EXPERIMENTATION FOR ACTIVE VIBRATION CONTROL
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1 CHPTER - 6 EXPERIMENTTION FOR CTIVE VIBRTION CONTROL 6. INTRODUCTION The iportant issues in vibration control applications are odeling the sart structure with in-built sensing and actuation capabilities and the ipleentation of active control schees in real tie experients. The piezoelectric aterials are strain rate sensors and produce output charges proportional to displaceents at locations where they are surface bonded. In this chapter, experients are conducted to study the effectiveness of Linear Quadratic Gaussian (LQG) control in suppressing the vibration of shell syste with MFC actuators. CFRP shell structure shown in the Fig. 6. with collocated piezoelectric actuators and sensors is considered to assess the control perforance.
2 34 Fig. 6. MFC actuators location on the CFRP shell The vibration control odel is developed in chapter 5 for the lainated coposite cylindrical shell with LQG control syste. To verify the efficiency of the control syste, active control experients are conducted using optial gains obtained fro nuerical solution. Further the siulated active control schee is ipleented in an experient using digital control syste to achieve vibration reduction of cylindrical shell. The lainated coposite cylindrical shell is shown in Fig. 6.2.
3 35 Coposite shell Fig. 6.2 CFRP coposite cylindrical shell 6.2 CONTROL SYSTEM ELECTRONICS The active vibration control experients are carried out with the help of a digital controller (LQG) in the present study. This control syste consists of Piezo Sensing Syste (PSS), DSP card with DC (nalog to Digital Converter) and DC (Digital to nalog Converter), Signal generator, power aplifier and shaker, High voltage aplifier for piezo actuators (PS) and PC with MTLB software. The Piezo Sensing Syste (PSS) consists of charge aplifier circuit, i.e. charge conditioner to collect signals fro the distributed PZT sensors. The charge aplifier converts the charge to a
4 36 proportional output voltage to ake the signal independent of cable capacitance and length. Since the present ctive Vibration Control (VC) study has eployed with MFC actuators, three channel high voltage aplifiers are used to supply the aplified control signals (5 V to 5 V, 3). In a dynaic environent, these aplifiers are able to give output voltage of 75 V. n eight channel Digital Signal Processor (ade by dspce) is interconnected with the LQG controller. This DSP board has 8 DC s and 8 DC s. Each DC is used to receive sensor signal and DC is to supply actuator signal. 6.3 EXPERIMENTL SETUP The coposite cylindrical shell is fabricated using Carbon Fiber Reinforced Plastic (CFRP). Subsequently it is instruented with three MFC actuators on the top. The MFC actuators M4 P and M8528 F are procured fro Sart Materials corporation, Gerany. The instruentation eployed in experiental setup is shown in Fig. 6.3.
5 37 Sensing electronics High voltage aplifiers Signal generator DS 4 RTI/RTW Control desk Shell Fig. 6.3 Experiental setup for ctive vibration control
6 38 The experiental setup for active vibration control of lainated coposite cylindrical shell along with MFC actuators and PZT sensors are shown in Fig. 6.4 and 6.5. MFC actuators Fig. 6.4 cylindrical shell equipped with MFC actuators PZT sensors Fig. 6.5 shell with PZT Sensor s at the botto
7 39 n acceleroeter is shown in Fig. 6.6 at the tip of the shell for easuring the vibrations. cceleroeter Fig. 6.6 Shell with cceleroeter line scheatic diagra shown in Fig. 6.7 is used for the control of active vibrations.
8 4 Fig. 6.7 ctive vibration control syste The control signal is generated with the help of a Piezo ctuation Syste (PS), taking the filtered output signal as input and is applied to the piezoelectric actuator patch. In displaceent feedback control, the vibration suppression is achieved by generating the actuation signal 8 out of phase with respect to the disturbance signal. Hence, the PS has got the provision to change the phase of the signal fro to 8 degrees and fine-tune the actuation voltage. The disturbance signal is generated through a digital function generator and is subsequently
9 4 aplified using a power aplifier, before it is supplied to the electroagnetic shaker. The disturbance level is easured with the help of a force transducer. In addition, an oscilloscope is eployed to onitor the structural response and input force/output level in real tie. The feedback controller design needs syste or plant characteristics as input, i.e state space atrices. Since a odern control concept eploying the state-space atrices has been adopted. The structural syste is paraeterized using stiffness, ass and daping atrices. However, an active structure ust be characterized additionally with distributed actuator and sensor atrices. The developed finite eleent (chapter 3) and control (chapter 5) procedures are coded in MTLB. Therefore, it is possible to carry out both structural and control analyses in the sae platfor. The CFRP shell is analyzed using the developed 4-node facet shell eleent. Structural and piezoelectric coupled atrices are used in the control analysis.
10 CONTROL LW IMPLEMENTTION The control syste designed to estiate the optial feedback control gain (off-line) for different weighting factors (Q, R). The sensor gain and the filter gain are taken as one unit while estiating the control gain of LQR. Feedback voltage is then calculated ( a) by ultiplying the sensor signals ( s) and is applied to the actuator, which is fixed at the sae location (collocated). The feedback voltage obtained using the optial gain (LQG) is experientally tuned in HV syste; besides HV has got provision to introduce electrical biasing. This facilitates the MFC actuators to be used in dynaic environent, as these active eleents do not have the sae aount of extension and contraction. The proposed LQG controller has included both displaceent and velocity as states; therefore the control signal contains displaceent and velocity inforation. Thus both active stiffening (induced strain) as well as active daping effects are expected to be introduced by the MFC actuators. periodic excitation is applied as disturbance through shaker and the aplitude response control is achieved by controlling the displaceent and velocity of the vibrating syste. virtual instruentation panel is created in control desk (dspce product) to onitor the disturbance force, sensors output and actuators input. It facilitates to fine tune the control gains of the actuators in real tie. Indeed the on/off control will be ore efficient once the control gains are scheduled for different disturbances. The processed signals (control inputs) are then taken through the DC s of DS4
11 43 and supplied to the high voltage aplifiers of Sart Materials. These aplifiers have got an inbuilt gain of 2. Therefore while tuning the designed LQG gain, this value has been taken in to account. MFC actuators are used with -5 to 5 VDC in quasistatic applications. However in dynaic case they can be used in the range of 5 VC without DC biasing or 75 VC with DC biasing. In the present application, MFC s within 5 VC without DC biasing are used. Care is taken for proper insulation, isolation of the actuators and wiring is done so as to avoid any electric leakage. 6.5 CLOSED LOOP EXPERIMENTS thorough odal survey is perfored on the shell to establish the frequencies, daping of the first four odes. ctive vibration control experients are then conducted using independent odal controller, i.e. IMSC as well as selective odal control (SMSC) approaches. typical odal controller (Siulink odel) that has been ipleented is shown in Fig Fig. 6.8 Siulink odel of LQG controller
12 44 The Linear Quadratic Gaussian (LQG) controller is designed such that each ode is significantly controlled through independent odal space control (IMSC) schee. The effectiveness of odal control concept for ultiple odes is exained through a cobination resonance or selective odal space control (SMSC) technique. For this purpose, two odal sets are selected, naely odes, 3 and 2, 4. The state-space atrices of selective odes are cobined to for a single syste with ultiple target odes. LQG control is designed for these cobination resonances. Modal coupling is a noral phenoenon in thin walled coposite structures. With the presence of aerodynaics, noise etc., the coupled probles such as aeroelasticity, vibro-acoustic ay pose serious challenges for the designers. Therefore, in such situations, the selective odal control ay certainly iprove the structural perforances and reduce the control spillover. In order to exaine the usefulness of the developed SMSC technique, active control experients are conducted on the cylindrical CFRP shell. The instruentation schee used in the feedback control architecture is shown in Fig The applied voltages to actuators for various odes control are listed in Table 6..
13 45 Table 6.: Voltages applied to actuators for control of various odes Mode(s) IMSC SMSC &3 2&4 ctuator voltage in (volts) The VC experients are conducted by ipleenting the designed LQG (IMSC and SMSC) controllers in DS4, a R&D DSP board of dspce. The DSP has got ulti-channel DC s and DC s, which are used for sensor and actuator loops, respectively. The actuators and 2 are ade to work for the first and second odes control. The chord wise placed actuator 3 has targeted the third and fourth odes. The outcoe of the experient is presented as tie responses and power spectral densities. cceleroeter (Sensitivity V/g) is eployed as the observation sensor, which is located at the tip of the shell. The disturbance force is onitored through a force transducer. The structure considered for experient is a deep shell category and therefore its elastic couplings appear to be very significant. Hence the first four odes are targeted to deonstrate the ability of in-plane actuation of MFC s in controlling out-of-plane elastic couplings. The
14 46 PZT fibers are oriented in actuators, and 2 along the length (span wise) of the shell; thus they are expected to induce actuation strains to counteract first two odes, which are predoinantly span wise doinated. 6.6 EXPERIMENTL RESULTS ND DISCUSSION The vibration control experients are carried out on a coposite cylindrical shell structure using IMSC and SMSC techniques. The control data collected fro experients using IMSC technique is processed in digisigpro (digital signal processor) software to obtain power spectral density plots for the first four odes as shown in Fig. 6.9 to 6.2. The aplitude values easured fro power spectral density plots are tabulated in Table 6.2. Fro the table it is noticed that the percentage of vibration control achieved for the first four odes are 88.95, 96.93, and respectively. The control data collected fro experients using SMSC technique is processed in digisigpro (digital signal processor) software to obtain power spectral density plots for the odes, 3 and 2, 4 are shown in Fig. 6.7 and 6.8. The aplitude values easured fro power spectral density plots are tabulated in Table 6.3. Fro the table it is observed that the the percentage of vibration control achieved in selective ode technique for the odes, 3 and 2, 4 are 85.67, 96.67, and 7.73 respectively.
15 47 lso using the digisigpro software the tie response plots before and after control for the duration of seconds using IMSC technique are shown in Fig. 6.3 through 6.6. In figures the first 4 seconds show the vibrations without control and the next 6 seconds with control for shell structure. Fro the figures it is observed that the percentage vibration reduction achieved in first four odes are respectively 88% (5.86 Hz), 96% (3.44 Hz), 73% (65.99 Hz) and 76% (85.88 Hz). Siilarly, the tie response plots before and after control for the duration of seconds using SMSC technique is shown in Fig. 6.9 and 6.2. Fro the figures it is seen that the percentage vibration reduction achieved for the odes, 3 and 2, 4 are 85% (5.86 Hz), 96% (65.99 Hz), 88% (3.44 Hz) and 7% (85.88 Hz) respectively.
16 48 Table 6.2: Vibration control perforance by IMSC schee plitude (g2/hz) Natural Mode % frequencies Open loop Closed loop (Hz) response response e-4 2.e e-4 4.6e e-4 3.2e e-5 8.8e control where percentage control is = (open loop response-closed loop response)/open loop response. Table 6.3 Vibration control perforance by SMSC schee. Table 6.3: Vibration control perforance by SMSC schee Natural Mode(s) plitude (g2/hz) % frequencies Open loop Closed loop (Hz) response response Mode e-5 8.6e Mode e-5.e Mode e-5 4.8e Mode e-5.2e control
17 49-4 x open loop closed loop )z H g (e d u itl p 2/ Frequency(Hz) 8 2 Fig. 6.9: First ode power spectral density plot in LQG control -4.6 x open loop closed loop.4.2 ) z H 2/ g ( e d tu li p Frequency(Hz) Fig. 6.: Second ode power spectral density plot in LQG control
18 5-4.2 x open loop closed loop.8 ) z H 2/ g ( e d u itl p Frequency(Hz) Fig. 6.: Third ode power spectral density plot in LQG control -5 4 x open loop closed loop ) 2.5 z H 2/ (g 2 e d tu li p Frequency(Hz) Fig. 6.2: Fourth ode power spectral density plot in LQG control
19 5.2 Control Control ONon.5..5 ) (V e d tu li p Tie(sec) Fig. 6.3 First ode tie response before and after control.5 ControlonON Control..5 ) V ( de itul p Tie(sec) Fig. 6.4 Second ode tie response before and after control
20 52.2 Control on.5..5 ) V ( e d tu lip Tie(sec) Fig. 6.5 Third ode tie response before and after control.5. Control on.5 ) V ( e d u ti l p Tie(sec) Fig. 6.6 Fourth ode tie response before and after control
21 x open loop closed loop 5 4 ) z H 2/ g ( e d u itl p Frequency(Hz) Fig. 6.7 PSD plot of selective odes and 3 before and after control x 4 open loop closed loop ) z H 2/ (g e d u itl p Fig. 6.8 PSD plot of selective Frequency(Hz) odes 2 and 4 before and after control
22 54 Tie Plot.5 Control ON..5 ) V ( e d u ti lp Tie(sec) Fig. 6.9 Tie response of selective odes and 3 before and after control Tie Plot.3 Control ON.2. ) V ( e d u tli p Tie(sec) Fig. 6.2 Tie response of selective odes 2 and 4 before and after control
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