LOGO

By
Mandipalli Naresh
12MC10F
Multi Input Multi Output
Active Vibration Control of
Smart Structures using PZT
Guide
Dr. K V Gangadharan

Topics
Introduction
Summary of literature review
Problem statement and Objectives
Modeling and Simulation
Experimental setup
Pole placement technique
Proportional controller result
Future Work
Introduction
Vibration control
Passive
Semi active
Active
m
k c
m
k c
m
k c
Fd Fd
Fd Fc
Summary of literature review

Majority of literatures are on single input and
signal output systems but in reality many systems
are multi input and multi output (MIMO).
Majority of literatures are based on simulation
studies which require to be validated
experimentally.
Basic controllers can result even the system to be
unstable, with large changes in system parameters.
This problem can be avoided using robust control
and adaptive control design techniques like
LQR/LQG controller.


Summary of literature review (cont..)

Pole placement technique is the basic state feedback
controller.
Controller performance had been tested for
impulse i.e., for free vibration which is required to
be improved for forced vibration.




Problem Statement


To analyze the nature of vibration in structures and
suppress the vibration effectively using pole
placement state feedback technique for MIMO
system



Objectives

Comparative study of conventional controllers and
state feedback controller (Pole placement controller)
for active vibration control.

Vibration control for few dominant modes of
vibration and impulse vibration.




Modeling and Simulation
System Configuration

Modeling and Simulation (cont..)
Beam Parameters for Modeling
PHYSICAL PARAMETERS HOST BEAM (ALUMINUM) PIEZO PATCHES
Length (m) 0.3 0.024
Width (m) 0.024 0.024
Thickness (m) 0.003 0.000
Density 2700 7500
Youngs modulus (Pascal)
Damping constant C
PZT strain constant
PZT stress constant
0.01, 0.001 o | = =
12
31
265 10 (m/ V) d

=
3 1
31
9 10 ( / ) g V mN

=
9
70 10
9
63 10
3
( / ) kg m
Modeling and Simulation (Cont)

Beam is modelled as two node element which has
2DOF at each nodes ( Transversal displacement
and slope )



Assuming cubic polynomial equation for transverse
vibration of beam

2 3
0 1 2 3
( ) u x a a x a x a x = + + +
1
u
2
u
2
u
1
u
Modeling and Simulation (Cont)

The interpolation can be written in shape function
form after applying boundary conditions,



1 1 2 1 3 2 4 2
( ) (x) u ( ) ( ) u ( ) u x w w x w x w x u u = + + +
2 3
2 3
2 3
1
2
2
2 3
3
2 3
4
2 3
2
3 2
1
2
3 2
x x
l l
w
x x
x
w
l l
w
x x
w
l l
x x
l l
(
+
(
(
(
(
+
(
(
(
(
=
(
(

(
(

(
(
+
(

Modeling and Simulation (Cont)

Comparing finite element equation with mechanical
translational motion equation,



2 2
2 2
156 22 54 13
22 4 13 3
[M]
54 13 156 22 420
13 3 22 4
l l
l l l l
Al
l l
l l l l

(
(

(
=
(

(


2 2
3
2 2
12 6 12 6
6 4 6 2
[ ]
12 6 12 6
6 2 6 4
l l
l l l l
EI
K
l l l
l l l l

(
(

(
=
(

(

[ ] [M] [K] ; 0.01, 0.001 C o | o | = + = =
Modeling and Simulation (Cont)

Piezoelectric as sensor and actuator
Direct and converse piezoelectric equations


Voltage produced by sensor


Equivalent force is given by piezoelectric


31
t
f
d E s c o = +
31 z f
D d e E
o
o = +
{ } { } { }
c 31 c 31
0
(t) G e zb ' G e zb[0 1 0 1] '
p
l
T
s
V B d dx d = =
}
31
[ 1 0 1 0]V (t)
c p a
F E d bz =
Modeling and Simulation (Cont)

Model order reduction

System model equation is



Reduced model order equation can be found by
considering required modes






| |
{ }
| |
{ }
| |{ } { } { }
d c
M d C d K d F F + + = +
{ } | |{ }
d T q =
Modeling and Simulation (Cont)

System matrices







Experimental FEM ANSYS
1
st
mode
Frequency(Hz)
29.604 32.33 32.782
2
nd
mode
Frequency(Hz)
169.5 172.76 183.71
3
0.103327733887813 -0.0000000000000134
[m] 10
-0.0000000000000134 0.0151176776852316

(
=
(

4.264094632032168 -0.0000000000814512
[k]
-0.0000000000814014 18.639762290157726
(
=
(

0.000426512790937 -0.000000000000008
[c]
-0.000000000000008 0.001863991346693
(
=
(

Modeling and Simulation (Cont)

State space model









0 0 1 0
0 0 0 1
A
-4.1268e+04 8.7175e-07 -4.1278 8.7175e-11
-5.0048e-06 -1.2330e+06 -5.0048e-10 -123.2988
(
(
(
=
(
(

0 0 0
0 0 0
0.0112 0.0242 0.0356
0.1522 0.2523 0.2404
B
(
(
(
=
(
(

0 0 1.9515 05 3.2191 05
0 0 1.6118 05 8.5565 06
e e
C
e e

(
=
(


0 0 0
0 0 0
D
(
=
(

x Ax Bu
y Cx Du
= +
= +
Modeling and Simulation (Cont)

Simulation of system response








Time
V
o
l
t
a
g
e

Modeling and Simulation (Cont)

Particle system response








V
o
l
t
a
g
e

Time
Modeling and Simulation (Cont)

Mode shapes in ANSYS








Experimental Setup
Charge
Amplifier
Voltage
Amplifier
Beam with Sensor and
Actuator
PXI RT
System
Pole placement technique

Consider a system


State feedback control law is:




K is feedback gain vector






x Ax Bu
y Cx Du
= +
= +
| |
1
2
1 2 3
( )
( )
.
. . .
.
.
( )
n
x t
x t
K K K
x t
(
(
(
(
=
(
(
(
(
(

( ) u Kx t =
Pole placement technique (Cont..)









Closed-loop control system with u= Kx
Pole placement technique (Cont..)

Substituting u in open loop system


Eigenvalues of A BK gives the closed loop poles of
the system

Thus the controller gain K will be determined by
placing closed loop poles at fixed desired position

Necessary and sufficient condition for arbitrary
pole placement is that the system be completely
state controllable and observable.





x( ) ( ) x(t) t A BK =
Pole placement technique (Cont..)

Controllability and Observability
A system is said to be controllable at time t0 if it is
possible by means of an unconstrained control
vector to transfer the system from any initial state
x(t0) to any other state in a finite interval of time.

A system is said to be observable at time t0 if, with
the system in state x(t0), it is possible to determine
this state from the observation of the output over a
finite time interval.





Pole placement technique (Cont..)

Condition for controllability


Condition for observability



Where n = number of states
m = number of outputs





1
. . .
n
rank B AB A B n

( =

2 1
. . .
n
rank CB CAB CA B CA B D m

( =

Pole placement technique (Cont..)

State feedback with controller







Proportional controller result
Percentage reduction : 93.95

Time
V
o
l
t
a
g
e

Conclusion

The detail system dynamics is analysed successfully;
Mathematical model of the system is developed using
FEM technique for controller design and simulation;
It has been attempted to implement a classical controller
namely proportional controller for first mode of
vibration;
The Percentage strain (in voltage) reduction is observed
to be 93.95% with additional harmonic frequency;
The conventional controller implemented is not still
effective for the 2nd mode of vibration, thus it requires
further study.





Future work

In the future it is planned to design state feedback
controller for MIMO active vibration system based on
pole placement technique.
Controller
Full state observer
Experimentally validating the effectiveness of the
designed controller
Comparing the state feedback controller with classical
controller.