Recent Studies of Adaptive Tuned

Vibration Absorbers/Neutralizers
Lari Kela1
e-mail: lari.kela@oulu.fi
Pekka Vähäoja
Department of Mechanical Engineering,
University of Oulu,
P.O. Box 4200,
FI-90014 Oulu, Finland
This article gathers together the most recent articles of adjustable tuned vibration ab-
sorbers. The tuned vibration absorber was invented over 100 years ago, and its adjust-
ability is also already well-known. However, concentration of this review was only on
articles published since the year 2000 in peer reviewed journals, except from certain
elementary books and some previous review articles in order to keep up with the current
events in this broad field. First a brief inspection of the theory of tuned vibration absorb-
ers (TVAs) is presented. After that mechanical TVAs are presented more carefully. In the
same chapter the following are also handled: virtual absorbers, absorbers with adjust-
able damping, and Helmholtz resonators. Own chapter is allocated for multiple TVAs
whose idea is to replace adjustability by adding several TVAs to primary system to damp
out vibrations in the wide frequency band. The review section is completed by presenting
smart material TVAs, which include, e.g., piezoelectric materials, shape-memory alloys,
electrorheological and magnetorheological materials of fluids. An adjustable Helmholtz
resonator in a low pressure hydraulic system is presented in Sec. 5. Experiments verify
the efficiency of the damping character of the adjustable Helmholtz resonator whose
resonant frequency can be varied. 关DOI: 10.1115/1.3183639兴

Keywords: tuned vibration absorber, Helmholtz resonator, multiple tuned vibration

absorber, smart materials

1 Introduction
Frahm 关1兴 invented the theory of undamped and damped dy-
namic vibration absorber 共DVA兲, also called tuned vibration ab-
sorber 共TVA兲, which can be used to damp vibrations of structures,
either globally for rigid structures or locally for flexible structures
关2兴. TVA consists of a mass, a spring, and a damper, and it is
attached to a primary system to absorb the primary system’s vi-
brations, see Fig. 1. Du et al. 关3兴 noted that TVA should be at-
tached at the location of maximum vibration in the primary sys-
tem because TVA absorbs vibratory energy. The damper of TVA is
neglected, when TVA is required to damp a certain frequency of
the primary system’s vibration 共tonal tuning兲. If the damper is
included in TVA, the TVA damps the primary system’s vibrations
over a wide range of frequencies 共modal tuning兲 关4兴. However, the
response of the primary system at the natural frequency of the
vibration absorber will no longer be zero, if damping is added to
the system. The TVA was noticed to be an efficient damper, and
easier to realize than the variations in the primary system, e.g.,
mass variation or the change of spring constant of the system.
TVAs are presented thoroughly in many elementary books on vi-
brations, e.g., by Beards 关5兴, den Hartog 关6兴, Rao 关7兴, and Thom-
son 关8兴.
The normalized amplitude of primary system 共m兲 can be calcu-
lated by
xk
F0
= 冑 共2␨r兲2 + 共␤2 − r2兲2
共1 − 共1 + ␮兲r2兲2共2␨r兲2 + 共共1 − r2兲共␤2 − r2兲 − ␮␤2r2兲2
共1兲
where
␻a ma
␤= , and ␮ =
␻p m
共Ref. 关9兴兲.
As noted from Eq. 共1兲 the natural frequency of the primary
system, ␻ p, can be varied by changing the stiffness 共k兲 or mass
共m兲 of the primary system. Another means is to add the TVA and
to change its stiffness 共ka兲 or mass 共ma兲 so that the natural fre-
quency of the whole system varies. Naturally, the stiffness or mass
of the primary system is complicated to vary in the existing ma-
chine, whereas the absorber is easy to install to the primary sys-
tem, and its stiffness can be varied so that the natural frequency of
the whole system varies. Another means to change natural fre-
quency of the whole system would be to vary the mass of TVA.
However, as far as the authors know, variable mass has not been
used, albeit even a water bucket can be a variable TVA if the water
line is varied.
The main reason for adjustability of TVAs is the narrow effec-
tive frequency area of TVAs, as presented in elementary books
and many studies of the subject. This means that the TVA looses
its efficient damping character easily and in the worst case it can
increase vibrations in the primary system and cause more damage.
Thus, the means to widen the narrow frequency range of TVA or
just to change the resonant frequency of TVA has been studied
intensively because the operating conditions of the primary sys-
tem and/or system parameters may change over time 关9兴. Adjust-
able TVAs are also applied to machines which operate near the
natural frequency of the primary system or machines, which must
operate without disturbing vibrations over a wide frequency
range. In those cases, the variance of natural frequency of the
TVA is used to assure more stabile or vibration-free working for
machines even in the resonance frequency of the primary system.
There are many possibilities to produce adjustable tuned vibra-

␻p = 冑 k
m
, ␻a = 冑 ka
ma
, ␰=
ca
2ma␻ p
, r=
␻
␻p
tion absorbers 共ATVAs兲 to broaden the narrow operation range of
TVA or just to change the resonant frequency of the TVA. As
mentioned previously, adjustability can be made by changing stiff-
ness of the absorber or its mass, where the variation of stiffness is
1
Corresponding author. more studied. Different material choices are one possible way to
Published online August 5, 2009. Transmitted by Assoc. Editor Jorge Ambrosio. adapt TVAs, e.g., by using of shape-memory alloys, magnetorheo-

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Fig. 1 Primary system „m… with damped tuned vibration ab-
sorber „ma…, reproduced from Ref. †9‡
logical 共MR兲 and electrorheological 共ER兲 materials, viscoelastic
materials and piezoelectric materials. Other means to change the
stiffness of the TVA are to change the number of active coils of
mechanical spring, to change the length of threaded flexible rods
by stepping motors, to change the shape of a flexible beam, to
change the material property, to change the curvature of two par-
allel beams, to change the effective length of a flexible beam by a
moving support, or to vary the strength of electromagnetic force
关10,11兴.
As presented, the TVA is an over 100 year old invention, and its
adjustability has also been widely studied by various researchers.
Thus the amount of studies and articles of the field is so huge that
it has to be limited somehow. To assure the novelty of recent
study, only papers presented in journals recently, in this century,
have been chosen to this study. Thus, a lot of valuable older pa-
pers and conference publications are omitted albeit they would
otherwise cover the field of adjustable tuned vibration absorbers.
Previous, comprehensive review articles are written, e.g., by
Soong and Spencer 关12兴 and by Jalili 关13兴. Soong and Spencer
关12兴 presented basic concepts of passive and active vibration con-
trol systems with application remarks. The handled passive damp-
ers are metallic yield dampers, viscoelastic dampers, friction
dampers, viscous fluid dampers, and tuned mass dampers. Active,
hybrid, semi-active, and semi-active controllable dampers are also
presented. Their application examples are in the field of civil en-
gineering. Jalili 关13兴 reviewed the theory of semi-active vibration
control devices, for instance, from the design and implementation
point of view. Their development and control systems are also
presented. Adjustable semi-active dampers are handled in detail,
i.e., 共1兲 variable rate dampers capable of changing the amount of
damping in the semi-active unit, e.g., ER and MR dampers, 共2兲
variable rate spring elements which have time-varying stiffness
and 3兲 other variable rate dampers, such as piezoelectric devices,
smart material dampers, and hybrid designs. Certain older review
articles, which fill the gap between this review study and the
detailed article of Sun et al. 关14兴 in 1995, can also be found. Sims
et al. 关15兴 made a review of vibration controlling by means of
using ER and MR fluids. Lesieutre 关16兴 presented vibration damp-
ing by shunted piezoelectric materials. The review article of Sy-
mans and Constantinou 关17兴 handled semi-active vibration control
methods for seismic protection of structures. They studied, e.g.,
semi-active stiffness control devices, ER and MR dampers, fric-
tion control devices, fluid viscous dampers, tuned mass damper,
and tuned liquid dampers.
An adjustable Helmholtz resonator and its damping efficiency
in a low pressure hydraulic system are presented in the end of this
study. Figure 2 presents a mechano-acoustic analogy of a Helm-
holtz resonator, wherein the neck of Helmholtz resonator corre-
sponds to the mass of the TVA, and the cavity corresponds to the
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Fig. 2 Mechano-acoustic analogy of a Helmholtz resonator
spring of the TVA. Helmholtz resonator is an efficient damper at
the certain frequency in acoustics, just as the TVA is in mechanics,
so that adjustability of the resonator is required if the frequency of
disturbing noise varies. The resonant frequency of the Helmholtz
resonator can be varied by changing the length or the diameter of
the neck, which corresponds to the change in mass of the TVA.
The spring constant of the Helmholtz resonator can be varied by
changing the length or the diameter of the cavity. Different types
of Helmholtz resonators are widely studied in acoustics, but
Helmholtz resonators can be applied to hydraulics as presented in
the end of this study because noise in air and pulsating pressure in
fluid have similar waveform.
2 Traditional Tuned Vibration Absorbers and Helm-
holtz Resonators
TVAs are traditionally categorized into four classes: passive,
active, hybrid, and semi-active absorbers. Nowadays, smart mate-
rials and adjustable dampers have confused the traditional classi-
fication. Resistive or reactive devices, which absorb vibration
energy or load the transmission path of the harmful vibrations, are
passive absorbers. Active dampers feed additional energy to the
system to absorb its harmful vibrations, and at least a part of the
actuator’s force is used directly to damp external force 关11兴. Hy-
brid absorbers are a combination of active and passive absorbers,
and semi-active absorbers are passive absorbers, which are ad-
justed to optimize their effectiveness.
2.1 Passive tuned vibration absorbers. A passive tuned vi-
bration absorber 共PTVA兲 very effectively absorbs the vibrations
caused by different types of forces 关18兴, but the effective tuning
area is narrow 关10兴. Wu and Shao 关11兴 used a virtual passive
approach to widen a narrow frequency range of the TVA. The
stiffness, inertia, and/or damping coefficient of the virtual TVA are
easy to adjust by varying the parameters of the virtual element by
control algorithms. The virtual element can be, e.g., a servomotor
or a linear actuator 关11兴. They have done numerical simulations
for the adaptive undamped and damped vibration absorber and
experiments with damped adaptive absorber to obtain a maximum
adaptation rate for the virtual stiffness 关11兴.
2.2 Active Vibration Absorbers. Active dampers are con-
trolled by different kinds of algorithms, and the disadvantage of
the active absorbers is their control, which may add vibrations and
create more damages if the control fails 关19兴. Arfiadi and Hadi
关20兴 studied optimal feedback controllers utilizing H2 and H⬁
norms in active TVAs using numerical examples. They also pre-
sented the categorization of typical control algorithms of active
TVAs used in civil engineering structures. In addition to H2 and
H⬁ norms, instantaneous optimal control, linear quadratic regula-
tor, sliding mode control, neural-controller, and fuzzy control have
been used in these applications. Actuators of active TVAs can be
constructed of some of the following devices: mechanical mecha-
nisms, piezoelectric actuators, pneumatic springs, cylinders, elec-
tromagnetic motors, and electrical linear motors 关21兴. The last two
of them have certain benefits, e.g., fast response and good preci-
sion, but their control can be difficult and electromagnetic motors
also need a gear in order to convert rotational motion into trans-
Transactions of the ASME
 lational motion. Chen et al. 关21兴 proposed the use of voice coil
motor 共VCM兲 to be used as an actuator in active TVA. The VCM
is a direct drive motor having a permanent magnetic field and coil
winding, thus, the produced force is proportional to the coil cur-
rent. The applied construction was effectively used to damp harm-
ful vibrations. Gao and Cheng 关22兴 installed two THUNDER ac-
tuators in a clamshell configuration. THUNDER is an acronym for
“thin layer composite unimorph ferroelectric driver.” Their imple-
mentation enables two free edges of a THUNDER actuator so that
its working condition is improved. They have developed a simple
model to describe the mechanical and electrical properties of the
actuator. Results of model and experiments were noted to be simi-
lar when compared with each other. If actuator was used pas-
sively, experimental and numerical results matched well in a fre-
quency area of 0–200 Hz. If actuator was used in the active-mode,
experimental and numerical results matched quite well in fre-
quency areas of 0–150 Hz and over 500 Hz. Thus, their new
actuator can be used in a low frequency active vibration isolation
wherein larger displacement actuators are normally used 关22兴.
2.3 Hybrid Vibration Absorbers. A hybrid vibration ab-
sorber is consisted when an additional actuation force is added to
a TVA. The performance of hybrid vibration absorber depends on
its actuation force 关23兴. Normally, a simple hybrid vibration ab-
sorber absorbs vibration at a certain frequency. Yuan 关23兴 widened
the frequency range by adding n pieces of simple hybrid vibration
absorbers to the system. Thus, it absorbs vibrations at a certain
frequency range. Simple hybrid vibration absorber means a hybrid
vibration absorber, which uses sensor signals directly without re-
covering modal states 关23兴. Hill and Snyder 关24兴 presented their
solution of the combination of the active and passive device. Their
basic absorber design is passive into which control has been added
to make tuning possible. The designed absorber is of a dual mass
type consisting of two rods supporting two equal masses on either
side of a center section attached to the target structure. The ab-
sorber resonances are changed by moving masses within limits set
by given parameters. The main application area of this absorber
design could be in transformer noise control hence it works in the
frequency range, including the main electric frequency of 50 Hz
and its multiples at 100 Hz, 200 Hz, and 300 Hz. Hill and Snyder
关24兴 did experiments both in a laboratory and on-site with a real
transformer. Wu et al. 关25兴 presented a combination of a passive
resonator and a linear actuator, which constitutes a vibration con-
trol method characteristic frequency of which can be adjusted by a
software. They have tested their hybrid TVA 共a mechanical spring
and linear actuator in parallel兲 numerically and experimentally,
and it is noted to be an effective method 关25兴. Moon et al. 关26兴
developed a hybrid TVA for controlling structural vibrations.
Their damper was based on the linear motor principle, and the
developed damper had relatively simple structure and low main-
tenance costs when compared with hydraulic and electric motor
driving mass dampers. The linear motor damper could move the
auxiliary damper mass of 1500 kg with a ⫾250 mm max stroke.
This damper was controlled by H⬁ optimal method and first two
vibration modes of the structure could be effectively wiped out.
Du et al. 关3兴 studied the effect of TVAs and hybrid tuned vibration
absorbers 共HTVAs兲 to improve the dynamical behavior of the vi-
bration isolator. In their study the TVA or HTVA is directly em-
bedded into the isolator to attenuate the internal resonances, and
the isolator is a continuous system with distributed mass between
a rigid mass and a rigid foundation. Numerical simulations have
been done to optimize the TVA parameters in the model of the
passive TVA-enhanced isolator and experiments have been done
to demonstrate the performance of the passive and hybrid TVA.
TVA was constructed of two masses. The first mass includes a
permanent magnet and another includes the voice coil. Thus, the
TVA can act as either a PTVA or a HTVA by turning the control
off or on. PTVA-enhanced isolator was noted to reduce both the
force transmissibility and the radiated acoustic power signifi-
cantly. The HTVA with adaptive Filtered-X least mean square
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共LMS兲 feedforward control algorithm was noted to offer signifi-
cant broadband improvement. Carneal et al. 关2兴 presented a “V”
type adaptive tuned vibration absorber 共VATVA兲, wherein a step-
per motor acts as its active mass. The resonant frequency of the
VATVA is controlled by changing the flexural stiffness of the sup-
porting shafts by moving the supporting ends by the stepper mo-
tor. They did experiments wherein they used VATVA to reduce the
sound radiated by a finite simply supported plate excited by a
single frequency harmonic disturbance. They measured plate flex-
ural vibrations by a laser vibrometer at 100 points on the plate
surface. The VATVA was noted to be an efficient damper when it
is well-tuned. However, it can work as an amplifier when untuned.
Kidner and Brennan 关27兴 presented an “ideal” neutralizer, whose
damping and stiffness can be adjusted accurately so that damping
can take any value. They have simulated their device, which
maintained the tuned condition and reached 20–30 dB attenuation
due to damping control. In experiments they used a two beam
system, whose stiffness was varied by altering the geometry by a
stepper motor and screw thread. The damping was removed by
piezoceramic elements. They managed to attenuate significantly
vibrations of the host structure, but unlike simulations, the host
structure vibration level did not converge on its minimum value
during the transient phase of the excitation. However, they proved
that combined stiffness and damping control is at least beneficial
关27兴. Kidner and Brennan 关28兴 investigated the effect of different
beam geometries to change the resonant frequency of the beam-
like neutralizer. The beamlike neutralizer, whose stiffness is con-
trolled by changing the distance between beams, can be modeled
as a two lumped-mass model. Four different beam geometries
have been studied experimentally and numerically: parallel, trian-
gular, pinned, and clamped. They have reached good agreement
between experiments and models with clamped and pinned beam
configurations, but the experimental results differ from models
with triangular and parallel configurations. However, they have
noted that stiffness can be changed notably even by small changes
in beam separations. They have also studied experimentally and
computer-aided real-time control to change the stiffness of the
beamlike neutralizer. They have compared fuzzy logic controller
with a simple proportional controller and noted that the fuzzy
logic controller was very effective control method 关28兴. Keye et
al. 关29兴 presented a tunable vibration absorber, whose resonant
frequency can be varied by changing the curves of the leaf
springs. Thus, the device contains an oscillating mass, which is
attached between a pair of leaf springs in symmetrical arrange-
ments. Piezo-electric stack actuator forces an axial pressure,
which alters the leaf springs effective bending stiffness. The high-
est measured natural frequency of their device was 106 Hz and the
lowest one was 99 Hz. The device was also noted to have good
frequency linearity with respect to actuator voltage, which was
varied between 0 V and 112 V during experiments. They reached
a correlation of experimental and analytical results. Other advan-
tages of the device were static control signal and low power con-
sumption 关29兴.
2.4 Semi-Active Tuned Vibration Absorbers. Setareh
关30,31兴 presented in his papers a ground hook tuned mass damp-
ers 共GHTMD兲 which belong to the class of semi-active tuned
vibration absorbers. The damping or stiffness of semi-active TVAs
can be varied 关31兴, and they differ from original TVAs by a vari-
able damper, which is between primary system and vibration ab-
sorber. This is not exactly ATVA because only damping or level of
amplitudes can be controlled, not the natural frequencies of the
system. However, the damping factor can vary, e.g., with time, so
that a vibrating system with GHTMD is a nonlinear dynamic sys-
tem. Setareh 关30,31兴 did numerical studies for the GHTMD.
Setareh 关30兴 noted that the primary system has to be lightly
damped so that the TVA worked effectively. Also Koo et al. 关32兴
studied a dynamic performance of a damping controlled semi-
active TVA. Damping control means that the damper between the
main body and absorber is replaced with a controllable damping
NOVEMBER 2009, Vol. 62 / 060801-3
 element. They have simulated their model to reach the best per-
formance, and they noted that nearly 21% more reduction in the
maximum vibration levels over the passive TVA can be reached
by their device 关32兴. Pinkaew and Fujino 关33兴 studied control
effectiveness of a semi-active TVA with variable damping under
harmonic excitation. They observed that when excitation is har-
monic, the ability of semi-active TVA to damp vibration is signifi-
cantly better than that of a traditional passive TVA. However, the
semi-active TVA demands amplitude high enough with proper
phase in order to work as an efficient damper. But, when the
situation is correct, the semi-active TVA can be very flexible and
efficient. The semi-active TVA does not introduce energy to the
system, which can be seen as a drawback when compared with the
active TVA, but the semi-active TVA works better than passive
TVA and is cheaper than active TVA. Jabbari and Bobrow 关34兴
presented a device, which contains a piston, a double acting cyl-
inder, and a valve. The valve connects both sides of the cylinder.
If the valve is closed, the fluid is compressed by the piston and the
stiffness of the system increases. If the valve is open, the fluid can
exit and the stiffness of the system decreases. This characteristic
enables device to be used as a semi-active vibration absorber with
two stiffness values, soft 共valve open兲, and rigid 共valve closed兲.
However, they have focused on resetting characteristic of the de-
vice. Resetting technique means that the valve is opened only to
eliminate pressure difference across the piston. Thus, the device
has a high stiffness at all times, only the unstretched length of the
spring is reset. They have noted that the device acts like a linear
spring with unstretched length, which yields excellent perfor-
mance. The device is easy to construct, and it can be installed both
into new structures or existing structures 关34兴. An innovative
semi-active variable stiffness tuned vibration absorber 共SAIVS-
TVA兲 was developed for wind response control of tall buildings
by Varadarajan and Nagarajaiah 关35兴. The developed SAIVS-TVA
can vary its stiffness continuously and tune its natural frequency
in real time. It is also robust against stiffness variations in the
building. They used empirical mode decomposition and Hilbert
transform based control algorithm for frequency control. As good
performance as that with active TVA can be achieved by the
SAIVS-TVA, but with significantly smaller power consumption.
They continued the work with the SAIVS-TVA in their later ar-
ticle 关36兴 in which they used short time Fourier transform as a
control algorithm.
2.5 Helmholtz Resonators. The principle of Helmholtz reso-
nators is analog of the tuned vibration absorbers, and a variable-
volume Helmholtz resonator is very similar to semi-active ab-
sorber in design and implementation 关37兴. Thus, the attenuation
range over which a Helmholtz resonator is effective is relatively
narrow 关38兴. Thus, any variation in the frequency, pressure, den-
sity, or temperature that changes the sound velocity of the noise
will influence the effectiveness of the resonator. However, this
characteristic can be compensated for with an adjustable resona-
tor, as many researchers have already done in their studies. The
means of controlling the resonant frequency of a Helmholtz reso-
nator are adjusting the resonator neck dimensions, cavity volume,
both, or include an active actuator to the resonator. For example,
Doria 关39兴 and Kostek and Franchek 关40兴 did tests with a resona-
tor whose cavity volume is controlled. Note that Doria 关39兴 used a
square cross-sectional cavity and controlled the neck length with
modular elements. Estève and co-worker 关41,42兴 also tested an
adjustable opening resonator, which controls the resonant fre-
quency by varying the opening diameter of the neck with an ad-
justable iris diaphragm.
3 Multiple Tuned Vibration Absorbers
Multiple tuned vibration absorber is produced by adding many
TVAs to the primary system 关43兴, and multidegree-of freedom
TVAs can be used to damp several frequencies of a primary sys-
tem 关44兴. Li 关43兴 studied multiple TVAs, whose stiffness and
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damping are constants and mass of each absorber is varied. He has
searched for the optimum parameters of the multiple TVAs by
minimizing the maximum value of the dynamic magnification fac-
tor 共DMF兲 of the primary system. Only numerical searching meth-
ods have been used, and comparisons between models have been
done but experiments are neglected 关43,45兴. Li 关43兴 used five
models available for multiple TVAs, so that five different types of
combination of damping coefficient, damping ratio, mass, and
stiffness were used. He used acceleration DMF to investigate op-
timum characteristics of the five multiple TVAs available in con-
trolling the absolute acceleration response of the primary system
关43兴. Li and Ni 关46兴 studied nonuniformly distributed multiple
TVAs numerically. They have a used gradient-based algorithm to
optimize multiple TVAs’ parameters, but they neglected experi-
ments. Hoang and Warnitchai 关47兴 developed a method of design-
ing multiple tuned mass dampers 共multiple TMDs兲 to minimize
harmful vibrations of linear structures. In their method parameters
of TMDs are treated as unconstrained optimization variables, and
numerical errors are avoided, and convergence is accelerated by
analytical expressions of the quadratic performance function and
by evaluating the gradient explicitly. The method can handle a
large number of design variables effectively without any restric-
tions. They have used a method to design a multiple TMDs for
single-degree-of-freedom lumped-mass structures with a wide-
band excitation. Because the optimal design of multiple TMDs
based on the assumption that all parameters of the system are
accurately estimated, which is not possible in real applications,
they have also presented a robustness design of multiple TMDs.
This method takes the presence of uncertainties in the parameters
of the system into account. Experiments are neglected, but they
have done numerical simulations for both models. The new
method showed that the most effective configuration of TMDs has
distributed natural frequencies and distinct damping ratios at low
damping level. Correspondingly, in the presence of uncertainties
in the structural properties, the system was made more robust by
increasing the TMD damping ratios along with expanding the
TMD frequency range. If TMD parameters are uncertain, it is
necessary to design TMDs for narrower frequency range and for
higher damping ratios 关47兴.
Chen and Wu 关48兴 studied experimentally multiple tuned mass
dampers to reduce seismic responses of a three-storey steel frame
structure. They have done experiments by a 1/4-scale three-storey
building structure, which lay in the shake table. The table was
shaken by white noise and by scaled earthquake records so that
the effectiveness of multiple TMD system could be verified. They
designed and manufactured several TMD systems. They also did
numerical simulations to verify the accuracy of the identified pa-
rameters of the structure and dampers, and they noted that numeri-
cal simulations can accurately predict the responses of the uncon-
trolled and TMD- or multiple TMD–controlled structures. Both
TMD- and multiple TMD systems were noted to reduce effec-
tively structural responses under the white-noise excitation, but
real earthquake excitations may not lead to minimal structural
response. However, the multiple TMD system used in the test was
superior to conventional single-mode TMD in acceleration control
under different excitations, although the multiple TMD was sub-
optimal in terms of frequency, damping, and mass 关48兴.
Grissom et al. 关49兴 presented a broadband vibration absorber
共BBVA兲, which is constructed by assembling flexible multiple
single-beam absorber rigidly to the rigid base. Mass is attached at
the end of the flexible beam, and the whole system is fixed to the
base structure at the one point so that the six degrees of freedom
at the fixed point are shared with the base structure. They have
done numerical calculations and experiments to verify the reduced
eigenvalue method presented in their paper with a four-beam ab-
sorber, which is constructed by attaching four flexible multiple
single-beam absorber rigidly to the rigid base to the shape of
symmetry cross. Numerical calculations have been done by NAS-
TRAN 共finite element analysis 共FEA兲 program originally developed
Transactions of the ASME
 by NASA 关50兴兲, and they were based on a full finite element
model. The results of the eigenvalue method approach, experi-
ments, and numerical calculation agreed with each other when the
rotary inertia of the absorber was included. Some deviations were
caused by variations in absorber material properties 关49兴.
Yuan 关23兴 simulated a system of multiple hybrid vibration ab-
sorbers, but experiments have been ignored. Griffin et al. 关38兴
used coupled resonators to widen the bandwidth of attenuation.
The properties of the coupling member affect the results of trans-
mission loss 关38兴. Nagarajaiah and Sonmez 关51兴 presented use of
single and multiple tuned mass dampers for vibration control of
multistorey buildings under different types of excitation. They de-
veloped a semi-active control algorithm, which uses real-time fre-
quency tracking of excitation by short time Fourier transform.
Performance of both a single semi-active variable stiffness TMD
and multiple corresponding TMDs were evaluated and compared
with corresponding passive vibration absorbers. If excitation sig-
nals are harmonic and the excitation frequency is known or can be
tracked very accurately, the single TMD has the least response of
the main structure when compared with multiple TMDs. Practi-
cally speaking this is not possible since the excitation frequency is
unknown or its tracking has errors and delays. On the other hand,
multiple TMDs at a small frequency range are more robust against
small errors and delays in frequency tracking and changes in the
excitation signal. But if the frequency range at which the TMDs
are distributed is too wide, then their effectiveness will be worse
since the mass is distributed away from the resonance frequency.
In that case a single TMD would be more efficient. Multiple semi-
active TMDs can also work as a single TMD if the frequency
range is reduced to zero, and they can be tuned as a single TMD.
The benefit of using multiple TMDs tuned that way is that failing
of one TMD would not cause immediate problems since the other
TMDs can be readjusted quickly. If multiple semi-active TMDs
are used they do not have certain optimum values of frequency
range and damping ratio as traditional multiple TMDs would
have. As a matter of fact, the lower the damping ratio and the
frequency range, the better performance semi-active multiple
TMDs will have. Both a single semi-active TMD and multiple
semi-active TMDs are robust against changes in damping ratios of
individual TMDs and varying main structure natural frequencies.
Passive TMD and multiple passive TMDs will not be as robust.
Semi-active TMDs are capable of decreasing the response of the
main structure but passive TMDs may even increase it 关51兴.
4 Smart Materials
Smart materials can be defined as materials that undergo a stiff-
ness change when stimulated in a suitable way. Smart materials
make it possible to construct simpler dampers because these ma-
terials combined actuators and structural elements into a single
unit 关52兴.
4.1 Piezoelectric Materials. One of the smart material
groups used in vibration absorbers is piezoelectric materials,
which have been widely used in other sensor applications, such as
in accelerometers. Piezoelectric materials can be shunted with a
circuit containing resistive and inductive elements to form a de-
vice that acts like a TVA 关53兴, or they can be used indirectly as,
e.g., Bonello et al. 关4,54兴 did when they used a piezo-actuator to
bend a beam so that the stiffness of the ATVA changes by chang-
ing the curvature of the geometry of absorber. If the piezoelectric
absorber is required to function as a semi-active absorber, it re-
quires either a variable inductor or variable capacitor element
关53兴. Davis and Lesieutre 关55兴 represented an actively tunable
solid-state piezoelectric vibration absorber. Piezoelectric ceramic
elements influence the device stiffness, and it can be adjusted
electrically in real time. Approximately 25% change in natural
frequency and an average 10 dB vibration reduction in the whole
tuning range can be achieved using this absorber. Bein et al. 关56兴
described the use of piezoelectric actuators in noise reduction for
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vehicle structures, and they designed a semi-active electrome-
chanical vibration absorber based on a shunted piezoelectric patch
actuator. According to Bein et al. 关56兴 piezoelectric materials have
dominated adaptronic system designs in the field of transportation,
but there are also other promising materials, such as electrorheo-
logical and magnetorheological fluids and shape-memory alloys
共SMAs兲, to be used in these applications. For example, ER and
MR fluids can already be found from suspension systems of pre-
mium class vehicles. Lesieutre et al. 关57兴 studied the design pro-
cess of a piezoceramic inertial actuator to be used in active noise
and vibration control applications, and their results lead to the
development of commercial actuators.
4.2 Shape-Memory Alloys. Shape-memory alloys are one
group of smart materials, which are studied in damping applica-
tions. SMA can be defined as a class of alloys which experience
reversible changes in their crystalline structure. A few examples of
these are Cu-based SMAs, NiTi SMAs, ferrous SMAs, shape-
memory ceramics, and polymers; NiTi SMAs have a significant
shape-memory effect hence they are especially suitable for vibra-
tion control applications 关58兴. NiTi SMAs have been used in vari-
ous active, passive, and hybrid vibration controls with success by
different researchers as cited in Ref. 关58兴. The work of Williams et
al. 关37,52兴 has been chosen as a typical example of using NiTi
SMA as a vibration absorber. They used nickel-titanium alloy
called Nitinol in their experiments when constructing an ATVA
关52兴. Nitinol’s crystalline structure depends on its temperature;
two structures, martensite and austenite, represent the “cold” and
“hot” states of the Nitinol material. The crystal structure naturally
affects elastic modulus and yield strength of the material. As a
matter of fact, the elastic modulus increases three times larger
when the change from martensite to austenite happens. The
memory effect means that the heated material will return to its
original shape if cooled down, hence the reaction is reversible.
One problem of these transformations is the temperature hyster-
esis. The temperature difference between the martensite-austenite
transformation, and its reverse transformation may be as high as
10– 20° C between the two regions. This may cause problems,
especially in the functioning of automatic vibration controllers.
Another drawback of the change of the crystalline structure is the
possibility of plastic deformation of SMA elements 共mechanical
hysteresis兲, which eventually leads to higher equivalent damping
in the device. If beam-type elements are used, total stiffness can
be increased using steel elements together with the SMA ele-
ments, but this limits the natural frequency range of the ATVA
关52兴. The natural frequency of the SMA ATVA developed by Wil-
liams et al. 关52兴 could be increased about 17.4% when transfer
from the cold state to the hot state happened. Almost the same
increment, exactly 21.4%, was observed by Rustighi et al. 关59兴
with their SMA ATVA. Williams et al. 关37兴 developed their SMA
ATVA further in their other study. Although their previous con-
struction in Ref. 关52兴 worked well when discrete excitation fre-
quencies were known, the construction may need modification if
more tuned conditions are wanted. This leads to additional SMA
beams and further to more complicated mechanical design. This
can be prevented by using a continuously tuned SMA ATVA
equipped with temperature modulation. Temperature hysteresis
can be avoided when utilizing R-phase transformation of the SMA
material. Performance of the SMA ATVA can also be improved
with a suitable continuous control. Their 关37兴 experiments with
this new damper modification made possible 15% variation in
natural frequency and corresponding vibration reduction in the
original system of even 40 dB, and they have presented in Ref.
关60兴 a feedback controller to control the absorber.
4.3 Magnetorheological Materials. Magnetorheological ma-
terials are a group of substances whose elastic modulus can be
controlled by means of magnetic field. These materials are divided
to MR fluids, MR foams, and MR elastomers, of which the MR
fluids are most commonly used also in commercial applications
NOVEMBER 2009, Vol. 62 / 060801-5
 关61兴. The advantages of MR fluid dampers are rapidity, controlla-
bility, robustness, and large damping forces in compact physical
size 关62,63兴. Facey et al. 关62兴 designed a novel MR damper which
produces a large controllable damping force for a relatively high
velocity range. However, use of MR fluids may have certain prob-
lems, e.g., deposition, environmental contamination, and sealing
problems. Yoshioka et al. 关64兴 presented an adaptable MR damper,
which can be used to isolate vibrations of different types of earth-
quakes. Their experiments included a 2DOF building subjected to
ground motion and a sponge type MR damper 共absorbent foam
with the MR fluid兲 installed between the base and the ground to be
able to provide controllable damping. The developed MR damper
was capable of producing ⫾3.5 cm maximum stroke and 50 N
maximum forces with a current of 0.5 A. Effectiveness of the
vibration isolation system was studied in the cases of near and far
field earthquakes. They first studied an optimal passive isolation
system 共MR damper operating at a constant current兲. They ob-
served that the passive system works well for ground motion with
large amplitudes. But if conditions vary, i.e., vibration is not as
strong as evaluated beforehand, and the passive system is tuned to
strong earthquakes, then the use of the damper is not sensible at
all. Smart vibration isolation system can adapt to the situation and
produce smaller forces in moderate earthquakes and larger forces
if the earthquake is massive. The developed vibration isolation
system can work effectively over a wide range of ground motion
intensities and characteristics 关64兴. Koo and Ahmadian 关65兴 tested
different control methods of MR dampers and observed that the
most suitable control of the studied ones was displacement based
groundhook control. Drawbacks of the MR fluids can be avoided
when using MR elastomers 共MREs兲. However, one should keep in
mind that in ATVA applications use of MREs are still mostly at a
research stage 关66兴. Deng et al. 关66兴 applied magnetorheological
elastomers in an ATVA construction to steel beam supported from
the both ends. The ATVA was placed at the center of beam and
experiments were done in laboratory scale. The MRE used was a
mixture of silicon rubber, carbonyl iron particles, and silicone oil.
The ATVA consisted of an oscillator, smart spring elements with
MREs, magnet conductor, and two coils. Shear modulus of the
MRE material could be varied by magnetic field so stiffness of the
ATVA depended on it as well as the coil current. Thus, natural
frequency of the ATVA could be controlled by the coil current,
and in this way the natural frequency could be changed if excita-
tion frequency varied. On the other hand, if constant magnetic
field was used then the developed ATVA works as a passive TVA
with a fixed resonant frequency. Natural frequency of the ATVA
could be changed from 55 Hz to 82 Hz; in this case, the relative
frequency change was 147% and absorption capacity was as high
as 60 dB. Recently, Deng and Gong 关61兴 studied an ATVA, which
works in shear mode and includes a smart spring element with
MR elastomers. Their theoretical model and experiments agree
rather well in the frequency range 27.5–40 Hz, and the damper
has a better vibration absorption capacity than the conventional
vibration absorbers. Deng and Gong 关67兴 later continued their
studies of MRE based ATVAs. The developed ATVA had three
main parts: dynamic mass, static mass, and smart spring element
with MREs. Electromagnets and magnetic conductors in a mount-
ing shell formed the dynamic mass. This design made it possible
to produce a compact and efficient ATVA with no additional os-
cillator and nearly all components were a part of the dynamic
mass. The static mass consisted of a shear plate and a base. MRE
spring elements connected the dynamic and static masses through
the shear plate. A guiderod and a linear bearing made sure that the
ATVA works by the shear mode as desired. Frequency-shift ex-
periments revealed that by a current change of 0.6 A, the reso-
nance frequency could be increased from 41 Hz to 63.75 Hz, i.e.,
to achieve a 155% relative change. Damping performance of this
ATVA also outperformed the corresponding passive TVA. In their
next study Deng and Gong 关61兴 presented a shear mode MRE
based ATVA with a resonance frequency range between 27 Hz and
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40 Hz at currents 0 A and 0.5 A, respectively. So, in this case, a
145% relative change in frequency could be achieved and up to 25
dB vibration attenuation could be achieved. Zhang et al. 关68兴 pro-
posed a new material design to improve the performance of
MREs. In their design iron particles are coated with magnetizable
soft shell consisting of ferrite powder and polymer gel. They also
presented a new permeability model for explaining the field-
induced modulus of MREs of complex structures and compo-
nents. They did simulations and observed that the developed MRE
material design had a significantly larger field-dependent modulus
than conventional MREs have 关68兴.
4.4 Electrorheological Materials. Instead of magnetorheo-
logical materials vibration absorbers can be fabricated using
electrorheological materials whose damping properties change
when electrostatic potential directed to the material is changed.
ER fluids experience a change from Newtonian flow 共freely
moving particles兲 to Bingham behavior 共particles aligned in a
chain by applying voltage兲 under electric field. Su et al. 关69兴 used
gum arabic in transformer oil as ER fluid and produced an adap-
tive ER damper to attenuate wind-induced vibration in feed sup-
porting system of a radio telescope. This construction worked
very well; damping force was adjustable in a very large range,
vibration amplitude could be reduced by 50%, and structure of the
damper was compact when compared with more traditional air or
liquid dampers 关69兴.
There are many possibilities to use magnetic field to change
damping properties of ATVAs. Liu and Liu 关70兴 represented an
electromagnetic vibration absorber 共EMVA兲 stiffness, which can
be adjusted on-line by varying the current of the electromagnet so
the natural frequency of the EMVA can be tuned based on varying
excitation. Main advantages of the designed EMVA are its rapid
response and motionless adjustment of the required natural fre-
quency. However, its energy consumption was not yet optimal.
But with optimal material selection and fabrication, this absorber
can be made very efficient. Liu and Liu 关70兴 presented that min-
iaturization of the absorber is relatively easy because the EMVA
do not have mechanical drive system. So there is an interesting
application area in production of micro-electromechanical systems
共MEMS兲 devices using this kind of vibration absorber 关70兴. Liu
and Liu 关71兴 continued the study of electromagnetic vibration ab-
sorber toward active system in their other paper. However, the
presented active system can be used passively if electricity is not
available 关71兴.
5 Helmholtz Resonator in a Low Pressure Hydraulic
System as an ATVA
Kela 关72兴 presented an adjustable Helmholtz resonator, whose
resonant frequency was varied by changing the volume of the
cavity by moving the piston longitudinally inside the cavity, see
Fig. 3. Helmholtz resonator is widely studied in acoustics, but it is
rarely studied in hydraulics. Thus, Kela 关72兴 modeled analytically
the adjustable Helmholtz resonator and its resonant frequencies in
a low pressure hydraulic system. He has also verified results ex-
perimentally. Some discrepancies between modeling and experi-
ments are presented in his paper 关72兴. Despite discrepancies
between modeled and measured resonant frequencies, the
efficiency of adjustable Helmholtz resonator to damp down pres-
sure pulsations in a low pressure hydraulic system is presented in
this paper.
Helmholtz resonator differs from the conventional TVA because
it is not totally an independent construction, but it is a part of the
whole so that the main level of the spring constant of Helmholtz
resonator is affected by the spring constant of the primary system.
Thus, the main level of spring constant is defined by the bulk
modulus of fluid used in the system, and the value of bulk modu-
lus of the fluid used is affected by pressure and temperature of the
fluid. Thus, the properties of the whole system affect the operating
range of the Helmholtz resonator albeit its volume can be varied
Transactions of the ASME
 Fig. 3 An adjustable Helmholtz resonator for hydraulic system. Compo-
nents are 1. cavity, 2. neck, 3. piston, 4. piston rod, and 5. frame. Dimen-
sions are in millimeters.

freely. Kela and Vähäoja 关73兴 defined the bulk modulus of their
test equipment, which is also used in experiments of the recent
Table 1 Measured peak to peak-values of hydraulic system paper. Results of bulk modulus measurements are presented care-
with and without Helmholtz resonator and attenuation and cor- fully in their paper 关73兴, and now the performance and efficiency
responding piston position when Helmholtz resonator is used of the adjustable Helmholtz resonator in a low pressure hydraulic
system is only shortly proven so that the study of the subject can
p-p-value
without Piston p-p-value be continued later. Thus, some measured peak to peak values
Frequency resonator position with resonator Attenuation 共p-p-values兲 in different frequencies without and with Helmholtz
共Hz兲 共bar兲 共mm兲 共bar兲 共dB兲 resonator are presented, see Table 1. Adaptivity so that the Helm-
holtz resonator can vary its volume automatically to attenuate pul-
46.4 1.53 90 0.19 ⫺20 sations maximally will be done in the next phase of study.
41 1.77 134 0.18 ⫺20
35.6 1.38 161 0.15 ⫺19 Amplitudes and p-p-values of pressure pulsations at the fre-
quency of 35.2 Hz without and with resonator, on the left and on
the right, respectively, are presented in Fig. 4. In the top line are
presented the frequencies of pulsation pressures 共excitation fre-
quencies兲. In the middle line are presented measured pressures of

Fig. 4 Measured amplitudes and p-p-values of pressure pulsations at the frequency of 35.2 Hz
without resonator „left… and with resonator „right…

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 the hydraulic line in time-domain. Pulsating pressure arises from
another end of the pipe, and pressure is measured from another
end of the pipe so that the adjustable Helmholtz resonator is be-
tween measurement points. p-p-values, which are calculated from
the results of the middle lines, are presented in the bottom line.
The calculated p-p-values present clearly the efficiency of the
Helmholtz resonator in a low pressure hydraulic system. Similar
measurements are repeated in different frequencies, and results are
presented in Table 1. Also the corresponding piston positions of
the resonator are added to Table 1, so that the piston position is
measured from the bottom of cavity 共face where the neck is, left
side in Fig. 3兲 to the piston. Density of the oil used in experiments
varied from 833 kg/ m3 共new oil兲 to 839 kg/ m3 共used oil兲 at a
temperature of 19.5° C. Temperature in the laboratory varied be-
tween 18° C and 19° C during experiments, and the temperature of
oil varied between 24° C and 29° C. Main dimensions of the test
equipment were as follows: length of the neck of the resonator
ln = 0.28 m, diameter of the neck of the resonator dn = 0.006 m,
inner diameter of the cavity of resonator dc = 0.1 m, length of the
cavity of the resonator is given in Table 1 共measured from the
bottom of the cavity to the piston兲, length of the main pipe
wherein resonator was attached lmo = 3.55 m, the distance be-
tween excitation and resonator l1 = 1.73 m, and pressure was P
= 3 bars 共measured in the neck of the resonator兲.
The results of the measurements reveal that Helmholtz resona-
tor is an efficient damper in hydraulics, and the resonant fre-
quency can be varied by changing the volume of the cavity. As
noted from the results presented in Table 1, the resonant frequency
increases when the volume of the cavity decreases or the piston
position decreases. These results agree with results measured in
acoustics. However, measured resonant frequencies deviate from
the analytically calculated results so that the maximum attenuation
was reached by a different volume in experiments than in model-
ing. Also the properties of the test equipment used in the experi-
ments were problematic because it was noted that the resonant
frequency varied with temperature more than expected. Probably
these both characteristics are caused by the structure of test equip-
ment, by the oil used and by the air content of oil. However, these
deviations prove clearly that every tuned vibration absorber has to
be calibrated with the primary system so that its operation can be
assured reliable.
Analytical modeling is omitted in this paper because of the
review nature of the paper. The main target of the chapter was
only to point out that ATVA, such as Helmholtz resonator, can
also be used in hydraulic systems. Naturally, research will be con-
tinued because of the encouraging results.
6 Conclusion
Although TVA as an invention is almost 100 years old, research
related to TVAs is still going on intensively. Today’s research
areas are more concentrated on semi-active, active, and hybrid
absorbers, and application areas are getting more and more de-
manding. Finding an optimal TVA is not an easy task thus there is
a lot of research ongoing in order to choose the best possible TVA,
how to tune it, how to control it, how to maintain it, etc. One
important research area is to find new, so called smart, materials to
be used in TVAs. Stiffness of smart materials can be easily varied
and controlled, hence, their use in active TVAs is intriguing. For
example, SMA and MR materials are being intensively studied.
Multiple tuned vibration absorbers are a lot studied, however, the
studies are mostly numerical and experiments are rare. Despite of
their possibilities in vibration damping, the probable high con-
struction costs have limited their use. A Helmholtz resonator is
similar with semi-active TVAs in design and implementation.
However, one should notice that spring constant of the Helmholtz
resonator is also affected by the properties of the primary system,
whereas conventional TVAs are independent constructions. Nev-
ertheless, our example case shows that the Helmholtz resonator
can work in hydraulics as conventional TVAs work in mechanics.
060801-8 / Vol. 62, NOVEMBER 2009
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Thus, the variable resonant frequency with efficient damping can
be used in hydraulics too, as proven by experimental results.
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关46兴 Li, H.-N., and Ni, X.-L., 2007, “Optimization of Non-Uniformly Distributed
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关47兴 Hoang, N., and Warnitchai, P., 2005, “Design of Multiple Tuned Mass Damp-
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关48兴 Chen, G., and Wu, J., 2003, “Experimental Study on Multiple Tuned Mass
Dampers to Reduce Seismic Responses of a Three-Storey Building Structure,”
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关49兴 Grissom, M. D., Belegundu, A. D., and Koopmann, G. H., 2005, “A Reduced
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of NiTi Shape Memory Alloy,” Smart Mater. Struct., 11, pp. 218–229.
关59兴 Rustighi, E., Brennan, M. J., and Mace, B. R., 2005, “A Shape Memory Alloy
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关60兴 Williams, K. A., Chiu, G. T.-C., and Bernhard, R. J., 2005, “Nonlinear Control
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关62兴 Facey, W. B., Rosenfeld, N. C., Choi, Y.-T., and Wereley, N. M., 2005, “De-
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关66兴 Deng, H.-x., Gong, X.-l., and Wang, L.-h., 2006, “Development of an Adaptive
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关69兴 Su, Y. X., Duan, B. Y., Wei, Q., Nan, R. D., and Peng, B., 2003, “The Wind-
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关70兴 Liu, J., and Liu, K., 2006, “A Tunable Electromagnetic Vibration Absorber:
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NOVEMBER 2009, Vol. 62 / 060801-9