Vibration Actuators and Sensors

Professor Mike Brennan

Institute of Sound and Vibration Research
University of Southampton, UK
Active Vibration Control
WHY ?
Structures become lighter
Space and weight constraints
Actuators Sensors
Controlled
Structure
Controller
Vibration actuators and sensors
Actuators
Piezoelectric
Magnetostrictive
Electrodynamic
Hydraulic

Sensors
Piezoelectric

Controllability/Observability

Shaped actuators/sensors (spatial filtering)

Applications

Piezoelectric actuators and sensors
Piezoelectric effect
(sensor)
An electric field is generated
due to a change in dimensions
of a material
(Curie brothers 1880)
+
-
-
+
Converse Piezoelectric effect
(actuator)
A change in dimensions of
a material due to the
Application of an electric field
Polarisation of a piezoelectric material
Subject a piezoelectric material to a large voltage near the Curie temperature
then the dipoles align
Curie temperature is the temperature above which the material loses its
piezoelectric property
dipole
Piezoelectric actuators and sensors
Property PZT (PC5H) type VI PVDF
Curie temperature (C)
Longitudinal Youngs
modulus (Nm
-2
)
Piezoelectric constant
d
31
(mV
-1
)
Max E-field (Vm
-1
)
212
9
3 10
9
59.5 10
100
12
212 10

12
23 10

6
0.4 10
6
40 10
Piezoceramic (PZT)
Relatively stiff
Large piezoelectric constant
Piezopolymer (PVDF)
Relatively flexible
Large voltage capacity
Direct piezoelectric effect (sensor)
(element in free-space)
+
-
F
A
Stress ( ) T F A =
33
Generated field ( ) E g T =
33
Charge ( ) q d F =
Indirect piezoelectric effect (actuator)
(element in free-space)
L
H
W
+
-
L L o +
H H o
W W o +
+
-
H H o +
L L o
W W o
P
o
l
i
n
g

a
x
i
s

31
L
d E
L
o
=
32
W
d E
W
o
=
33
strain ( )
V
S d
H
=
Electric field ( )
V
E
H
=
Conventional use of piezoelectric material in transducers
Used in accelerometers and force transducers. Generates an electrical
charge proportional to strain
Typical materials are polycystalline materials, e.g. barium titanate and
lead zirconate
Modes of deformation
ceramic
+
-
compression
+
-
shear
ceramic
+
-
elongation
ceramic
q
piezoelectric
capacitance
Equivalent electrical circuit
Charge devices have a low capacitance
(high impedance) and hence require
pre-amp with a very high impedance
Practical Accelerometer Designs
Advantages
Few Parts / Easy to Fabricate
High Resonant Frequency
Compression Type
Disadvantages
Very high thermal transient
sensitivity
High base strain sensitivity
Practical Accelerometer Designs
Advantages
Few Parts
Small Size and Low Profile
Low Base Strain Sensitivity
Low Thermal Transient Sensitivity

Bending Type
Disadvantages
Low Resonant Frequency
Practical Accelerometer Designs
Advantages
Low Thermal Transient Sensitivity
Very Low Base Strain Sensitivity
Small Size

Disadvantages
???
Shear Type
Force Transducer
Principle of Operation
Force, F
Material of
cross-sectional area A
and Youngs modulus E
The stress is related to the
applied force by
F
A
o =
and the stress is related
to the strain by
ES o =
Therefore the strain is related to the force by
F
S
EA
=
As the electrical output is proportional to the strain, and the strain is
proportional to the applied force, then the electrical output is proportional
To the applied force
Piezoelectric Force Transducer
Preload stud
Piezoelectric element
Can be used in tension and compression

Fragile to moments
Electrical output
One-dimensional piezoelectric equations
Conductive
electrodes
Piezoelectric
material of
thickness t
The piezoelectric equations are
3 31 3 33 3
D d T E c = +
11
3 3 33 3
E
S S T d E = +
mechanical
electrical
strain S =
stress T =
electric field E V t = =
piezoelectric constant d =
1 1 modulus of elasticity
E
S Y = =
permittivity c =
dielectric displacment ( charge area) D =
+
-
Piezoelectric elements as strain sensors
The piezoelectric equations are
3 31 1 33 3
D d T E c = +
11
1 3 31 3
E
S S T d E = +
1
3
q cV =
is the capacitance of the sensor c
is the voltage generated V
is the charge generated q
V
C
Voltage generator
C
q
Charge generator
Flexural (bending) vibration sensor
l
31 1
0
A
q d TdA =
}
b
which evaluates to
( )
31
( ) (0)
p p
q d w Y b w l w
' '
=
p
w
b
w
If a flexural wavelength is much greater than l, then
31
p
p
b
w
q
d Y bl
S w
=
x
w
Longitudinal vibration sensor
l
31 1
0
A
q d TdA =
}
b
which evaluates to
( )
31
( ) (0)
p
q d Y b u l u =
If a longitudinal wavelength is much greater than l, then
31 p
q
d Y bl
S
=
u
2-dimensional sensor
plate
PVDF sensor
1
3
2
Recall for the one-dimensional case (for no applied field)
3 31 1 31 1 1
D d T d YS = =
For the two-dimensional case
( ) ( )
31 2 32 1 1 3 32 1 3
1
2 2
2
1
1
1
D d YS d Y d d S v
v
v
v
( = + + +

1 2
where and are Poisson's ratios v v
Thus the electrical output is proportional to both S
1
and S
2
Strain or Strain-rate measurement
+
-
R
V
Piezoelectric sensor connected to a current amplifier measures strain rate
+
-
C
V
Piezoelectric sensor connected to a charge amplifier measures strain
Piezoelectric actuators
h
h o
V
Single element
33
Free strain,
h V
d
h h
o
=
Connected electrically in parallel and
mechanically in series
33
For a stack of disks,
h V
n n d
h h
o
=
Stack
h
h o
Coupling an Actuator to a structure
Actuator
Structure
a
k
s
k
s
x
b
F
s
F
The piezoelectric equation is
33
a
a
a a
T V
S d
Y l
= +
is the actuator strain
a a a
S x l =
is the actuator stress
a
T
is the actuator Young's modulus
a
Y
is the actuator length
a
l
is the applied voltage V
Set 0 to get the blocked force
a
S =
Now and
b a a
a a
a a
F Y A
T k
A l

= =
where actuator cross-sectional area
and actuator longitudinal stiffness
a
a
A
k
=
=
33
So
b a
F d k V =
Coupling an Actuator to a structure
Actuator
Structure
a
k
s
k
s
x
b
F
s
F
1
Now
1
s b
a
s
F F
k
k
=
+
33
So
1
a
s
a
s
d k
F V
k
k
=
+
33
and
1
s
s
a
d
x V
k
k
=
+
displacement
f
o
r
c
e

Increasing voltage
b
F
( free) s
x
Max power transfer
a s
k k =
If then will be small
s a s
k k x >>
Flat piezoelectric actuators
High displacement Low force actuators
Some piezoelectric actuator configurations
Fans
Bimorphs (benders)
Stacks
Curved actuators
Amplified piezoelectric actuators
PZT actuators for beam vibration
beam
PZT element
PZT element
actuators driven out-of-phase bending vibration induced
beam
PZT element
PZT element
actuators driven in-phase longitudinal vibration induced
PZT actuators for beam vibration
beam
PZT element
PZT element
actuators driven out-of-phase bending vibration induced
M M
( )
2
2
1
6 12 8
b b b
t Y b T
M
T T
+
= A
+ + +
p
b
t
T
t
=
b b b
p p p
Y b t
Y b t
=
31
p
V
d
t
A =
Ratio of
thicknesses
Ratio of
stiffnesses
Free strain
PZT actuators for beam vibration
2
6
b b b
t Y b
F

= A
+
b b b
p p p
Y b t
Y b t
=
31
p
V
d
t
A =
Ratio of
stiffnesses
Free strain
beam
PZT element
PZT element
actuators driven in-phase longitudinal vibration induced
F F
Piezoceramic Elements


The two piezoelectric elements can be excited:

in phase to generate longitudinal vibration
out-of-phase to generate flexural vibration

F F
LONGITUDINAL VIBRATION
Piezoceramic Elements


FLEXURAL VIBRATION
Works best at high frequencies when the length of the actuator is equal to half a wavelength
Excitation of a plate
plate
PZT patch
Controllability and Observability
Example - beam
Mode 1
Mode 2 Mode 3
A
A sensor positioned at point A will observe modes 1 and 2 but not mode 3
An actuator positioned at point A can control modes 1 and 2 but not mode 3
Shaped piezoelectric film bonded to a
beam structure
Simply supported Cantilever
Mode 1
Mode 2
Modal filters
Modal filters experimental results
Point accelerance
Modal filters experimental results
Mode 1 filter Mode 2 filter
Shunted Piezoelectric Absorber
1
n
LC
e =
The Smart Ski (ACX.com)
The Smart Ski (ACX.com)
Piezo patches
The Smart Bat (ACX.com)


Second bending mode (670 Hz)

Third bending mode (1252 Hz)



Fundamental bending mode (215 Hz)
The Smart Bat (ACX.com)
Electro / Magneto -Rheological Fluids



micron sized, polarizable particles in oil

What do they do?

Newtonian in absence of applied field

develop yield strength when field applied
What are they ?
ER fluids respond to electric field

MR fluids respond to magnetic field
Magneto-Rheological Fluids - Applications
Ride Mode Switch
MR Fluid Damper
Sensor/Controller
Magneto-Rheological Fluids - Applications
Seat
Sensor
Controller
Spring
Controllable shock absorber
Road input
Acceptable motion transmitted
Off-state
Random
pattern
On-State
Ordered
pattern
Single Degree of Freedom System -
Heavy Duty Vehicle Suspended Seats
off-highway, construction and agricultural vehicles
class 8 trucks ("eighteen wheelers")
buses
Change in Stiffness shape memory alloys
When the memory metal is pulled apart, it deforms. When placed into hot water, the
metal "remembers" its original shape, and again forms the letters ICE.
Memory metal is a
nickel-titanium alloy
This piece has been formed
into the letters ICE, heat-
treated, and cooled.
Change in Stiffness shape memory alloys
Soft
Stiff
Stiffness increases
With temperature
Change in Stiffness shape memory alloys
Material whose Youngs modulus changes with temperature
Composite panel
}

Embedded SMA wires
Activating the fibres (by passing a current through them and hence
causing a temperature change) causes local stiffening and hence the
natural frequencies can be shifted to avoid troublesome
excitation frequencies.
Active Control of Helicopter
Vibrations/Structure-Borne Sound
Active control of rotor
vibrations at about 18 Hz
Active control of gearbox
noise at about 500 Hz
Application of ACSR to the Westland/Agusta
EH101 Helicopter.
Active Control of Structural Response
(Westlands, 1989)
Active Control of Rotor Vibration
rotor
fuselage
Hydraulic actuators
Active control at rotor blade
passing frequency at
about 18 Hz + harmonics
Feedforward control
ACSR - Actuator Installation for Production
EH101
sa
Steel downtube
Composite
Compliant
Element
Titanium
Lug End
ACSR Actuator
Hydraulic Supply
Main Gearbox
Installation
Support
Strut/ACSR
Actuator
Assembly
Magnetostrictive actuators
polepiece
polepiece
magnet
Solenoid
coil
Terfenol-D rod
Terfenol-D
Ter Terbium

Fe Iron

Nol Naval Ordinance Lab

D Dysprosium

Needs to be pre-stressed
for good operation
Low voltages required
Similar performance to PZT
Active Control of Gearbox Noise
rotor
fuselage
Active control at gear meshing frequency
at about 500 Hz + harmonics
Feedforward control
magnetostrictive
actuators
Active Control of Gearbox Noise
Kinetic energy of receiving block
measured using 6 accelerometers
Without control
With control
Real-time control
Active Control of Aircraft Noise
Original Equipment- 4
Tuned Vibration
Absorbers per engine
Actuators 2 per
engine
Active Control of Aircraft Noise (Lord
Corporation)
Controller 1 in cargo bay 12x8x3.5 5 lbs
Amplifier 1 in cargo bay 11x18x3.5 17 lbs
Actuators 4 2 on each yoke 4.5diax5 15 lbs
Microphones 8 behind trim incorporated into actuator harness
Wire Harness from cockpit, overhead through cabin, to pylon 22 lbs
Active Control of Aircraft Noise
NVX
OFF
NVX
ON
Attenuation is up to 8dBC
SPL
(dBC)
Active Control of Aircraft Noise


NVX Systems reduce noise by reducing vibration













Controller On
Controller Off
0 50 100 150 200 250
-80
-60
-40
-20
0

Frequency (Hz)
Typical Vibration Reduction with NVX
DC9 Ground Test @ 75% Power
~6.3 dB
~25.5 dB
N1 N2
Data measured on pylon
Active magnetic bearings (SKF)
bearing
sensors
controller
Active Vibration isolation demonstration


Active Vibration isolation demonstration


Concluding Remarks


Actuators and Sensors are required for all Active
Control Systems:

Actuators used
Hydraulic
Piezoelectric (PZT)
Electrodynamic
Magnetostrictive

Sensors used
Accelerometers
Force gauges
PVDF
PZT

References


C.R. FULLER, S.J. ELLIOTT and P.A. NELSON 1996. Active
Control of Vibration. Academic Press

P.A. NELSON and S.J. ELLIOTT 1992. Active Control of
Sound. Academic Press

C.H. HANSEN and S.D. SNYDER 1997 Active Control of
Noise and Vibration. E & F.N. Spon

R.L. CLARK, W.R. SAUNDERS and G.P. GIBBS 1998.
Adaptive Structures. Wiley Interscience

A.V. SRINIVASAN and D. MICHAEL McFARLAND 2001.
Smart Structures. Cambridge University Press