INTERNATIONAL JOURNAL OF COMPUTER APPLICATIONS IN ENGINEERING, TECHNOLOGY AND SCIENCES (IJ-CA-ETS)

SIMULATION STUDY OF ACTIVE VIBRATION CONTROL OF CLAMPED-CLAMPED BEAM BY USING TWO PIEZOELECTRIC ACTUATORS
1

S.M. KHOT, 2NITESH P. YELVE, 3PANKAJ S. PATIL

Assistant Professor, Fr. C. R. Institute of Technology, Navi Mumbai, Student, Department of Mechanical Engineering, Fr. Conceicao Rodrigues Institute of Technology
1

1,2

smkhot66@yahoo.co.in, 2niteshpy@yahoo.co.in, 3pankaj9223@yahoo.co.in

ABSTRACT : Stringent behaviour requirements imposed on flexible structures have necessitated the sensing and control of vibrations in these structures in a suitable manner. This issue is particularly important for space and aircraft structures for which the mission requirements are crucial and the divergence from these requirements may be considerably expensive. One of the most likely alternatives to deal with this aspect of vibrations is the use of active vibration control, which makes the structure a Smart structure. In this paper, active vibration control of a clamped-clamped beam using two piezoelectric actuators for controlling multimodes is discussed. In order to design the controller, the mathematical model of the system is required. To form such a model theoretically may be difficult or impossible for complex structures. However, such structures may be easily modeled in finite element (FE) environment like ANSYS. The mathematical model required is extracted in MATLAB from the results of modal analysis of the beam done in ANSYS. Since the matrices of the full model of any system are very large in general, model reduction is attempted in MATLAB by discarding those modes, which do not contribute to the overall response of the system. Then by using this reduced model, design of optimal controller is achieved using Linear Quadratic Regulator (LQR) algorithm with state feedback control law. Effect of selection of weighting matrices of performance index of LQR on the performance of optimal controller is also reported. Validity of using reduced model for designing optimal controller is checked by comparing its response with that of full model. If reduced models are used for designing controllers for active vibration control of real life complicated systems, a lot of computational time can be saved. KEYWORDS: Smart Structures, Cantilever Beam, Piezoelectric ANSYS, MATLAB 1. INTRODUCTION It is desired to design lighter mechanical systems carrying out higher workloads at higher speeds. However, the vibration may become prominent factor in this case. This undesired vibration can be reduced or eliminated by using active vibration control. The previous decade has seen a lot of growth in this field accompanied with various revolutionary ideas sprouting up and eventually being applied to practical systems with amazing adapting capabilities. Some recent works are reported here. The active vibration control of simple cantilever beams is studied in [1]-[5]. Piezoelectric patches as actuators are mounted on the beams. The system identification and pole placement control method is used in [1]. The beam with piezo-patches FE model of the structure is constructed and the closed loop control is applied in [2] and [3]. Singh [4] also used the beam with piezo-patches Actuator, Optimal (LQR) Controller,

FE model, but applied modal control strategies. Xu et al [5] reported results on active vibration control of cantilever beam type of structures by using the commercial FE package ANSYS. The influence of sensor/actuator location is studied for cantilever type beam. Karagulle et al [6] extended the work of Xu et al [5] and proposed the procedure for simulation of active vibration control in ANSYS, for cantilever and plate type of structures. Lim [7] studied the vibration control of several modes of a clamped square plate by locating discrete sensor/actuator devices at points of maximum strain. Quek et al [8] presented an optimal placement strategy of piezoelectric sensor/actuator pairs for the vibration control of laminated composite plates. Xianmin et al [9] studied the active vibration control in a four-bar linkage. Numerical simulations are reported in all the references

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given. Experimental results are also reported in some studies [1], [2] and [5]. The construction of mathematical model, analytically for complicated real life dynamic structures is very difficult and time consuming. This itself may become constraint in implementing active vibration control strategies for real life applications. Therefore in present study an attempt is made to extract the mathematical model of the clamped-clamped beam for designing optimal controller for its active vibration control, from the results of its modal analysis done in ANSYS. The design of the optimal controller is based on state feed back control law and uses LQR algorithm in MATLAB. The control gains obtained not only accounts for the magnitude but also the phase of the control force to be exerted by the two piezoelectric patches on the beam. These control gains are implemented for simulating active vibration control in MATLAB. 2. MODAL ANALYSIS AND THE STATE SPACE FORM The equation of motion of a multi degree of freedom system under external forces is given by (2.1) & [m]&& + [c]x + [k ] x = F . x Since [m], [c] and [k] are non-diagonal, the above expression leads to n coupled second order differential equations. To uncouple these equations, first the eigenvalue problem is solved for Eq.2.1 and the eigenvectors are obtained as x(1) , x(2) , x(n). The modal matrix for the system is defined as (2.2) [xn] = [ x(1) x(2) x(n) ] . For a multi degree of freedom system with the assumption of proportional damping (that is, the damping matrix expressed as a linear combination of the mass and stiffness matrices as [c] = [ m] + [k ] ), the solution of Eq.2.1 can be expressed as a linear combination of the normal modes [10] as x(t ) = [ xn]xp(t ) , (2.3) where xp (t ) is the displacement in principal coordinates. If the normal modes are normalised with respect to mass [10], the equation of motion in the principal coordinates becomes of the form && p (t ) + 2 i i x p + i 2 x p (t ) = F pi (t ) , & x (2.4) i i i where i = 1, 2, , n and (2.5) is the vector of forces in principal coordinates. Thus, a set of n uncoupled differential equations of the second order is obtained from the set of n coupled differential equations of the second order. These n uncoupled differential equations of the second order are converted into the state
F p (t ) = [ x n ]T F (t )
dcgain

space form as 2n differential equations of the first order. The equations of motion in the state-space form are & (2.6) x = Ax + Bu , (2.7) y = Cx + Du , where x is the state vector y is the output vector u is the input vector (control vector) A is the state matrix B is the input matrix (control matrix) C is the output matrix D is the direct transmission matrix. Now a general algorithm for analyzing any vibrating structure using ANSYS and MATLAB is summarized in Section 3. 3. EXTRACTION OF STATE-SPACE MODEL FROM FE MODEL 3.1. General Theory The state-space model of the system may be constructed by using eigenvalues and eigenvectors as illustrated in this section. The eigenvalues and eigenvectors normalized with respect to mass are obtained by performing modal analysis in ANSYS, as will be described in Section 3.2. In order to ease computation, a reduced model of the system may be constructed by discarding those modes, which do not contribute to the response of the system. The contribution of each mode to the overall response may be calculated as follows. Taking the Laplace transform of the equation of motion in principal coordinates, the transfer function for displacement of the jth node due to a force applied at the kth node for the ith mode (considering damping) is given by [11].
z jki = z nji z nki s
2

+ 2 i s + i2

z ji Fki

(3.1)

This is the contribution to the transfer function zjk from the ith mode. Summing up all such contributions from individual modes, we get the total transfer function as
z jk =

z nji z nki
2

+ 2 i s + i2

zj Fk

(3.2)

The dc gain for each mode is defined by putting s = 0 in Eq.3.1. For the ith mode,
z nji z nki

i2

(3.3)

The peak gain [11] is obtained a

peakgain = j dcgain 2 i

(3.4) (3.5)

where i =

+ i2 . 2i

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Model reduction can now be attempted by sorting the modal contributions according to their peak gains. Only those modes, which have higher values of peak gain, will be retained, while the rest will be eliminated, thus reducing the size of state space model of the system. Now, the matrices A, B, C and D of Eq.2.6 and Eq.2.7 for a system with n modes can be written as follows [11]
0 2 1 A = ... ... ... 1 2 11 ... ... ... ... ... ... ... ... ... ... ... 0
2 n

2 nn ... ... ... 1

(3.6)
0 F p1 0 , B= F p2 ... F pn

and

(3.7)

(3.8) where Fp = [ Fp1 Fp2 Fpn ]T is the force vector in principal co-ordinates. Matrix C depends upon the output that we are interested in. Since we desire the values of displacement of the nodes, C is given by
x n11 0 C= x n 21 ... 0 0 0 ... x n12 0 x n 22 ... 0 0 0 ... ... ... , ... ...

(3.9)

where xn11 , xn12 , are the elements of xn , the modal matrix normalized with respect to mass. D is the direct transmission matrix. Here, D = [0]. (3.10) 3.2. Modal Analysis in ANSYS As discussed in Section 3.1, the first step in obtaining the state-space model of the beam is to find its eigenvalues and eigenvectors normalised with respect to mass. This can be done by performing modal analysis in ANSYS. An aluminium beam of dimensions (504 25.4 0.8) mm3 is used for the analysis [5]. Two piezoelectric actuators are bonded to its surface. Actuator dimensions are (76.2 25.4 0.305) mm3 and they are located 5mm from both the ends. The piezoelectric material properties are defined in ANSYS as mp, dens,2,7500 ! Density for piezoelectric material mp,perx,2,15.03e-9 ! Permittivity in x direction mp,pery,2,15.03e-9 ! Permittivity in y direction mp,perz,2,13e-9 ! Permittivity in z direction

tb,piez,2 ! Define piez. table tbdata,16,17 ! E16 piezoelectric constant tbdata,14,17 ! E25 tbdata,3,-6.5 ! E31 tbdata,6,-6.5 ! E32 tbdata,9,23.3 ! E33 tb,anel,2 ! Define structural table tbdata,1,126e9,79.5e9,84.1e9 ! C11, C12, C13 tbdata,7,126e9,84.1e9 ! C22, C23 tbdata,12,117e9 ! C33 tbdata,16,23.3e9 ! C44 tbdata,19,23e9 ! C55 tbdata,21,23e9 ! C66 Modal analysis of the beam is performed by using the Block Lanczos method. The range of frequency is defined as 0 to 50000Hz. The results of the analysis are written to a file with the extension eig. This file is imported in MATLAB. The state-space model may now be formed as described in the following section. 3.3. State Space Modeling in MATLAB For the clamped-clamped beam, node number 555 is defined as both the point of application of the input force as well as the point where the output (displacement) is measured. This node is selected since it is a point of non zero displacement. Hence all the modes can be excited or observed at this node. Both input and output are along the Z axis. Hence the eigenvectors pertaining to the UZ displacement are required. The eigenvalues are extracted from the .eig file exported from ANSYS using the file ext56uz.m [11]. This code forms the vector of eigenvalues and the modal matrix of the system consisting of the eigenvectors pertaining to the UZ displacement of all the nodes of the FE model. The state-space parameters, i.e., the A, B, C and D matrices of the system are formulated for the full model as described in Section 3.1. Then a state-space system is defined using the ss function in MATLAB with A, B, C and D as parameters. The transient responses of the beam obtained from ANSYS and MATLAB are shown in Fig.3.1. Since the results closely match, the state-space model from MATLAB accurately represents the system and hence can be used for further analysis. Then by using the bode function in MATLAB, the frequency response of the system is plotted. The response of the full model and the modal contributions are shown in Fig.3.2.

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Now, a reduced model state-space system is constructed by truncating the insignificant modes. The first five modes sorted according to their peak gains are selected for forming reduced model (Section 3.1). Frequency response of the reduced model is plotted in Fig.3.3.

Fig.3.1 Transient Response of MATLAB and ANSYS Models

Fig.3.4 Transient Response of Full & Reduced Model 4. CONTROLLER (LQR) DESIGN IN MATLAB WITH STATE FEEDBACK For active vibration control both coupled control and independent control methods can be employed. The independent control method is efficient only when few modes are of interest. Coupled control is desirable when simultaneous control of multimodes is required which is the case here under study. Two feedback control laws are available for coupled control design: state feedback and output feedback. For the design of controller state feedback control law is used here. Linear Quadratic Regulator (LQR) [12] is employed here to determine the optimal controller gain and it is chosen to minimise a quadratic cost or performance index of the form,
J = 1 ( x T Qx + u T Ru )dt , 2

(4.1)

Fig.3.2 Frequency Response of Full Model Transient responses of the full and reduced models are then plotted as shown in Fig.3.4. It is seen that the reduced model response closely follows the full model response.

Fig.3.3 Frequency Response of Full and Reduced Model

where Q and R are suitably chosen positive semidefinite weighting matrices and u is the control force to be applied. The selection of these weighting matrices is vital in the controller design process. The relative magnitude of Q and R are selected to trade off requirements on the smallness of the state against requirements on the smallness of the control force. Q may be chosen as the Identity matrix (I). An alternative is to choose Q = H T H , where z = Hx , z being the desired control objective (in this case the displacement of node 555), x is the vector of states and H is the appropriate transformation matrix [12]. In this case, R is a scalar and hence the control performance such as settling time can be tuned through changing the value of R. The control gain [12] vector K may be determined using the lqr command in MATLAB. The control force is then given by (4.2) u c = Kx .

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Since there are two actuators to apply control force, the system state equations become & x = Ax + Bc1uc1 + Bc 2uc2 + Bexuex or & x = ( A ( Bc1 K1 + Bc 2 K 2 )) x + Bex uex and (4.3) y = Cx . (4.4) where the subscript c refers to the controlling force and ex refers to the exciting force. For state feedback method, values of all the states are required to be known for every time step. Unlike state feedback, for the output feedback method only some of the states are required to be known at every time step, but however, the initial value of all the states must be known to calculate the control gain [12]. 5. SIMULATION OF ACTIVE VIBRATION CONTROL OF BEAM IN MATLAB The state-space models are constructed as described in Section 3.1. The force matrix is constructed assuming uniform distribution of force along the ends of the perfectly bonded actuators [13]. Reduced model is constructed in MATLAB assuming both input excitation and point of observation, at the node 555 of the beam. The impulse responses of the uncontrolled and controlled models of the beam are plotted in MATLAB for different values of R with Q = I in Fig.5.1, Fig.5.2 and Fig.5.3. Then the reduced controlled model is formed and its transient response is plotted with that of full model in the same figures (Fig.5.1, Fig.5.2 and Fig.5.3). Since the two responses closely match, the reduced model may be used to design the controller for active vibration control. In Fig.5.4, Fig.5.5 and Fig.5.6 the variation of control force for different values of R with Q = I is shown for both the controlled full and reduced models.

Fig.5.2 Transient Response of Full and Reduced Controlled Models for Q=I and R=1e-4

Fig.5.3 Transient Response of Full and Reduced Controlled Models for Q=I and R=1e-5

Fig.5.4 Control Force for Full and Reduced Models for Q=I and R=1e-3

Fig.5.1 Transient Response of Full and Reduced Controlled Models for Q=I and R=1e-3 Fig.5.5 Control Force for Full and Reduced Models for Q=I and R=1e-4

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[5] S. X. Xu and T. S. Koko, Finite Element Analysis and Design of Actively Controlled Piezoelectric Smart Structures, Finite Element. Analysis Designs 40, pp. 241-262, 2004 H. Karagulle, L. Malgaca and H. F. Oktem, Analysis of Active Vibration Control in Smart Structures by ANSYS, Smart Materials and Structures 13, pp. 661- 667, 2004 Y. H. Lim, Finite Element Simulation of Closed Loop Vibration Control of a Smart Plate under Transient Loading, Smart Materials and Structures 12, pp. 272-286, 2003 S. T. Quek, S. Y. Wang and K. K. Ang, Vibration Control of Composite Plates via Optimal Placement of Piezoelectric Patches, Journal of Intelligent Material, Systems and Structures 14, pp. 229-245, 2003 Z. Xianmin, S. Changjian and A. G. Erdman, Active vibration controller design and comparison study of flexible linkage mechanism systems, Mechanical Machine Theory 37, pp. 985-997, 2002 S. S. Rao, Mechanical Vibrations, Third Edition, Prentice-Hall, Upper Saddle River, NJ, 1995 M. R. Hatch, Vibration Simulation Using MATLAB and ANSYS, Chapman and Hall/ CRC, 2001 F. L. Lewis, V. L. Syrmos, Optimal Control,A Wiley-Interscience Publication, John Wiley & Sons Inc., 1995 Crawley E. F. and Anderson E. H., Detailed Models of Piezoceramic Actuation of Beams, Journal of Intelligent Material Systems and Structures 1(1), pp. 4-25, 1990

[6]

[7]

Fig.5.6 Control Force for Full and Reduced Models for Q=I and R=1e-5 6. CONCLUSION The mathematical model required for optimally designing the controller for active vibration control of clamped-clamped beam beam is extracted from the results of its modal analysis done in ANSYS. It is observed that selection of weighting matrix R plays important role in designing optimal controller. When R is increased, the control energy spent decreased, but the settling time increased. Reduction in model size is carried out in MATLAB. The full model and reduced models are used for optimal controller design and their responses are studied. This study clearly shows that reduced model can be effectively used for optimal controller design, which in turn saves computational time. This study may help for analysing real life dynamic systems for their active vibration control, right from their modeling to optimal controller design. 7. REFERENCES [1] W. J. Manning, A. R. Plummer, and M. C. Levesley, Vibration Control of a Flexible Beam with Integrated Actuators and Sensors, Smart Materials and Structures 9, pp. 932-939, 2000 [2] P. Gaudenzi, R. Carbonaro and E. Benzi, Control of Beam Vibrations by means of Piezoelectric Devices: Theory and Experiments, Composite Structures, pp. 373-379, 2000 [3] I. Bruant, G. Coffignal, F. Lene and M. Verge, Active Control of Beam Structures with Piezoelectric Actuators and Sensors: Modeling and Simulation, Smart Materials and Structures 10, pp. 404-408, 2000 [4] S. P. Singh, H. S. Pruthi and V. P. Agarwal, Efficient Modal Control Strategies for Active Control of Vibrations, Journal of Sound and Vibrations 262, pp. 563-575, 2003

[8]

[9]

[10]

[11]

[12]

[13]

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