THEAPPLICATIONOFENERGYDISSIPATING DAMPINGDEVICESTOANENGINEERED STRUCTUREORMECHANISM

by DouglasP.Taylor,President TaylorDevices,Inc. 90TaylorDrive P.O.Box748 NorthTonawanda,NY141200748 www.shockandvibration.com

TaylorDevicesIncorporated
Foundedin1955byPaulH.Taylor Traditionalbusinessis60%militarywithcommercialproductsbasedon provenmilitarydesigns ProductLines~ Dampers ShockAbsorbers VibrationIsolators GunMounts ShockTransmissionDevices

FluidSprings AirSprings ShockIsolationSystems SatelliteDeploymentSystems

WorldWideMarkets
AerospaceandDefense Land,Sea,AirandSpace HeavyIndustry SteelMills,AluminumMills Shipbuilders OffshoreOilDrilling GeneralIndustry MachineTools Robotics ElectroOptical Electronics Civil i ilEngineering i i Buildings Bridges Stadiums Towers

Theme: Thedesignofastructureormechanismsubjectedtoshockand vibrationcanbegreatlyimprovedbytheadditionofisolationor dampingdevices.

ImprovementAreasInclude:
ReducedDeflectionandStresses ReducedWeight ImprovedBiodynamics LongerFatigueLife ArchitecturalEnhancement ReducedCost AtTaylorDevices,Inc.ourapplicationscomefromtwoseparatekindsof customers,irrespectiveofmarket. 1. The h structurecanhave h itsoverall lllife l f cycle l costreduced d dby b the h addition dd of f isolationordampingdevices. 2. Thestructurehasbeenbuilt, ,wastested, ,andfailedtop performas specified.Energydissipationdevicescanimprovethestructures performancewithoutacompleteredesign.

Three h KeysToShock h kIsolation l i

1. Knowtheinput 2 Boundtheoutput 2. 3. Mitigatethedifferencebetween1and2 DanaJohansen U.S.NavalSeaSystemsCommand 1989

TheKeyToDamping Whenindoubt,dampitout.
GreggHaskell Haskell&Haskell 1995

Failureinducingphenomenaofatransientpulse: GroundMotion,Vibration G Ground dMotion, M i Shock Sh k Ejecta Overpressure ThermalRadiation OtherRadiation Cratering Isolationanddampingcanaffecttheperformanceofastructure underthefirstfouritems. Isolationanddampingcannotimproveperformancedegradations causedbythelastthree.

Dampers/Isolators EverythingOldIsNewAgain
Majoraerospaceprogramsusinghighcapacityfluiddampersandshock isolators: Navy TripleTMissiles,1955 F8Aircraft,1955 TomahawkMissile,1979 MK41VerticalLaunchSystem,1982 Seawolf Submarine,1985 MK49Navigator,1986 Q/70ShipboardElectronics,1987 VirginiaClassSubmarine,1998

AirForce AtlasICBM,1959 KC10Aircraft, Ai f 1975 MXICBM,1977 B2StealthBomber,1986 JointStrikeFighter,1998 Army CH54Skycrane Helicopter,1965 M109A6Paladin,1986 THAADMissile,1990 ApolloProgram, Program 1962 SpaceShuttle,1977 EELVHeavylift Missile,1998

NASA

WhatsTheDealWithDampersAndIsolators?
Dampers:Dissipateenergywithinasystembyconvertingittoheat. heat If designedproperly,dampingforcescanbecompletelyoutofphasewith structuralstress.Thus,therightdampercanreducestressanddeflection simultaneously. Isolators:Usedtoprovidealowfrequencybypassorconnectionbetween masses.Isolatorsusuallyincludedampingandspringelements,thedamping beingusedtolimitdeflectionandattenuateresonance. resonance

CanWeUseDampersWithoutSprings?
Answer:Yes,aslongasthestructureitselfprovidesthespringresponse.This approachistypicallyusedintallbuildingstoprovideearthquakeprotection. Fluiddampers p aslarge g as1,000 , tonsofforceareroutinely yusedtoday yinthe earthquakeengineeringfield. Apotentialuseforthistechnologyistosuppresskeelwhippinginwarships, essentiallyaresonanceinaheavy heavy,undampedmember member.Theconceptisnotnew, new andinfacttheoriginalframingoftheFrigateConstitutionusedlongdiagonal woodmemberswithslottedfrictionconnectionsasspringdamperelementsto preventhoggingorbendingofthehullunderhighwindfullsailconditions.

TransientShockResponse PotentialImprovementsFromAddedDampingAndIsolation
AddedDampingAlone: Theadditionof25%to35%dampingtoastructurewillreducebothstressand deflectionby50%to75%,comparedtothe5%dampedcase.

AddedIsolation: Combiningspringsanddampersintoapracticalshockisolatorcanreducestress anddeflectionbyupto95% 95%,providedthatsufficientrattlespaceisprovided provided.

Thefollowingillustratesthereductionofloadingtypicalforthedeckofanaval vesselisolatedonhardcenteringliquidspringisolators isolators,withintegraldamping damping.

IsolationPayoffforanLSI

ShockIsolators
Ashockisolatorcombinesaspringanddamperelement.Springtypesare: MechanicalCoil,Leaf,WireRope Advantages: Disadvantages: Lowcost,longlife Bulky,largesizesunavailable

ElastomerTube,Block,Shear,Strap Advantages: Disadvantages: Pneumatic Advantages: Disadvantages: Liquid Advantages: Disadvantages: Verycompact,moderatelife,easytoincorporatedamping Temperaturesensitive sensitive,requireshighstrengthsteel Compact,moderatelife Temperaturesensitive,difficulttosealinlargesizes Lowcost,moderatelife Temperaturesensitive,notmanufacturedinlargesizes

MechanicalArrangementOfSpringElements
Uncentered Displacementchangeswithloadlikeanauto suspension.

SoftCentering Onepreloadedspringisusedtoprecompressthemain isolatorspringtomidstroke. HardCentering Springisloadedbyamechanismtoproviderecentering forceineitherdirectionfromcenter.Thehardcentering forceisusually24Gs.

TypesOfDampingDevices
1. 2. 3. 4. Structural CoulombFriction Elastomer ActiveDrivers 5. 6. 7. PassiveHydraulic SemiActiveHydraulic AdaptiveHydraulic

TypesOfDampingDevicesSelectionCriteria
Whenutilizingadampingdevice,onemusthavethefollowing: 1. Theexactoutputfunctionofthedamperovertheentireanticipated translationalvelocityrange. 2. Allenvironmentalaspectsoftheapplication,andhowthesewillaffect damperperformance. 3. Asoftwarecodethatcanaccuratelymodeltheanticipatednon linearities andenvironmentperformanceshiftsofthedampingdevice.

HowMuchDampingCanBeUsed?
1. 2. Mostobjectshavelessthan5%inherentstructuraldamping. Consideringautomobiles,whicharesubjectedtoextremelybroadband inputs: 2025%dampingisusedinstandardautomobilesuspensions. 30%dampingistypicalforaheavydutysuspension. 40%dampingistypicalforahighperformancesuspension. Dampinglevelsabove40%proveveryuncomfortabletohumans,andtend toloosenstructuraljoints. 3. Forattenuationoflifethreateningorcatastrophicpulses,dampingashighas 2000%criticalhasbeenusedsuccessfully,butdampingofthislevelisoften highlynonlinearandstructuredforaveryspecificpulsesignature.In applicationsofthistype,itissometimeslessexpensivetoaddmassive amountsofdampingratherthanaddingstructure.

TypesOfDampers 1of7 St t lDamping Structural D i

1. Inherentinastructure,notinherentinamechanism. 2 Magnitude 2. i d varies i widely id l with i hthe h design d i of fthe h structureand d constructiontolerancesthereof. 3. Canbeaslowas12%ofcriticalforarigidstructure. 4. Canbeashighas10%ofcriticalformassivestructureshavinglight weightconstructionandcomplexjoints. Example: E l StructuraldampingintheSpaceShuttleaverages810%ofcritical. 5. Structuraldamping p gisimpossible p toquantify q yinthedesign g ofany ynew object. 6. Structuraldampingvarieswithtemperatureasjointsexpandand p characteristics. contractandmaterialsaltertheiroutput

TheBottomLine
Assumingstructuraldampingvaluesabove2%putsyourprofessional abilityonthefiringline.

StructuralDamping,Modeling
1. Ifdampingvaluesarebelow5%ofcritical,thenequivalentviscousdamping modelscanbeused,suchthat:
.

Fd C . X

= = =

CX
AConstant TranslationalVelocity

2. Amorerealisticapproachtostructuraldampingusesasimpleviscoelastic modelofthefollowingoutputcurve:

TypesOfDampers 2of f7 CoulombFrictionDamping

Oftenobtainedbyslippageofajoint,atastresslevelbelowthatofyield. 1. Canalsobeobtainedbyplasticdeformationofaplateorsimilarelement. 3 Dampingcanbeofanyvalue 3. value,althoughvaluesofabout10%ofcriticalwillusually begintoincreasestressesinastructure. 4. Usuallyleavesapermanentdriftoroffsetinastructureafterthetransienthas passed Thehigherthedampingratio passed. ratio,thegreaterthedrift drift. 5. Dampingoutputwillvarysomewhatwithtemperatureforplasticdeformation types.Dampingcanvarygreatlywithtemperaturesinapoorlydesignedslipping joint. joint 6. Dampingwillvarywiththetotalnumberofcycles,corrosionofthedamping elements,andagingofthedampingelements.Slippingjointscandeterioratein outputifexposedtowater water,oil oil,orpaint. paint

CoulombFrictionDamping,Modeling
1. Slidingjointtypeoutput:

Stickslipslidingofjointshouldinclude3050%stickfactor. Slight Sli htramping i of foutput t tis i typical t i lfor f long l d deflections, fl ti and dcan onlybecharacterizedbytest.

2 Plastic 2. Pl ti deformation d f ti t typeoutput: t t

Slightrampingissimilartoslidingjoint,andcanonlybecharacterizedbytest.

TypesOfDampers 3of f7 Elastomer Damping

1 Allconventional 1. ti lelastomers l t h somed have degreeof fdamping d i inherent i h ti inth their i structure. t t So S called ll d highdampingmaterialsprovidedampinglevelsofapproximately10%ofcritical. 2. Socalledviscoelasticmaterialscanbedesignedwithvirtuallyanydampinglevel,although valuesinexcessof10%ofcriticalarerarelyusedduetosize,cost,andsystemconstraints. 3. Greatcaremustbeexercisedinthedesignofelastomer dampers.CurrentU.S.Military requirementsprohibitanybondingagentsorglueintheconstructionofthesedevices. 4 Allelastomers produceadampingoutputwithahighdegreeofnonlinearity. 4. linearity Theoutputis essentiallyinphasewiththesystemstress.Thus,elastomer dampingdecreases deflectionofa systemwhileincreasing stress. p gdevicesvary ydamping p gradically y withtemperature. p Forexample, p ,a 5. Elastomer damping temperatureshiftfrom+20degreesto+120degreesFwilltypicallyalterelastomer dampingby afactoroffiftytoone.Thus,alldynamicmodelsmustincorporatethermalcorrectionfactors. 6. Elastomers arealsosubjecttoenvironmentaldegradation,duetoageandchemicalreagents.

Elastomer Damping, p g,Modeling g

1. Asimpleelastomer dampingelement:

Model

RealWorld

2. Otherstudieshaveindicatedthatmuchmoreelaboratemodelingtechniques maybenecessarytoproperlycharacterizeviscoelasticbehavior.Theseinclude p shifts,frequency q yshifts,andhardening gofthedamping p gexponent. p temperature

TypesOfDampers 4of7 ActiveDriversasDampers

1 Providedthatthecontrolsystemcanbedesignedandadequatepowermade 1. available,itispossibletouseanactivedrivertoaccomplishthesameresponse asanytypeofdamper. 2 Anyelectrical, 2. electrical mechanical, mechanical orhydraulicdevicethatcanbeusedasadrivercanbe usedasanactivedamper. 3. Themajorconcernwithanydriveristheavailabilityofpowertooperatethe device Ananalysismustbeperformedatasuitablysmalltimesteptoaccurately device. determinetheaverageandpeakpowerrequirementsduringallexpected transients.Thisanalysismustbebothaccurateandconservative.Inadequate powercancausethedampertoincreasesystemstressestohigherlevelsthan eventheundamped case,possiblyleadingtocatastrophicfailure. 4. Currentdesignpracticesuggeststhatanyactivedampershouldhaveafailsafe orlimpinmodeintheeventofpowerorcontrolfailure

ActiveDriver, Driver Modeling

1. Numerouscontrolapproacheshavebeensuggestedandusedfor activedriversusedasdampingdevices.Somehavebeentested,some havenot. 2. Anysuggestedcontrolequationsandhardwareshouldbetestedona subscalebasispriortofinalvalidationonacomplete complete,fullsize structure.

Types yp OfDampers p 5of7 HydraulicDamping Definition:

Ahydraulicdamperisadevicethatremovesmechanicalenergyfroma systembyconvertingittoheat.Thedamperabsorbsenergybyforcingfluid throughorifices,therebycausingthedampertoapplyaforceovera displacement,thisforcebeingdissipative. Classicalhydraulictheoryindicatesthatthefunctionaloutputofadamperis asfollows: FOutput = CVe^2*f(x) WhereC = DampingConstant Ve f(x) = Fluidvelocitythroughthedampingorifices = Varianceinorificeareawithdamperstrokeposition

Dampersbuiltfromthe1800stothe1970sutilizedthistypeofoutput. Moderndampersusethehighvelocityflowpropertiesoffluidiccontrolsto achievemuchdifferentoutputsfromtheclassicalcase.Theseoutputsare optimizedforperformanceinsystemssubjectedtoahighlyvariablepulsefield, thosethatarerealworldinnature.Realworldtransientsinclude: 1. 2 2. 3. SeismicEvents T Transportation i and dHandling H dli Shock Sh k WeaponsEffectPulses

NuclearWeaponsGroundMotion

TransportandHandlingShock,Generic

NavalShipboardShock

TaylorDevices,Inc. FlowChart:ShockIsolationSystems

HistoryOfHydraulicDampers
Thefi Th first tproduction d ti usageof fhi high hperformance f h hydraulic d li d damperswasi inth the 75mmFrenchartilleryrifleof1897.Thedamperwasusedtoreducerecoil forcesandhadastrokeofover48inches. TheexactdesignofthisdamperwasconsideredanationalsecretoftheFrench Government,andwassharedwiththeU.S.andGreatBritainduringWorldWar Ionlyafterextensivenegotiation. Featuresofthe1897,75mmFrenchartillerydamper: 1. Doubleactingoutput,differentintensionandcompressionbyuseofa biasingvalve. 2. Continuouslyvariableoutput,usingacontinuouslyvaryingtaperedpin orificeofeccentriccrosssection. 3. Adaptivedamping,i.e.,dampingwascontinuouslyvarieddependingon theangleofelevationoftheweapon,usingasectorgeardrivewhich rotatedthecontinuouslytaperedpinofeccentriccrosssectiontoopen bypassports. ports

Thus,thedamperwassettosmoothlyabsorbrecoilwhenthe gunfired, fired andsmoothlyapplycounterrecoilforcetocontrolthe recoilspringsasthegunrepositioneditselfafterfiring,allwhile varyingforcewithrespecttogunelevation. Today,thiscomplexdesignisstillusedinmanylargeartillery prices,andelementsofthisdesignareusedinmostaircraft landinggears.

OtherMilestonesInHydraulicDamping
1925 First Fi trotary t (k (kneeaction) ti )shock h kabsorbers b b built b iltfor f automotive t ti use.Invented I t din i Buffalo B ff l by b RalphPeo ofHoudaille Hydraulics. Rotarysealslastedlongerthanslidingseals,giventhatleatherringswerestateoftheart. FirstsuccessfulcompressiblefluidspringdamperbuiltbySirGeorgeDowty ofGreatBritain. Neverproducedinvolumeduetohighcost. Delco D l introduces i t d the th fi first tsuccessful f lli linearautomobile t bil shock, h k using i t twin i t tubes b with ithrelief li f valves.Rodwasmountedupsothatgravitycouldhelpthecruderubberseals. Firstproductionofcompressiblefluidspringdamper,builtbyP.TaylorofWalesStrippit C Corporation, ti f founder d of fT Taylor l D Devices i i in1955 1955.U Used di inmechanical h i lpresst tostrip t i parts. t Firstuseofhydraulicdampinginastructure,ChanceVoughtF8AircraftwithTaylorDevices FluidSpringDamperintailhook. TaylorDevicespatentsafluidicdampingsystemwhichcanprovidelineardampingwithhigh pressurehydraulics. TaylorDevicespatentsahighpressurefrictionlessdamperwithhermeticflexureseals seals,for spacecraftuse.

Note: 1935

1949

1952

1956

1970

1985

R.Peos RotaryShockAbsorber 1925

R.Peos RotaryShockAbsorber 1925

TaylorDevicesFluidicDamper 1970

TaylorDevices FluidicDamper 1970

TaylorDevices FrictionlessDamper 1985

PassiveHydraulicDampers CurrentTypes:
1. Fluidic Usesspeciallyshapedorificetoachieveoutputcharacteristicsranging from: F=CV^0.4toF=CV^1.8 2 2. MeteringTube Usesapistonwhichprogressivelycoversaseriesofports ports. Outputis: F=CV^2*f(x) Thisdesigniseffectiveonlywhentunedforaspecificpulsesignature. 3. 4 4. MeteringPin Similartometeringtube,butorificeiscontinuouslyvaried. PressureResponsiveValve Usesmultiplespringloadedpoppetvalves valves.

Onlytypes1and4arecapableofattenuatingrandomfieldsofpulseseffectively. Thisisbecausetheyarerelativelyinsensitivetovelocity,andnotsensitivetoposition.

DesignCharacteristics

1.Fluidic

2.MeteringTube

3.MeteringPin

4.PressureResponsiveValve

Question:
Whydowegotosuchtroubledesigningsuchrelativelycomplexdesigns? Whycan cant twejustuseasimpledamper?

Answer:
AstheFrenchdiscoveredin1897,asimpledamperwillrarelysquare thepulse.Thismeansthatitwillnotoffermuchimprovement.

St t Statement: t
Idontunderstand,showme! ConsiderasimplestructurewithaprimaryspringrateofKandmassM1, beingimpactedbyanobjectofweightM2movingatinitialvelocityV 1 Averysimple 1. i l math thmodel: d l AssumeM1>>M2

Letsassignvalues: M2 2 V K M1 = = = = 2Tons 5Ft/Sec. 10,000Lb/In. Very yLarge g

2.SolveforkineticenergyofM2: K.E.=1/2MV2 =1554FtLb.=18,650InLb.

3. GenerateaforcedeflectioncurveforspringKuntilithasstoredalltheenergy.

4 Now, 4. N lets l t add dddamping d i t tosquareth thecurve;reducing d i stress t and dd deflection. fl ti

Thus,byaddingdampingtosquarethecurve,wehavereducedbothstress anddeflectionbyapproximately30%

5. Ifwemanipulatethiscurve,wecanbackintoaplotofforcevs.velocity forthedamper.

AreasonableequationforthisparticulardampingfunctionisF=548V2.Thus,a V2 damperfunctionswellforthiscase,andifalltransientsweresimpleinitial conditiononeslikethis,alltheworldwouldeverrequireisV2 dampers! LetsconsidersometestsbyNCEERwithacomplexseismicinputintoastructure, withaddeddampers.Inthiscase,theseismicpulsefieldindicatedthatalinear d damper, F=CV, C wasabest b fit. fi

Thepagesthatfollowshow:
Timehistoryofthescaled100%ElCentroearthquakeinputtothe testbuilding. Responseofthetestbuildingwithoutdampers,inputscaledat33% ElCentro. Responseofthetestbuildingwithtwodampersaddedasdiagonal braces,inputscaled33%ElCentro. Responseofthetestbuildingwithtwodampersadded,inputscaled 100%ElCentro. C

TimeHistoriesofDisplacement, VelocityandAcceleration andSpectralAccelerationand DisplacementofShaking TableExcitedwithElCentro 100%Motion(1in.=25.4mm)

1Story,NoDampers,ElCentro33.3%

1Story,2Dampers,ElCentro33.3%

1Story,2Dampers,ElCentro100%

Thedeflectionimprovementisafactorofthree,withonlytwodampers. Theseismiccapability p yisalsoincreasedby yafactorofthree, ,onaGloadand/or / energybasis.

TypesOfDampers 6of7
SemiactiveHydraulicDamping Asemiactivehydraulicdamperactivelyvariesthesizeofitspassivehydraulicorifices.

A. S1andS2areselectorvalves,toselectdifferentorificefunctionsA1,A2,A3 B Adiscretesetoforificepathsareshown, B. shown butproportionalcontrolcanalsobeused

AdvantagesoftheSemiactiveDamper 1 Similarperformancetoactivedrivers, 1. drivers butwithverylittlepower consumption. 2. Reversiontopassivefixedorificeineventoffailure afailsafedesign. Alternatedesignsofsemiactivedampersexistwherevalvesarereplaced withelectrorheological (ER)ormagnetorheological (MR)fluids. Presently,dampersusingthistechnologyarelargeandbulky,withoperating pressureslimitedtolessthan2,000psibythecharacteristicsofthefluid itself.

TypesOfDampers 7of7
AdaptiveHydraulicDamping Anadaptive p hydraulic y damper p combinesvariousavailableorificeswithan internallogicsystem,withafixedpathresponse. Example Afluidicorificewithanadaptivelogicelementadded.Asingleadaptive elementisdepictedforsimplicity.

Thef following gisatypical yp adaptive p element

Pressure Relief, Second Stage Low Velocity V2 Bleed

Output

Output Pressure Relief, First Stage Midrange Snubbing Circuit

InConclusion
Ifyourememberonlyonethingfromthisdiscussion, discussion rememberthefollowing: TheThreeKeysToShockIsolation~ 1. KnowtheInput 2. BoundtheOutput 3. MitigatetheDifference TheKeyToDamping~ Whenindoubt,dampitout.