratio, n
the natural frequency and d is the damped natural frequency given by
d = n

1 2

The SDOF system shown in figure 2.1 can also be excited by a persistent disturbance
instead of an initial excitation as in the free response case. If a harmonic force or displacement
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excitation is applied then the homogeneous equation in equation (2-1) is modified to include
the disturbance and is written as follows
(M x + C x + Kx) = Fo sin t

(2.3)

Where F0 is the amplitude of the forcing and is the frequency of the applied harmonic
forcing. The general steady state solution to equation (2-3) is given by
x(t) =

F0
sin (t )
q
K [1 ( )2 ]2 + (2
n

2
)
n

(2.4)

The non-dimensional frequency response amplitude is shown in figure 2.2. The important
feature to note from this graph is the very high amplitude that occurs when the driving
frequency () is somewhat close to the natural frequency (n ). Under this condition, the
system is described as being driven at resonance. The increased amplitudes due to resonance
can lead to increased displacements, increased noise generation and higher stress levels that
can accelerate fatigue failure. In order to reduce these undesired resonant effects, it is
important to have the ability to change a systems natural frequency, adjust the driving
frequency or destructively interfere with the driving signal by wave superposition

Figure 2.2: Frequency response of a forced SDOF system

2.1.2

Frequency response function

Complex oscillatory behavior is often very difficult to analyze within the time domain. It is
much simpler to deal with vibrations data in the frequency domain by performing a FastFourier-Transform (FFT) manipulation. In frequency domain analysis of linear the system
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and is the mathematical relationship between the input X() and output Y () frequency
auto spectrums given for a single input/single output set-up as follows :
H() =

Y ()
X()

(2.5)

The transformation between time domain and frequency domain is shown in figure 2.3
where the top three boxes represent the time and spatial domain, whilst the bottom three
represent the frequency domain for a vibrating cantilever beam.

Figure 2.3: Example of a time and frequency domain transformation for a vibrating beam

2.1.3

Coherence

The functions X(), Y () and H() apply to ideal linear systems which contain no noise.
In reality the degree of correlation between measured input and measured output must be
2
checked. This is performed by the coherence function, xy
() which is defined as follows :

2
xy
() =

|Gxy ()|2
Gxx ()Gyy ()

(2.6)

W hereGxx () = X()X (), Gyy () = Y ()Y (), Gxy () = Y ()X (); ,

Are the input auto-spectral density, output auto-spectral density and cross-spectral density Respectively.
X () and Y () are the complex conjugates of the input X() and output Y () respectively.
The coherence function has an upper bound of 1 indicating a system with no extraneous
noise and a lower bound of 0 indicating absolutely no correlation between input and output
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2
() < 1 generally occurs due to: extraneous noise,
measurements. The condition 0 < xy

resolution bias errors, system non-linearity or y(t) caused by additional inputs apart from
x(t).

2.1.4

Modal analysis

A multi degree of freedom (MDOF) system consisting of N degrees of freedom requires N

co-ordinates to completely specify its motion and has N natural frequencies. Corresponding
to each of these natural frequencies is a mode shape, which describes the expected curvature
pattern of system when oscillating at that frequency. An example of the first mode shape of
a vibrating string under tension and its resultant when combined with its second harmonic
is illustrated in figure 2.4

Figure 2.4: First mode of vibration in a tensioned string.

The collective term for the natural frequency and its corresponding mode shape is called
a mode of vibration. A continuous system can be described as having an infinite number of
degrees of freedom. This implies an infinite number of modes whereby the superposition of
each simple mode shape will result in the total wave motion of the structure under vibration.
Grade et al [28] explains that it is possible to break down the FRF of a continuous system
into its constituent modes which each have a characteristic resonant frequency, damping and
mode shape. This break down is represented in figure2.5. In general if there is reasonable
separation between resonance points and the structure is lightly damped, then coupling
between mode shapes is minimal. Under this condition, a system driven at resonance can
be considered to behave primarily as a SDOF system. Thus for a thin cylindrical shell, each
peak on the FRF is expected to have a unique associated mode, assuming that the natural
frequencies are reasonably separated.

SSBTs College of Engineering and Technology, Bambhori, Jalgaon (MS)

Figure 2.5: Mode separation of frequency response function

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10

Chapter 3
The concept of the active constrained
layer damping
The ACLD treatment consists of a conventional passive constrained layer damping which
is augmented with efficient active control means to control the strain of the constraining
layer, in response to the shell vibrations as shown in Fig. 3.1. The shear deformation of
the visco-elastic damping layer is controlled by an active piezo-electric constraining layer
which is energized by a control voltage Vc . This control voltages generated based on the
boundary control strategy devised in this study. In this manner, the ACLD when bonded
to the shell acts as a smart constraining layer damping treatment with built-in actuation
capabilities. With appropriate strain control, through proper manipulation of Vc , all the
structural modes of vibration can be damped out. Also, the ACLD provides a practical
means for controlling the vibration of massive structures with the currently available piezoelectric actuators without the need for excessively large actuation voltages. This is due to the
fact that the ACLD properly utilizes the piezo-electric actuator to control the shear in the
soft visco-elastic core which is a task compatible with the low control authority capabilities
of the currently available piezo-electric materials.

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11

Figure 3.1: The Shell/ ACLD system

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12

Chapter 4
Variation modeling of the shell/ACLD
system
4.1

Main assumptions of the model

Fig. 4.1 shows a schematic drawing of the ACLD treatment of a sandwiched cylindrical
shell. It is assumed that the shear strains in the piezo-electric actuator layer and in the base
shell are negligible. It is also assumed that the longitudinal and tangential stresses in the
visco-elastic core are negligible. The transverse displacements w of all points on any crosssection of the sandwiched shell are considered to be equal. Furthermore, the piezo-electric
actuator layer and the base shell are assumed to be elastic and dissipate no energy whereas
the core is assumed to be linearly visco-elastic. In addition, it is assumed that the thickness
and modulus of elasticity of the sensor are negligible as compared to those of the base shell.

4.2

Kinematic relationships

From the geometry of Fig. 4.1, the shear strain g in the core is
=

[hwx + (u1 u3 )]
h2

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(4.1)

13

Figure 4.1: Schematic drawing of the structure and geometry of shell/ACLD system.

h1 h3
+
(4.2)
2
2
In the above equations, u1 and u3 are the longitudinal deflections of the piezo actuator
h = h2 +

layer and shell layer, respectively; and w denotes the transverse deflection of the shell system.
Subscript x denotes partial differentiation with respect to x and h1 , h2 and h3 define the
thicknesses of the piezo-actuator, the visco-elastic layer, the base shell system, respectively.

4.3
4.3.1

Stress-strain relationships
Cylindrical shell

Using Donnell-Mushtari theory of thin cylindrical shells[26], one can write the longitudinal
strains ix and the tangential strains ei in the ith layer as follows:
ix = uix [Z + (h1 + h2 )]wxy

(4.3)

And
w
(4.4)
R
and R denote the longitudinal strain at the middle of the ith layer and the radius of the
i =

mid-surface of the core layer, respectively. Subscript i is set equal to 1 for the base shell
and 3 for the piezo-electric constraining layer. Hence, the corresponding longitudinal and
tangential stresses six and siq in the ith layer are given by:
ix =

Ei
[ix + Vi i ]
1 Vi2

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(4.5)
14

And
i =

Ei
[ix Vi + i ]
1 Vi2

(4.6)

Where Ei and nini are Youngs modulus and Poissons ratio for the ith layer, respectively.
The longitudinal and tangential forces, Nix and Niq , acting on the ith layer
Z

ai

Nix =

ai

ix dz, andNi =

i dz

bi

(4.7)

bi

h2
Note that when i = 1, ai = h22 and bi = 2+h
, and when i = 3, ai = h22 and
1
h2
,
bi = 2+h
1

Equations (4.3)-(4.7) gives

w
w
Nix = Ki [uix + Vi ], andNi = Ki [Vi uix + ],
R
R

(4.8)

Where
Ki =

4.3.2

Ei hi
1 Vi2

Piezo-electric constraining layer

The strain p induced by the piezo-electric layer due to the application of a control voltage
Vc is

where d31 , d32 and d33

h
iT V
c
p = d31 d32 d33
(4.9)
h1
are the piezo-electric strain coefficients. Hence, the corresponding

induced stresses p are obtained from:

p =

Ep
1 Vp2

vp

0 p

vp

(4.10)

1vp
2

Where Ep and vp are Youngs modulus and Poissons ratio for the piezo-electric actuator
layer respectively.
Integrating the piezo-stresses over the cross section of the actuator gives the control forces
and moments generated by the actuator. It is important to note here that the control forces
Nxp along the tangential direction and the associated control moments vanish because of the
axi-symmetric nature of the vibration of the shell. Only the longitudinal control forces, Nxp
generated along the x-axis exist and are given by

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15

ap

px dz,

Nxp =

(4.11)

bp

Where
ap =

h2
2

and
bp =

h2
2 + h1

Also, px is the x component of the piezo stress. Equations (4.9)-(4.11) yield the following
expression for the control force Nxp
Vc
(4.12)
h1
The expressions, given by Equation 4.8, for the longitudinal and tangential forces, Nix
Nxp = K1 (d31 + vp d32 )

and Ni , acting on the different layers of the shell as well as the piezo-actuator control
force, given by Equation 4.12, are used to compute the potential and control energies of the
shell/ACLD system.

4.4
4.4.1

Energies of shell/ACLD system

Potential energies

The potential energies associated with the extension U1 , bending U2 and shearing U3 of the
different layers of the shell/ACLD system are given by
Z
3
X
U1 = R
{
i=1

w
Ki [uix + vi ]uix dx +
R

Ki [vi uix +
0

w
]ui dx},
R x

(4.13)

2
wxx
dx,

U2 = RDt

(4.14)

and

Z
U3 = RG2 h2

2 dx,

(4.15)

Where Dt =

P3

n=1

Ei h3i with Ei h3i Denoting the flexural rigidity of the ith layer and G29

is the shear modulus of the visco-elastic layer.

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16

4.4.2

Kinetic energies

The kinetic energy T associated with the transverse deflection w of the shell/ACLD system
is given by
L

wt2 dx,

T = Rm

(4.16)

Where m is the mass per unit perimeter length of the sandwiched shell system.

4.4.3

Work done on shell/ACLD system

The work done W1 by the external transverse loads q acting on the shell/ACLD system per
unit perimeter length of the sandwiched shell is given by:
L

qwdx,

W1 = R

(4.17)

and the work done W2 by the piezo-electric control forces is given by:
Z

Nxp uix dx,

W2 = R

(4.18)

In this , Nxp is assumed constant over the entire length of the constraining layer in order
to maintain and emphasize the simplicity and practicality of the ACLD treatment.
The work W3 dissipated in the visco-elastic core is given by:
Z
W3 = Rh2

d dx,

(4.19)

Where d is the dissipative shear stress developed by the visco-elastic core. It is given by:
G2 v
)t = (G2 v )t ,
(4.20)

Where v , and i denote the loss factor of the visco-elastic core, the frequency and
d = (

(1)1/2 respectively.
In Equation 4.20, the behavior of the visco-elastic core is modeled using the common
complex modulus approach which is a frequency domain-based method . Adoption of his
approach results in a variational model of the ACLD which can be easily reduced to the
classical model of Pan when the piezoelectric strain is set equal to zero.

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4.5

The model

The equations and boundary conditions governing the operation of the shell/ACLDsystem
are obtained by applying Hamiltons principle which is an integral principle considering the
entire motion of the system between two instants:
Z

r2

(T
r1

3
X

r2

Ui )dt +
r1

i=1

3
X
(
Wi )dt = 0,

(4.21)

i=1

Where 0 denotes the first variation in the quantity inside the parentheses, t denotes the
time and t1 and t2 define the bounds of the time interval where the shell/ACLD dynamics
are considered.
The resulting equations of the shell/ACLD system are:
K1 u1xx + K1 v1

wx G2

(u1 u3 + hwx ) = 0,
R
h2

(4.22)

K1 u3xx + K3 v3

wx G2
+
(u1 u3 + hwx ) = 0,
R
h2

(4.23)

And

Dt wxxxx + mwtt G2

K 1 + K3
K1 v1
K3 v3
h
(u1x u3x + hwx ) +
w+
u1x +
u3x q = 0, (4.24)
2
h2
R
R
R

Where G2 = G20 (1 + v i) is the complex modulus of the visco-elastic material. The above
equations are subject to the following boundary conditions:
[u1x

L
v1
v 
L
+ w] u1 |0 = (d31 + v1 d32 )  ,
R
h1 0
K1 [u3x +

v3
w] u3 |L0 = 0,
R

(4.25)

(4.26)

Dt wxx wx |L0 = 0,

(4.27)

L

G2 h
[Dt wxxx +
(u1 u3 + hwx )w] = 0,
h2
0

(4.28)

And

Eliminating u1 and u3 from Equations 4.22- 4.24 yields the following sixth order partial
differential equation in the transverse deflection w of the shell/ACLD system:

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1 v12
1 v32
2(v1 v3 )
G2 h]wxx
)K
+
(
)K
+
1
3
R2
R2
Rh2
1 v12
G2
1 v32
[g(
)K
+
(
)K3 + (v1 v3 )2 2 ]w + mwxxtt mgwtt qxx + gq = 0,
1
2
2
R
R
R h2
(4.29)

Dt wxxxx g(1 + Y )wxxxx + [(

Where
g=

G2 (K1 + K3 )
K1 K3 h2
[
]andY =
h2
K1 K3
(K1 + K3 )Dt

(4.30)

For simply-supported shell/ACLD system, the eight boundary conditions given by Equations 4.25 and 4.28 reduce to the following six boundary conditions: At x=0 and L
mwn + Dt wxxxx + (

K1 v1 G2 h
d32 V

)(1 +
) = q,
R
h2
d31 h1

(4.31)

w = 0,

(4.32)

wxx = 0,

(4.33)

And

Similar expressions can be easily obtained for other boundary conditions. It is important
here to note that the sixth order partial differential equation describing the shell/ACLD
system Equation 4.26 is the same as that describing a shell treated with conventional Passive
Constrained Layer Damping (PCLD) as obtained by Pan. However, the boundary condition
given by Equation 4.31 is modified to account for the control action generated by the control
voltage Vc applied to the Active Constraining Layer at the free ends of the shell (that is at
x=0 and L).Therefore, the particular nature of operation of the shell/ACLD system implies
the existence of boundary control action at x=0 and L. In Section 5, a boundary control
strategy is devised to capitalize on this inherent operating nature of the shell/ACLD system
in such a manner that ensures global stability of all the vibration modes of the system.

4.6
4.6.1

Boundary control strategy

Overview

Distributed-parameter control theory is used to devise a boundary control strategy that

generates the boundary control action in order to ensure global stability of all the vibration
modes of the shell/ACLD system. The control strategy is devised to ensure that the total
energy of the shell/ACLD system is a strictly non increasing function of time.
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4.6.2

Control strategy

The total energy En of the shell/ACLD system is obtained using Equations 4.13-4.19 as
follows:
En = U1 + U2 + U3 + T,

(4.34)

Or
En = R

3 Z
X
i=1

Z L
w
w
Ki [uix + vi ]uix dx +
Ki [vi uix + ]uix dx
R
R
0
Z
Z L
Z L
2
2
dx + Rm
wxx dx + RG2 h2
+ RDt
0

wt2 dx, (4.35)

or

En = R

XZ
i=1,3

Z L
2
w
2 w
2
Ki [uix + vi ] + (1 vi )( )dx + RDt
wxx
dx
R
R
0
Z
Z L
2
+ RG2 h2
dx + Rm

wt2 dx, (4.36)

Equation 4.36 gives the energy norm of the shell/ACLD system which is quadratic and
strictly positive. This norm is equal to zero if, and only if, u1 , u3 , w, wx , wxx and wt
are all zero for all the points on the shell between [0,L]. This condition is ensured only
when the shell/ACLD system reverts back to its original un deflected equilibrium position.
Differentiating the different components of Equation 4.36 with respect to time, integrating
by parts and imposing the boundary conditions gives:
dEn
G2v h2n
= Nxp [u1t (L) u1t (0)]
dt

t2 dx

(4.37)

As the second term is strictly negative, hence with a continuously decreasing energy norm
(that is dEn /dt < 0) is obtained when the control action Nxp takes the following form:
Nxp = Kg [u1t (L) u1t (0)]

(4.38)

where Kg is the gain of the boundary controller. Equation 4.38 indicates that the control
action is a velocity feedback of the longitudinal displacement of the piezo electric constraining
layer. It is also important to note that when the active control action Nxp ceases or fails
to operate for one reason or another (that is when the control voltage Vc =0 as indicated
in Equation 4.12), the shell system remains globally stable as indicated by Equation 4.37.
Such inherent stability is attributed to the second term in the equation which quantifies the
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contribution of the Passive Constrained Layer Treatment(PCLD). Hence, the two terms of
Equation 4.37 provide quantitative means for weighing the individual contributions of the
ACLD and the PCLD to the total rate of energy dissipation of the shell system.

4.6.3

Implementation of the boundary control strategy

The globally stable boundary controller can be implemented using Equations 4.12 and 4.38
to generate the control voltage Vc as follows:
Vc = [

Vc = [Kg [

h1
(d31 + v1 d32 )]Nxp
K1

(4.39)

h1
]][u1t (L) u1t (0)]
K1 (d31 + v1 d32 )

Vc = Kg [u1t (L) u1t (0)]

where KG denotes the equivalent gain of the boundary controller such that KG =
1
Kg [ K1 (d31h+v
] . Such an equivalent gain combines the control gain Kg and the piezo1 d32 )

actuator parameters (h1 , K1 , d31 , d32 and v1 ) which are generally unknown constants. Implementation of the above control strategy requires that the actuator must be designed as
an actuator with self-sensing capabilities using the approaches suggested by Dosch, Inman
and Garcia to measure u1 . It is important to note that the temporal derivatives of u1 can
be determined by monitoring the current of the piezo sensor rather than its voltage as described, for example, by Miller and Hubbard. The effectiveness of the boundary controller,
given by Equation 4.38, in suppressing the vibration of a shell treated with ACLD treatment
is determined in Section 5when the shell system is subjected to axi-symmetric sinusoidal
transverse load acting uniformly over the entire span of the shell.

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Chapter 5
Performance of shell with ACLD and
PCLD treatments
5.1

Materials

The effectiveness of the ACLD treatment is demonstrated using a simply-supported aluminum shell which is 0.30 m long, 0.005 m thick and 0.30 m in outside diameter. The shell is
treated with an acrylic base visco-elastic material which is 0.005 m thick and has a complex
shear modulus G2 =20 (1+1.0i) MN/m2 .The visco-elastic core is constrained by an active
polymeric piezo-electric film(PVDF) whose thickness h1 and Youngs modulus E1 are 0.005
m and 2.25 GN/m2 ,respectively. The piezo-electric strain constants d31 and d32 are 23x 1021
and 3x 1012 m/V, respectively.

5.2

Performance of the shell/ACLD system

The effectiveness of the devised boundary controller in damping out the vibration of the aluminum shell under consideration is determined by subjecting the shell to sinusoidal transverse
loading which is uniformly distributed over the entire span of the shell. The compliance is
calculated at the mid-span using the mechanical compliance approach. Figure 5.1 (a) shows
the compliance of the shell/ACLD system for the gain Kg of the boundary control set to
105 and 3x105 N/m/s. Also shown in the figure is the compliance of the uncontrolled shell
which is treated with the PCLD treatment. In that case, the control loop that regulates the
interaction between the piezo-sensor and the piezo-actuator is maintained open, that is Kg
= 0. It is evident that the ACLD treatment has effectively attenuated the vibration of the
shell over the frequency band under consideration as compared to the conventional PCLD
treatment. The corresponding control voltage used to activate the piezo-constraining layer is
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shown in Figure 5.1(b) for different levels of the control gains. Note that effective vibration
attenuation can be achieved by the devised boundary control strategy without the need for
excessively high control voltages. Figure 5.1 shows also that the dominant modes of vibration
in the frequency response occur at 1962 and 2800 Hz. These two modes correspond to modes
(1,0) and (4,0)as shown by the mode shapes displayed in Figure 5.2. These mode shapes are
obtained using classical finite element methods and are validated against the shapes of the
transverse deflection lines at the corresponding modes.

Figure 5.1: Performance of the ACLD with the boundary controller (a) compliance and
(b) control voltage. Mode (1,0)-1860 Hz, Mode (2,0)-2020 Hz, Mode (3,0)-2060 Hz, Mode
(4,0)-2880Hz.

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Figure 5.2: Shape of the dominant modes of vibration of the shell/ACLD system
The effectiveness of the boundary controller can also be emphasized when its performance
is compared with the performance of conventional Proportional (P) and Derivative (D)
control laws.
Figure 6.1 shows the corresponding performance characteristics when a conventional Proportional (P) control law is used such that the control action Nx = Kpw (L/2) where Kp
and w(L/2) are the proportional control gain and the transverse deflection of the shell at
its mid-span. It is evident from Figure 6.1(a) that the P controller is only effective at low
excitation frequencies especially when the control gain is low (for example, when Kp=21010
N/m).Increasing the control gain to Kp=51010 N/m improves the performance over a wider
low frequency band. However, it results in control spillover into the high frequency modes of
vibration. This results in excessive vibrations, as shown in Figure 6.1(a), and high control
voltage as shown in Figure 6.1(b).The effect of using a Derivative (D) feedback controller
on the performance of the ACLD treatment is shown in Figure 6.2. For this controller, the
control action Nx = Kdwt(L/2) where Kd is the derivative control gain. Figure 6.2(a)
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demonstrates clearly the effectiveness of this controller at high excitation frequencies. However, it is ineffective at low frequencies. Figure 6.2(b) shows the corresponding control
voltage. Hence, a comparison between the characteristics shown in Figure 5.1, Figure 6.1
and Figure 6.2 indicates that the boundary controller, is more effective in damping out the
vibrations of cylindrical shells and requires less control voltage than the conventional P and
D controllers.

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Chapter 6
Conclusion
A variational formulation of the dynamics of shells which are fully-treated with Active Constrained Layer Damping treatments

Figure 6.1: Performance of the ACLD with proportional controller (a) compliance and (b)
control voltage.

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The equations and the boundary conditions governing the performance of this class of
surface treatment are presented using Hamiltons principle. These equations are used to
devise a globally stable boundary control strategy which is compatible with the operating
nature of the ACLD treatment. The developed control strategy ensures global stability for
all the vibration modes of the shell/ACLD system and guarantees that the total energy norm
of the system is continuously decreasing with time. Implementation of the boundary control
strategy requires the measurement of the longitudinal displacements of the piezo-constraining
layer.

Figure 6.2: Performance of the ACLD with derivative controller (a) compliance and (b)
control voltage
The performance of the boundary controller is shown to exhibit effective vibration attenuation for all the modes of a simply-supported shell subjected to uniform transverse loading,
over a broad frequency band as compared to conventional passive constrained layer damping
treatments and the classical P and D controllers. Such effectiveness stems from treatment
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to combine the ability of the ACLD treatment to combine the attractive attributes of both
passive and active controls to produce lower amplitudes of vibration with lower control voltages. It is important here to note that although the analysis, control strategies and the
numerical results presented are for simply-supported shells, the procedures developed in this
chapter can be readily extended to shells subject to other boundary conditions. However, the
proposed boundary controllers become inappropriate for shells with fixed-fixed boundaries
because of the controllability and observability issues raised by Miller and Hubbard. The
control of the vibration of general shells, treated with ACLD treatments, using boundary
controllers is a natural extension of the present work. It is worth also mentioning here that
although the boundary controller presented is shown to be theoretically stable for all the
modes of vibrations, the stability bounds are practically not infinite because of the actuator
and sensor dynamics. An attempt to address these issues in using dynamic controllers is
recommended for future studies.

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[12] Lester HC, Lefebvre S. Piezoelectric actuator model for active sound and vibration
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