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Topics:
• Introduction to Vibration Control
• Methods of Vibration Control
• Vibration Isolation
• Rigidly Coupled Viscous Damper
• Elastically Coupled Viscous Damper
• Undamped Vibration Absorber
• Forced Damped Vibration Absorber
1
Introduction Vibration Control
2
Methods of Vibration Control
• Avoid Resonance
• Adequate Damping
• Vibration Isolation
• Vibration Absorber
3
4
Movie
Vibrations of a structure
• Complex and multiple excitation sources
• A number of natural frequencies/modes
are excited.
• Modes can not be accurately measured.
• In case of real life structures there can be
vagueness in structural parameters
• Some parameters change with time
5
• Passive Vibration Control:
dampers, absorbers, stiffeners, structural dynamic
modification.
6
Vibration Isolation
Vibration isolation works in two modes
9
Transmissibility
(a) Force excitation
(1)
10
Figure 1 Force Excitation Model
Vibration Isolation
Vibration isolation works in two modes
12
(b) Motion excitation
13
• Larger r (= f/fn) is
better; should be more
than at least 1.414.
• In post resonance
region smaller damping
is better but mostly the
machine has to cross
resonance so damping is
desired.
•Isolator should be
designed keeping in
view avoidance of
resonance.
14
Static Deflection is another
limiting factor δ st = Mg / k
15
A Typical Machine Foundation
16
Some Typical Anti-vibration Mounts
Antivibration Rubber Mounts Antivibration Pads Antivibration Hangers
For Wooden Floor
17
Vibro Strip Vibro SM Vibro CH
Shock Isolation
• Response to a velocity step
18
Shock Isolation
md&& + Fs (d ) = − mu&&
at t = 0, d = 0, d& = u& m which gives
2 d
d& 2 = u& m2 − ∫ Fs (d )dd
m0
19
Vibration Isolation
Vibration Isolation with Rigidly Coupled Viscous Damper
Phase Lag
2ξ r 3
α = tan −1
1 − r 2 + ( 2ξ r )
2
Phase Angle
Transmissibility
20
Vibration Isolation
Vibration Isolation with Elastically Coupled Viscous Damper
Force Transmitted
To Ground
Transmissibility
Phase Lag
21
Vibration Isolation
Vibration Isolation with Elastically Coupled Viscous Damper
22
Vibration Control
Topics:
• Introduction to Vibration Control
• Methods of Vibration Control
• Vibration Isolation
• Rigidly Coupled Viscous Damper
• Elastically Coupled Viscous Damper
• Undamped Vibration Absorber
• Forced Damped Vibration Absorber
23
Vibration Absorber:Takes over the
Response
(9)
if ω = k2 / m2 X 1 = 0; X 2 = − F0 / k2
25
Undamped Vibration Absorber
The ratio of amplitudes is given by
`
We note that X=0 at ω=p
k1 m1
Design the system such that = =μ
k m
Then amplitude of vibration of absorber becomes
26
Undamped Vibration Absorber
This means that the absorber system absorbs all the energy of the parent system;
Hence it is called “ Dynamic Absorber “
The frequency of the combined system is
27
Undamped Vibration Absorber
28
Undamped Vibration Absorber
32
Damped Vibration Absorber
The solution of X gives
34
Damped Vibration Absorber
The optimum damping value is given by
35
A Transmission line
damper is a fine example
of a vibration absorber
where the vibrations of
the transmission wire are
absorbed in the damper,
which is tuned to the
natural frequency of the
wire.
36
Active Vibration Control
37
Smart Structures
Sensors Actuators
• Piezoelectric • Piezoelectric
• Magnetostricitive • Electro rheological
• Strain Guages • Magneto-rheological
• Electromagnetic • Magnetostrictive
• Shape Memory Alloy
• Electromagnetic
38
Active Vibration Control of a SDOF System
F(t) x(t)
K C + Plant
- H(D)
x(t) F(t)
M fe(t)
Actuator
Sensor
Processor Amplifier
Equation of motion:
MD 2 x + CDx + Kx = F (t ) − f e (t ) = F (t ) − H ( D) x(t )
If, H ( D) = Co D 2 + C1 D + C2
We have, ( M + Co ) D 2 x + (C + C1 ) Dx + ( K + C2 ) x(t ) = F (t )
39
MODAL SPACE CONTROL
controlling the first few modes only. Transforming the system into
control.
41
EFFICIENT MODAL CONTROL STRATEGY
displacement ( j ) displacement (k )
= 1: :
displacement (i ) displacement (i )
Weighting of the control force according to energy in
each mode and frequency weighting
0.6
Displacement at tip of beam (m)
0.5
0.5
0.4
Amplitude
0.3
-0.5
0.2
-1 0.1
0
-1.5 0 500 1000 1500 2000 2500
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
Time (sec) Sampling rate
Figure 2 Uncontrolled response of beam due to excitation of Figure 3 FFT of the uncontrolled response
first three modes
43
Figure 4 Controlled response at tip of beam due to Figure 5 Controlled response at tip of beam due to
feedback force applied according to IMSC feedback force applied according to EMC
44
Case Study: Fuzzy logic based
control implementation on a
beam structure
45
What is Fuzzy Logic?
46
A 1500 Kg mass
is approaching
your head at 45.01 m/sec.
Look Out!!
47
LOOK
OUT!!
48
Multiply Power
1 Fuzzy Logic
M Controller
∫ ∫
F p
Sum x
M
F − K
p
M
M
• Simulink Model of Fuzzy logic based Active Vibration
Control of SDOF system. 49
Typical Experimental set-up for structural
vibration control of a continuous system:
Accelerometer
Beam
Actuator
Amplifier Controller
50
Voltage amplifier
Cantilever beam
Fuzzy Logic
Controller
Collocated Piezo
sensor/actuator pair.
Charge amplifier
51
Why fuzzy logic for
active vibration control:
•To take care of vagueness in structure
•Fuzzy control has been used mostly in a
supervisory mode in AVC. Investigate the
effects of applying fuzzy logic in real time
• Less sensitive to changes in structural
parameters
52
1.2
1.0
0.8
Membership value.
0.6
0.4
N Z P
0.2
0.0
(-a,0) (-b,0) (b,0) (a,0)
Velocity.
Figure 2: Fuzzy sets for velocity (modal velocity in case of beam system). 53
Uncontrolled
Controlled
54
55
Uncontrolled
Controlled
56
Control off Control on
0.6
0.4
0.2
Critical Damping
0
0 10 20 30 40 50 60
59
Elastic constrain layer
Viscoelastic shear layer
Vibrating structure
Point
Sensor
Vibrating structure
Viscoelastic shear layer
PZT Actuator
Viscoelastic Layer
Feedback
Algorithm
Host Beam
Solenoid
Actuation
Amplifier
+ -
Battery
Band Pass Piezo Sensor amplifier
Filter System
61
Vibration Control of Beam with Partially Covered Active Constrained Layer
PZT Sensor
Controller
PZT Actuator
Partially covered Beam
62
Vibration Control of Beam with Partially Covered Active Constrained Layer
63
Active Isolation
Development Of a Semi-active
Suspension for An Automotive Vehicle
using Magnetorheological dampers
64
The Problem
Vehicle
+
Road Disturbances &
Load Disturbances
+
Art of Compromise between
Two conflicting goals, good
Handling and Comfort Ride
Passive Suspension
(Spring parallel with viscous damper) 65
Performance Analysis of…….contd.
Passive Suspension Ideal skyhook damper
66
MR damper based quarter car Semi
active Suspension- modeling, control
and performance analysis
••
Acceleration
Displacement ( z s1 )
( zs1 )
68
Some examples of AVC
implementation
69
Source: www.enme.umd.edu
70
Source: www.enme.umd.edu
71
Source: www.enme.umd.edu
72
Assignment
1
73
Assignment
2
74
Assignment
75