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45
15
2 authors:
Sudhakar A. Kulkarni
Kamal M Bajoria
SEE PROFILE
SEE PROFILE
Department of Civil Engineering, Indian Institute of Technology Bombay, Mumbai 400076, India
Abstract
The nite element formulation of a degenerate shell element, using higher order shear deformation theory taking the piezoelectric eect into account is presented. An eight-noded element is used to derive global coupled electro elastic behavior of the
overall structure. The model incorporates the warping of cross section due to transverse shear stresses and assumes a parabolic shear
strain variation over the thickness. The static deections of bimorph beam are compared with the literature. Active vibration control
performance of the piezolaminated curved beam with distributed sensors and actuators is studied. The variation of the damping
eect with dierent gains and actuator coverage is studied.
2003 Elsevier Ltd. All rights reserved.
1. Introduction
The increasing interest for the lightweight structures
with superior structural performance has lead to the
development of smart or intelligent structures. In these
structures, the load bearing substrates are, in general
made of composite materials for higher strength to
weight and stiness to weight ratios. These structures
are integrated with distributed piezoelectric materials
that act as sensors and actuators because of their direct
and converse piezoelectric eects. The distributed piezoelectric sensor layer monitors the structural shape
deformation due to the direct eect and the distributed
actuator layer controls the deection through the converse piezoelectric eect.
It is largely established that higher order shear deformation theory (HOST) is necessary for predicting
through the thickness deformation and stress distributions in thick plates more accurately [1,2]. The tangential
inplane normal stress predictions for various laminated
shell problems using HOST are very closely matched
with elastic solutions [3,4]. However, with rst order
shear deformation theory (FOST) unusual variation of
*
Corresponding author. Tel.: +91-22-2572-7332; fax: +91-22-25727302.
E-mail addresses: rsksa@civil.iitb.ac.in (S.A. Kulkarni), kmb@
civil.iitb.ac.in (K.M. Bajoria).
1
Tel.: +91-22-2572-7332; fax: +91-22-2572-7302.
0263-8223/$ - see front matter 2003 Elsevier Ltd. All rights reserved.
doi:10.1016/S0263-8223(03)00082-5
42
2. Finite-element formulation
Fig. 1 shows the general smart shell element with
composite and piezoelectric layers. The geometry and
various coordinate systems of the degenerated shell element [14] are shown in Fig. 2. The displacement components of the mid-point of the normals, the nodal
coordinates, global stiness matrixes, applied force
vectors etc. are referred the global coordinate system
xyz.
At kth node, V~3k is constructed as a vector joining the
top and bottom of the node in nodal coordinate system
~3k . V~1k is constructed parallel to the global xz
V~1k V~2k V
~3k is in y
plane or is assumed parallel to x axis when V
~
direction. And consequently V2k is derived as cross
products of V~3k and V~1k . ngf is a natural coordinate
system; n and g are the curvilinear coordinates at the
middle surface. f is linear coordinate in thickness direction with f 1 and )1 at top and bottom surfaces
respectively.
The HOST model is formulated with eight noded
element and has nine mechanical degrees of freedom per
each node (HOST-9). The basic assumptions made in
the formulations are: (a) straight normal to the mid
surface may not remain straight during deformation.
Cubic approximation is assumed to describe such distorted normal. (b) The strain energy corresponding to
the stress component orthogonal to mid-surface is disregarded.
2.1. Element geometry and displacement eld
Using the quadratic interpolation along the shell
surface while the linear interpolation along shell thickness, the position of an arbitrary point of the shell is
obtained as
9
8
8 9
8 k9
x
>
<x= X
=
< Vb3k >
< x0 = f X
8
8
1
y
Nk y0k
Nk tk Vb3ky
: ; k1 : k ; 2 k1
>
;
: bz >
z
z0
V 3k
where Vbikj (i 1, 2, 3) is the jth component of unit vector
along nodal vector V~ik at node k and tk is the thickness of
shell at node k. xk0 , y0k and zk0 are the Cartesian coordinates of the midpoint of the shell at k th node. The shape
function Nk n; g at kth node is dened by
Nk n; g 1 nk n1 gk gnk n gk g 1n2k g2k =2
1 n2 1 gk g1 n2k g2k =2
1 g2 1 nk n1 g2k n2k =2
The theoretical formulation of the displacement components using higher order theory from Taylors series
expansion is described in the literature [1,15]. The displacement components of any point in the shell global
coordinate system in terms of thickness coordinate z for
the HOST-9 is given by
i 1; 2; 3 and
3
z2 u0
z3 by
The asterisk marked terms are higher order terms. Expanding the Eq. (3) the element displacement eld is
expressed as
8 9
8 k9
n
<u= X
< u0 =
v
Nk vk0
: ; k1 : k ;
w
w0
2
3
b x Vb x k
V
n
2k
1k
X
tk 6
7 b
Nk f 4 Vb2ky Vb1ky 5 xk
by
2
k1
Vb2kz Vb1kz
2
3
Vb1kx V2kx
n
2
X
t 6
7 u
Nk f2 k 4 Vb1ky Vb2ky 5 0
v0
4
k1
Vb1kz Vb2kz
2
3
Vb2kx Vb1kx k
n
3
X
t 6
7 b
ou0
;
ox0
cx0 y 0
2y 0
ou0 ov0
;
oy 0 ox0
ov0
oy 0
cx0 z0
ou0 ow0
;
oz0 ox0
c y 0 z0
ow0 ov0
oy 0 oz0
7
ou0
6 ox0
6 ou0
6
6 0
6 oy
4 ou0
oz0
3
2
ow0
ou
6 ox
ox00 7
6
ow 7
7
T 6 ou
w
7
6
6 oy
oy 0 7
4 ou
05
ow
oz
oz0
ov0
ox00
ov
oy 0
ov0
oz0
in which
h
w x^0
43
y^0
^z0
l1
4 m1
n1
3
ow
ox 7
ow 7
7
7w
oy 7
ow 5
oz
ov
ox
ov
oy
ov
oz
l2
m2
n2
3
l3
m3 5
n3
where x^0 , y^0 and ^z0 are unit vectors in the direction of x0 ,
y 0 and z0 axis respectively. li , mi , ni i 1; 2; 3 are
the components of unit vectors x^0i , i.e., f^
x01 g f^
x0 g
T
T
0
0
f l1 m1 n1 g , f^
x2 g f^
y g f l2 m2 n2 g and f^
x03 g
T
0
f^z g f l3 m3 n3 g . The relation between the derivatives in global coordinates and natural coordinates is
expressed as
3
2 ou ov ow 3
2
ou ov ow
6 on on on 7
6 ox ox ox 7
6
6 ou ov ow 7
ov ow 7
7
7
6
1 6 ou
10
7
7 J 6
6
6 og og og 7
6 oy oy oy 7
4 ou ov ow 5
4 ou ov ow 5
oz
oz
of
oz
of
of
on
oy
og
oy
of
on 7
oz 7
7
7
og 7
oz 5
of
11
Nk;n vk0
>
: k;
on >
> k1
>
w0
>
>
> ow >
>
>
;
:
on
2
3
bx V x k
V
n
1k
2k
X
tk 6
7 b
v0
4
k1
Vb1kz Vb2kz
2
3
b x V x k
V
n
3
1k
2k
X
t 6
7 b
Nk;n f3 k 4 Vb2ky Vb1ky 5 xk
12
by
8
k1
Vb z Vb z
2k
1k
44
13
The strain displacement equation relating the strain
components 2 global coordinate system to the nodal
variables d e is expressed as
f2g
8
X
14
i1
15
where
frg f rx
ry
f2g f 2xy
sxy
cxy
sxz
cxz
syz gT
cyz g
C T2 C T2
3
0
fEse g Bes f/es g 4 0 5f/es g
1=ts
22
16
17
18
19
20
23
qea x; y,
where re x; y is the surface traction vector and
the specied surface charge density on the surface of
actuator layer for an element. Substituting Eqs. (14)
(18) the Eqs. (24) and (25) are modied to
1
2
fd e gT Be T CBe d e dV
V0
Z
1
fd e gT Be T eT Bea f/ea g dV
2 Va
Z
1
fd e gT Be T eT Bes f/es g dV
2 Vs
Z
1
f/e gT Bea T eBe fd e g dV
2 Va a
Z
1
T
T
f/e g Bes eBe fd e g dV
2 Vs s
Z
1
T
T
f/e g Bea eBea f/ea g dV
2 Va a
Z
1
T
T
f/e g Bes eBes f/es g dV
2 Vs s
Z
Z
T
T
T
re g dA f/ea g Bea
W fd e gN f
fQea g
26
27
e
e
kde fd e g kda
f/ea g kds
f/es g fF1e g
28
e
e
fd e g kaa
f/ea g fQea g
kad
e
fd e g ksse f/es g 0
ksd
29
Va
T
e
kds
33
34
Va
T
Be eBes dV
35
e
e T
kds
ksd
Z
T
ksse Bes eBes dV
36
Vs
37
Vs
40
41
42
43
in which
1
1
44
45
30
39
e
kad
Bea fqea x; yg dA
A
f
qea x; yg dA
45
To derive the equation of the motion for the piezolaminated composite shell the Hamilton principle is
used:
Z t2
d
T U W dt 0
46
t1
fF1e g
48
e
e
fd e g kaa
f/ea g fQea g
kad
e
fd e g ksse f/es g 0
ksd
50
in which
Z
M e
qN T N dV
51
49
46
The rest of the stiness matrices and load vectors are the
same as dened in Eq. (31)(39). By assemblage of the
element Eqs. (48)(50) and use of Guyan condensation
technique [21] gives the following overall dynamic nite
element equation
Mfdg K fdg fF g
52
patches with large variation in voltage range, implementation of the control strategy becomes practically
dicult.
where
1
1
53
54
55
56
350
(FOST)
(Hwang/Park)
(Tzou/Tseng)
(HOST-9)
1
57
58
In case of multi input multi output (MIMO) controllers, the actuator voltages and sensor voltages are
vectors and the control gain is a matrix. However, in
case of single input single output system, the actuator
and sensor voltage become scalars and control gain
becomes a single value. In case of MIMO control system, when there are large numbers of sensor/actuator
300
250
200
150
100
50
0
0
20
40
60
80
100
Distance (mm)
Table 1
Deections of the piezoelectric bimorph beam
Distance (mm)
FOST [8]
Present HOST-9
20
40
60
80
100
0.0138
0.0552
0.1240
0.2210
0.3450
0.0124
0.0508
0.1160
0.2100
0.3300
0.0138
0.0552
0.1242
0.2208
0.3450
0.0136
0.0542
0.1220
0.2174
0.3374
0.0139
0.0548
0.1231
0.2197
0.3419
across the element and the results agree well with the
literature [17,19].
4.2. Example on vibration control of smart ring shell
A semicircular steel ring shell with laminated piezoelectric layers on the top and bottom is considered. One
end of the ring is xed and the other end is free. The
steel ring is 120 mm wide, and 8 mm thick. The piezoelectric layers are made of PZT piezoceramics (250 lm
thick). The inner radius of the piezolaminated ring is
0.40 m. The material properties are described in Table 2.
The inner piezolayer of the ring shell is assumed as actuator and outer as sensor (Fig. 4) and is modeled with
Table 2
Material properties
Properties
PZT
Steel
Density, q, kg m3
Youngs modulus, Y , Pa
Poisons ratio, l
Piezostrian constant, d31 , m V1
Electric permittivity, e11 , F m1
7.600 103
6.300 1010
0.300
)1.790 1010
1.650 108
7.750 103
2.1 1011
0.300
47
Table 3
Natural frequencies in rad/s
Mode
FOST
HOST-9 (present)
1
2
3
4
5
6
35.80
50.79
157.62
212.13
524.75
740.13
35.89
50.95
158.09
212.52
525.99
741.50
20 elements per each layer (Fig. 5). The rst six fundamental natural frequencies obtained by subspace iteration method and matching frequencies of the HOST-9
model with the FOST model are shown in the Table 3.
The values Rayleighs coecients a and b are taken as
6.9 103 rad/sec and 5.048 105 (rad/s)1 respectively
and are obtained following the procedure outlined in
Bathe [20]. An initial velocity of 1.0 m/s is applied in the
hoop direction to the free end of the ring. The free vibration response time histories for the radial and hoop
directions are shown in Fig. 6. Newmarks direct time
integration scheme is adopted to evaluate the transient
responses. The values of time integration scheme parameters c and a are assumed as 0.5 and 0.25 respectively. The time step used in the calculation is 0.01 s.
To apply the negative velocity feedback averaged
sensor signals are amplied and fed back into the actuator. Activating the negative velocity feedback in the
system the responses for radial and hoop directions for
various gains (G 10 and 50) are shown in Fig. 7. From
the controlled responses in hoop direction (Fig. 7(a) and
(b)) and radial direction (Fig. 7(c) and (d)) it is observed
that modal coupling is more predominant in later case.
This is due to the excitement of dierent transverse
modes in control spillover.
The vibration control of smart ring shell is also
studied by varying the sensor/actuator percentage from
the xed end of the ring. In this study, the voltage from
all the distributed sensors is averaged and fed back to
0.0006
Hoop Displacement
Radial Displacement
Displacement (mm)
0.0004
0.0002
0.0000
-0.0002
-0.0004
-0.0006
0
Time (Sec)
Fig. 6. Free vibration response of the ring shell in hoop and radial
direction.
48
(a)
0.0006
(Controlled)
(Uncontrolled)
0.0004
Displacement (mm)
Displacement (mm)
0.0004
0.0002
0.0000
-0.0002
0.0002
0.0000
-0.0002
-0.0004
-0.0004
G=10
-0.0006
G=50
-0.0006
0.0003
0.0003
(c)
(Controlled)
(Uncontrolled)
0.0002
(d)
(Controlled)
(Uncontrolled)
0.0002
Displacement (mm)
Displacement (mm)
(Controlled)
(Uncontrolled)
(b)
0.0006
0.0001
0.0000
-0.0001
-0.0002
0.5
1.0
1.5
2.0
2.5
0.0000
-0.0001
-0.0002
G=10
0.0
0.0001
G=50
3.0
0.0
0.5
Time (sec)
1.0
1.5
2.0
2.5
3.0
Time (Sec)
Fig. 7. (a), (b) Controlled and uncontrolled responses in hoop directions. (c), (d) Controlled and uncontrolled responses in radial directions.
0.0006
(a)
0.0006
(Controlled)
(Uncontrolled)
Displacement (mm)
Displacement (mm)
0.0002
0.0000
-0.0002
PAC=20%
G=50
0.0000
-0.0002
(c)
PAC=40%
-0.0006
-0.0006
(Controlled)
(Uncontrolled)
0.0006
(d)
G=50
(Controlled)
(Uncontrolled)
0.0004
Displacement (mm)
0.0004
Displacement (mm)
0.0002
-0.0004
-0.0004
0.0002
0.0000
-0.0002
0.0002
0.0000
-0.0002
-0.0004
-0.0004
PAC=80% G=50
PAC=60% G=50
-0.0006
(Controlled)
(Uncontrolled)
0.0004
0.0004
0.0006
(b)
-0.0006
Fig. 8. (a)(d) Tip response in hoop direction for dierent values of PAC along the hoop direction from the xed end.
80
80
(a)
PAC =2 0%
49
PAC=40%
(b)
60
40
40
Actuator Voltage
Actuator Voltage
60
20
0
-20
-40
20
0
-20
-40
-60
G=50
-60
-80
80
(c)
PAC=60%
(d)
60
60
40
40
Actuator Voltage
Actuator Voltage
80
G=50
20
0
-20
-40
PAC=80%
20
0
-20
-40
-60
G=50
0.0
0.5
1.0
1.5
2.0
2.5
3.0
-60
0.0
G=50
0.5
1.0
1.5
2.0
2.5
3.0
Time (sec)
Time (Sec)
Fig. 9. (a)(d) Actuator voltage vs. time for dierent values PAC.
5. Conclusion
0.03
Damping ratio
G=50
0.02
G=35
0.01
G=10
0.00
0
20
40
60
80
100
Fig. 10. Damping ratio vs. percentage variation of actuator for various gains.
50
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