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7/31/2019 Vibration Actuators and Sensors
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Vibration Actuators and Sensors
Professor Mike Brennan
Institute of Sound and Vibration ResearchUniversity of Southampton, UK
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Active Vibration Control
WHY ?
Structures become lighter
Space and weight constraints
Actuators Sensors
ControlledStructure
Controller
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Vibration actuators and sensors
Actuators
Piezoelectric Magnetostrictive
Electrodynamic
Hydraulic
Sensors Piezoelectric
Controllability/Observability
Shaped actuators/sensors (spatial filtering)
Applications
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Piezoelectric actuators and sensors
Piezoelectric effect(sensor)
An electric field is generateddue to a change in dimensionsof a material
(Curie brothers 1880)
+
-
-
+
Converse Piezoelectric effect(actuator)
A change in dimensions ofa material due to theApplication of an electric field
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Polarisation of a piezoelectric material
Subject a piezoelectric material to a large voltage near the Curie temperaturethen the dipoles align
Curie temperature is the temperature above which the material loses itspiezoelectric property
dipole
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Piezoelectric actuators and sensors
Property PZT (PC5H) type VI PVDF
Curie temperature (C)
Longitudinal Youngs
modulus (Nm-2)
Piezoelectric constant
d31 (mV-1)
Max E-field (Vm-1)
212
93 10959.5 10
100
12
212 10
12
23 10
60.4 10 640 10
Piezoceramic (PZT) Relatively stiff Large piezoelectric constant
Piezopolymer (PVDF) Relatively flexible
Large voltage capacity
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Direct piezoelectric effect (sensor)(element in free-space)
+
-
F
AStress ( )T F A
33Generated field ( )E g T
33Charge ( )q d F
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Indirect piezoelectric effect (actuator)(element in free-space)
L
H
W
+
-
L L
H H
W W
+
-
H H
L LW WP
oling
axis
31
Ld E
L
32
Wd E
W
33strain ( )
V
S d H
Electric field ( )V
EH
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Conventional use of piezoelectric material in transducers
Used in accelerometers and force transducers. Generates an electricalcharge proportional to strain
Typical materials are polycystalline materials, e.g. barium titanate and
lead zirconate
Modes of deformation
ceramic
+
-
compression
+
-
shear
ceramic+
-
elongation
ceramic
qpiezoelectriccapacitance
Equivalent electrical circuit
Charge devices have a low capacitance(high impedance) and hence requirepre-amp with a very high impedance
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Practical Accelerometer Designs
Advantages
Few Parts / Easy to Fabricate
High Resonant Frequency
Compression Type
Disadvantages
Very high thermal transient
sensitivity
High base strain sensitivity
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Practical Accelerometer Designs
Advantages Few Parts
Small Size and Low Profile
Low Base Strain Sensitivity
Low Thermal Transient Sensitivity
Bending Type
Disadvantages Low Resonant Frequency
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Practical Accelerometer Designs
Advantages Low Thermal Transient Sensitivity
Very Low Base Strain Sensitivity
Small Size
Disadvantages ???
Shear Type
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Force Transducer
Principle of Operation
Force, F
Material ofcross-sectional area Aand Youngs modulus E
The stress is related to the
applied force by
F
A
and the stress is related
to the strain by
ES
Therefore the strain is related to the force byF
S
EA
As the electrical output is proportional to the strain, and the strain isproportional to the applied force, then the electrical output is proportionalTo the applied force
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Piezoelectric Force Transducer
Preload stud
Piezoelectric element
Can be used in tension and compression
Fragile to moments
Electrical output
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One-dimensional piezoelectric equations
Conductiveelectrodes
Piezoelectricmaterial ofthickness t
The piezoelectric equations are
3 31 3 33 3D d T E
113 3 33 3ES S T d E
mechanical electrical
strainS
stressT
electric fieldE V t
piezoelectric constantd
1 1 modulus of elasticityES Y
permittivity
dielectric displacment (charge area)D
+
-
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Piezoelectric elements as strain sensors
The piezoelectric equations are
3 31 1 33 3D d T E
111 3 31 3ES S T d E
1
3
q cV
is the capacitance of the sensorc
is the voltage generatedV
is the charge generatedq
V
C
Voltage generator
C
q
Charge generator
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Flexural (bending) vibration sensor
l
31 10
A
q d T dA
b
which evaluates to
31 ( ) (0)p pq d w Y b w l w
pwbw
If a flexural wavelength is much greater than l, then
31
p
p
b
wqd Y bl
S w
x
w
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Longitudinal vibration sensor
l
31 10
A
q d T dA
b
which evaluates to
31 ( ) (0)pq d Y b u l u If a longitudinal wavelength is much greater than l, then
31 p
qd Y bl
S
u
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2-dimensional sensor
plate
PVDF sensor
1
3 2
Recall for the one-dimensional case (for no applied field)
3 31 1 31 1 1D d T d Y S
For the two-dimensional case
31 2 32 1 13 32 1 31
2 2
2
111
D dY S d Yd d S
1 2where and are Poisson's ratios
Thus the electrical output is proportional to both S1 and S2
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Strain or Strain-rate measurement
+
-
R
V
Piezoelectric sensor connected to a current amplifier measures strain rate
+
-
C
V
Piezoelectric sensor connected to a charge amplifier measures strain
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Piezoelectric actuators
h
h
V
Single element
33Free strain,h V
dh h
Connected electrically in parallel andmechanically in series
33For a stack of disks,h V
n n dh h
Stack
h
h
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Coupling an Actuator to a structure
Actuator
Structure
ak
sk
sx
bF
sF
The piezoelectric equation is
33a
a
a a
T VS d
Y l
is the actuator straina a aS x lis the actuator stressaT
is the actuator Young's modulusaY
is the actuator lengthal
is the applied voltageV
Set 0 to get the blocked forceaS
Now andb a aa aa a
F Y AT k
A l
where actuator cross-sectional area
and actuator longitudinal stiffness
a
a
A
k
33So b aF d k V
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Coupling an Actuator to a structure
Actuator
Structure
ak
sk
sx
bF
sF
1Now
1s b
a
s
F Fk
k
33
So1
as
a
s
d kF Vk
k
33and
1s
s
a
dx V
k
k
displacement
force
Increasing voltagebF
(free)sx
Max power transfer
a sk k
If then will be smalls a sk k x
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Flat piezoelectric actuators
High displacement Low force actuators
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Some piezoelectric actuator configurations
Fans
Bimorphs (benders)
Stacks
Curved actuators
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Amplified piezoelectric actuators
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PZT actuators for beam vibration
beam
PZT element
PZT element
actuators driven out-of-phasebending vibrationinduced
beam
PZT element
PZT element
actuators driven in-phaselongitudinal vibrationinduced
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PZT actuators for beam vibration
beam
PZT element
PZT element
actuators driven out-of-phasebending vibrationinduced
M M
22
1
6 12 8
b b bt Y b T MT T
p
b
tT
t
b b b
p p p
Y b t
Y b t 31
p
Vd
t
Ratio ofthicknesses
Ratio ofstiffnesses
Free strain
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PZT actuators for beam vibration
2
6b b bt Y bF
b b b
p p p
Y b t
Y b t 31
p
Vd
t
Ratio ofstiffnesses
Free strain
beam
PZT element
PZT element
actuators driven in-phaselongitudinal vibrationinduced
FF
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Piezoceramic Elements
The two piezoelectric elements can be excited:
in phase to generate longitudinal vibration out-of-phase to generate flexural vibration
FF
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LONGITUDINAL VIBRATION
Piezoceramic Elements
FLEXURAL VIBRATION
Works best at high frequencies when the length of the actuator is equal to half a wavelength
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Excitation of a plate
plate
PZT patch
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Controllability and Observability
Example - beam
Mode 1 Mode 2 Mode 3
A
A sensorpositioned at point A will observemodes 1 and 2 but not mode 3
An actuatorpositioned at point A can controlmodes 1 and 2 but not mode 3
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Shaped piezoelectric film bonded to abeam structure
Simply supportedCantilever
Mode 1
Mode 2
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Modal filters
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Modal filters experimental results
Point accelerance
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Modal filters experimental results
Mode 1 filter Mode 2 filter
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Shunted Piezoelectric Absorber
1n
LC
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The Smart Ski (ACX.com)
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The Smart Ski (ACX.com)
Piezo patches
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The Smart Bat (ACX.com)
Second bending mode (670 Hz)
Third bending mode (1252 Hz)
Fundamental bending mode (215 Hz)
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The Smart Bat (ACX.com)
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Electro / Magneto -Rheological Fluids
micron sized, polarizable particles in oil
What do they do?
Newtonian in absence of applied field
develop yield strength when field applied
What are they ?
ER fluids respond to electric field
MR fluids respond to magnetic field
M t Rh l i l Fl id A li ti
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Magneto-Rheological Fluids - Applications
Ride Mode Switch
MR Fluid Damper
Sensor/Controller
M t Rh l i l Fl id A li ti
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Magneto-Rheological Fluids - Applications
Seat
Sensor
Controller
SpringControllable shock absorber
Road input
Acceptable motion transmitted
Off-stateRandompattern
On-StateOrderedpattern
Single Degree of Freedom System -Heavy Duty Vehicle Suspended Seats
off-highway, construction and agricultural vehicles
class 8 trucks ("eighteen wheelers") buses
Change in Stiffness shape memory alloys
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Change in Stiffness shape memory alloys
When the memory metal is pulled apart, it deforms. When placed into hot water, themetal "remembers" its original shape, and again forms the letters ICE.
Memory metal is anickel-titanium alloy
This piece has been formedinto the letters ICE, heat-
treated, and cooled.
Change in Stiffness shape memory alloys
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Change in Stiffness shape memory alloys
Soft
Stiff
Stiffness increases
With temperature
Ch i Stiff h ll
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Change in Stiffness shape memory alloys
Material whose Youngs modulus changes with temperature
Composite panel
}
Embedded SMA wires
Activating the fibres (by passing a current through them and hencecausing a temperature change) causes local stiffening and hence thenatural frequencies can be shifted to avoid troublesomeexcitation frequencies.
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Active Control of HelicopterVibrations/Structure-Borne Sound
Active control of rotorvibrations at about 18 Hz
Active control of gearboxnoise at about 500 Hz
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Application of ACSR to the Westland/AgustaEH101 Helicopter.
Active Control of Structural Response(Westlands, 1989)
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Active Control of Rotor Vibration
rotor
fuselage
Hydraulic actuators
Active control at rotor bladepassing frequency atabout 18 Hz + harmonics
Feedforward control
ACSR A t t I t ll ti f P d ti
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ACSR - Actuator Installation for ProductionEH101
sa
Steel downtube
CompositeCompliantElement
TitaniumLug End
ACSR Actuator
Hydraulic Supply
Main GearboxInstallation
SupportStrut/ACSRActuator
Assembly
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Magnetostrictive actuators
polepiece
polepiece
magnet
Solenoidcoil
Terfenol-D rod
Terfenol-D
Ter Terbium
Fe Iron
Nol Naval Ordinance Lab
D Dysprosium
Needs to be pre-stressedfor good operation
Low voltages required Similar performance to PZT
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Active Control of Gearbox Noise
rotor
fuselage
Active control at gear meshing frequencyat about 500 Hz + harmonics
Feedforward control
magnetostrictiveactuators
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Active Control of Gearbox Noise
Kinetic energy of receiving blockmeasured using 6 accelerometers
Without control
With controlReal-time control
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Active Control of Aircraft Noise
Original Equipment- 4Tuned VibrationAbsorbers per engine
Actuators 2 perengine
Active Control of Aircraft Noise (Lord
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Active Control of Aircraft Noise (LordCorporation)
Controller 1 in cargo bay12x8x3.5
5 lbsAmplifier 1 in cargo bay 11x18x3.5 17 lbs
Actuators 4 2 on each yoke 4.5diax5 15 lbs
Microphones 8 behind trim incorporated into actuator harness
Wire Harness from cockpit, overhead through cabin, to pylon 22 lbs
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Active Control of Aircraft Noise
NVXOFF
NVXON
Attenuation is up to 8dBC
SPL
(dBC)
Active Control of Aircraft Noise
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Active Control of Aircraft Noise
NVX Systems reduce noise by reducing vibration
Controller OnController Off
0 50 100 150 200 250-80
-60
-40
-20
0
Frequency (Hz)
Typical Vibration Reduction with NVXDC9 Ground Test @ 75% Power
~6.3 dB
~25.5 dB
N1 N2
Data measured on pylon
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Active magnetic bearings (SKF)
bearing sensors
controller
Active Vibration isolation demonstration
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Active Vibration isolation demonstration
Active Vibration isolation demonstration
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Active Vibration isolation demonstration
Concluding Remarks
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Concluding Remarks
Actuators and Sensors are required for all ActiveControl Systems:
Actuators usedHydraulicPiezoelectric (PZT)
ElectrodynamicMagnetostrictive
Sensors usedAccelerometersForce gaugesPVDFPZT
References
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References
C.R. FULLER, S.J. ELLIOTT and P.A. NELSON 1996. Active
Control of Vibration. Academic Press
P.A. NELSON and S.J. ELLIOTT 1992. Active Control ofSound. Academic Press
C.H. HANSEN and S.D. SNYDER 1997 Active Control ofNoise and Vibration. E & F.N. Spon
R.L. CLARK, W.R. SAUNDERS and G.P. GIBBS 1998.Adaptive Structures. Wiley Interscience
A.V. SRINIVASAN and D. MICHAEL McFARLAND 2001.Smart Structures. Cambridge University Press
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