Controle Ativo de Vibração

Controle Ativo
de Vibrao
CONTROLE ATIVO DE VIBRAO

Quais os principais beneficios ?
Estruturas mais leves;
Limitaes de espao e peso.

Atuadores
Sensores
Estrutura
Controlada
Controle

Tipos:
Controle semi-ativo
Alterar o amortecimento;
Alterar a rigidez;
Alterar a massa;
Isoladores de vibrao ajustavl.
Controle Totalmente Ativo
Controle da fora e posio;

Controle antecipado;
Controle das respostas;
Controle da vibrao.
Tipos de
controle
Semiativo
100%
ativo
Pertubao
Definida
Aleatoria
Objetivo do
controle
Controle
local
Controle
do meio
Controle
Total

fp
fp
m
c
fp
Passivo
fs
m
c
Semi-ativo
100%- ativo
Passivo Massa, rigidez e amortecimento (quantidade e distribuio)
fixa na fase de concepo.

Semi-ativo A rigidez e/ou amortecimento sofrem alteraes nas suas
propriedades afim de ajustar as foras dinmicas internas e com isso minimizar

os efeitos da vibrao.
100%-ativo So aplicadas foras dinmicas externas para
minimizar os efeitos da vibrao.
Controle de vibrao
SEMI-ATIVO

Controle Amortecimento
Amplitude
f
m
k
Controle
Rigidez
Controle Massa
Alto Amortecimento
Baixo Amortecimento
Semi-ativo
frequncia
Alterao da Rigidez Baixas frequncias (molas de ar)

Alterao do Amortecimento Ressonncia (hidraulico, fluidos eletromagneticos e materiais viscoelsticos)
Alterao da Massa Altas frequncias ??
Amortecimento ativo

Fluidos eletro-magneticos
O que so ?
Micro particulas polarizadas imersas em olo.
Como funciona?
So fluidos newtonianos sem a presena de um
campo magntico e desenvolvem foras de
escoamento quando sofrem a ao de um campo
magntico.
ER Fluidos que respondem a estimulos

eltricos
MR Fluidos que respondem a estimulos
magnticos

Configurao bsica dos fluidos ER/MR
Modulao da Valvula
Cisalhamento direto
S
velocidade
fora
presso
Fluido
E
N
N
Aplicao campo
magntico
Controles hidraulicos
Servo vlvulas
Amortecedores
Absorvedores choque
Atenuadores
Aplicao
campo eltrico
Aplicao campo
magntico
Embreagens e freios
Travas
Amortecedores
Separadores
Estruturas

Comportamento tipico de um fluido MR 25C
Modelo Bingham
120
240 kA/m
100
80
Shear Stress (kPa)
160 kA/m
60
40
80 kA/m
20
0 kA/m
0
0
25
50
Shear Strain Rate (sec
AmortecimentoTotal = Viscoso
Constante
75
100
-1
Coulomb
Efeito MR

Exemplo de um equipamento com um fluido MR
Chave de fora
Amortecedor com fluido MR

Sensor de Controle

Aplicao fluido MR
Sistema com um grau de liberdadeSuspenso assento Heavy Duty Vehicle
Vibrao transmitida
Utilizados em veiculos off-road e equipamentos agricolas

Caminhes classe 8 (18 rodas)
nibus
Sensor
Banco
Controle
Amotercedor controlado
Mola
Vibrao
da estrada
Fluido
aletorio
Fluido padro
definido
Aplicao de fluido MR
Excitao Sismica
Edifcio do Museu nacional de
Cincia e Inovao
INAUGURADO em 2001
Tokyo, Japo
Tem 2 amortecedores de 30T
cada um instalado entre o 3
e o 5 andar.
Excitao Vento
Ponte lago Dong Ting
Hunan Provincia da China
Controle da Rigidez
Alterao da Rigidez
Mesa com 4 isoladores pneumticos
mA
mT
Isoladores Pneumticos
PA2
Clculo da rigidez de uma mola pneumtica K =
V
where
P
A
V
= Presso na mola pneumtica

= Ara da seco transversal do fole
= Volume de AR
= Relao dos calores especficos
Alterao da Rigidez
Considerando uma nica massa e uma nica mola pneumtica
A frequncia natural dada por:
k
m
Substituindo K da mola pneumtica temos:
PA2
Vm
Mas P.A=F=mg, ento:
gA
V
Assim, desde que a rea e o volume permaneam constante, a frequncia

natural independe da massa.
Para uma mola pneumtica de tamanho fixo, a rigidez varia com
a mudana da carga e, portanto, a frequncia se mantem quase constante.
Alterao da Rigidez Ligas com mmoria de forma
Liga de nquel e titnio

Esta pea passou pelo
processo de tratamento
trmico com as letras ICE e
depois foi resfriada.
Quando o metal puxado de memria distante, ela deforma. Quando colocados em
gua quente, o metal "lembra-se" a sua forma original, e forma a palavra ICE de novo.
Menos Rigido
Aumento da rigidez
com a Temperatura
MaisRigido

Material que altera seu mdulo de elasticidade com a temperatura
Painel Composto
Arames de SMA inseridos no painel

O arame ativado, atravs da passagem de uma corrente eltrica que
devido a resistncia do material a um aumento da temperatura, com isso a
o aumento da rigidez localizada, como consequncia a alterao
frequncia da vibrao natural, assim dependo da fora de excitao
possivel evitar o feito do fenomeno da ressonncia.
Aplicao da alterao da rigidez
ABSORVEDOR DE VIBRAO
Absorvedor de Vibraes
O absorvedor de vibraes o que ele faz?
X
F
x Xe jt
f Fe jt
estrutura
frequncia
X
F
frequncia
Tunable Vibration Absorbers

Some Terminology
Natural frequency
X
F
Absorber:
Tuned to suppress the

response at a
troublesome resonance
frequency
Neutraliser:
Tuned to suppress the

response at a
troublesome forcing
frequency
frequency
X
F
frequency
Forcing frequency
The Absorber some key parameters
X
F
ma
ca
ka
m
k
c
frequency
ma
0.17
Mass ratio
0.1 Optimum Damping opt
3
8 1
m
Localizao
ma
ca
ka
Edfico
Yokohama
ka
ma
Edficio Yokohama
Construido em uma rea de terremotos
A fora secundria fs(t) usada para ajustar o absorverdor de vibrao
Valor mdido z(t)
ma
Deslocamento relativo
z(t) utilizando o
transdutor para medir
a diferena de altura.
ca
ka
fs (t )
+
_
Valor requerido z(t)
m
k
Modelo computacional de 2 grau de

liberdade, com frequncia e
amortecimento varivel.
Planta do 63 andar do edficio Citicorp, de Nova York
Edficio Citicorp em Nova York
X
F
XX
FF
Alterao
Amortecimento
frequncia
Alterao Rigidez
Alterao
frequncia
frequncia
Alguns Parmetros importantes

X
F
ma
ca
ka
ka
ma
ma
t
4
Frequncia
Absorvedor de Vibrao Pneumtico

(50-100Hz)
Maior
Amortecimento
2 PA2
K =
Stiffness
V
Tipo - Viga
m
excitao
L
k
meq
meq me m
Massa efetiva da viga
3EI
L3
Alterando E, I or L
Tipo - Viga
h=Distancia entre viga

d=Espessura de uma viga
u
l
3h
1
8d
Tipo - Viga
Servo motor
35% Alterao da frequncia natural
Tipo Ligas com mmoria de forma
Liga com mmoria de forma
Absorvedor
Dispositivo que
altera temperatura
Agitador
Change in Stiffness Shape Memory Alloys
Change in Stiffness shape memory

alloys
Ea
Stiff
Cooling
Em
Heating
Stiffness increases
With temperature
Soft
Temperature
Elastic modulus changes from 40 to 59 MPa

Hysteresis of about 10C
Force/Velocity [Ns/m]
Shape Memory Alloy Beam-Like Neutraliser
Cold
state
Hot
state
ma
ka
ca
V
F
Frequency [Hz]

Steady-State Experimental Results
Temperature below 35C
63.9 Hz
Temperature above 67C
+17.5%
77.6 Hz

FRF - Impedance [dB]
50
10
30
90
-10
10
20
50
40
20
100
40
100
increasing
temperature
30
40
50
30
20
50
20
40
10
20
20
40
34
00
60
10
40
10
50
10
20
30
10
20
30
40 40
30
40
30
Temperature [ C ]
70
20
temperature (C)
80
natural frequency
-10
20
20
40
60
80
100
120
Frequency [Hz]
140
frequency (Hz)
160
180
200

FRF - Impedance [dB]
50
45
10
40
30
20
20
50
20
90
40
decreasing
temperature
40
30
20
20
10
0
0
50
20
10
30
25
30
50
60
10
40
20
50
3030
40
20
10
10
20
10
30
40
10
20
20
20
10
10
30
15
30
natural frequency
10
30
10
20
20
20
40
60
80
-5
40
30
40
Temperature [ C ]
70
35
30
temperature (C)
80
100
120
Frequency [Hz]
140
frequency (Hz)
160
180
200
Performance
Good performance also with the real ATVA
No oscillation around the equilibrium point
Constant excitation frequency 59Hz from qamb
0
40
60
80
100 120
Time [sec]
140
160
180
200
1
0.5
-1
0
10
20
40
60
80
100 120
Time [sec]
140
160
180
200
20
40
60
80
100 120
Time [sec]
140
160
180
200
20
40
60
80
100 120
Time [sec]
140
160
180
200
5
0
0
1
D[cos(
)]
D[cos( )]
V(TVA)
20
Current [A]
-0.5
-1
0
[?V?]
Acceleration m
2
cos(
))
Cosine cos(
0.5
V(Host)
Acceleration m [?V?]
-0.5
-1
0
20
40
60
80
100 120
Time [sec]
Time
140
160
180
200
0
-1
0
Time
Change in natural frequency by shape change
mass
mass
Curved beams
Change curvature
Host structure
Low natural frequency
Host structure
High natural frequency
Change in stiffness by change in curvature
s
h
u
p
p
u
2
non-dimensional stiffness
EI h 2
s3
s
Adaptive Neutraliser using shape change
natural frequency: 39 Hz - 50 Hz
Adaptive Neutraliser using shape control

% increase in tuned frequency
50
40
predicted
30
measured (low force amplitude)
20
10
0
-10
-20
-30
-300
-200
-100
0
100
200
voltage (volts, dc)
300
400
500
Control
small steps
y
Large steps
ma
ca
ka
Large steps
Y
X
Adjust stiffness so that natural frequency=forcing frequency
Control Algorithm
The controller updates the output current every

Tn seconds
en is the evaluation of cos at the nth time step
The current at the (n+1)th time step:
3
5
In 1 In P en en en Ddn
P: Constant of the non-linear proportional part

D: Constant of the derivative part
Control
Measure phase angle and set
y
x X cos t y Y cos t
1 T
x y x y dt X Y cos
T 0
ma
ka
ca
m
cos 0
xy
cos
X Y
Adaptive Neutraliser using shape control

Frequency sweep test
accelerometers
amplifier
ATVA
amplifier
a1
voltage
amplifier
electrodynamic
shaker
amplifier
a2
input/output
board
variable frequency
harmonic excitation
signal
PC
controller output
Vn 1 V n P en en3 en5 Den ,
en cos
acceleration (m/s 2)
frequency (Hz)
Frequency sweep test NO CONTROL
P-D CONTROL
55
50
52 Hz
2 Hz/s
45
t at 0 V
40
35
0
38 Hz
2
10
12
14
16
18
20
10
12
14
16
18
20
12
14
16
18
20
time (s)
10
0
-10
0
cos(phase)
time (s)
1
0
-1
0
10
time (s)
Boeing CH - 47C
Three adaptive selftuning absorbers

(neutralisers) are
installed and tuned to
the blade passage
frequency of
approximately 11 Hz
Hydraulic engine mount
Primary rubber
Decoupler
Upper chamber
Inertia track
Lower chamber
Rubber bellows
High damping at low frequencies

Low damping at high frequencies
damping
stiffness
Hydraulic engine mount
Amplitude sensitive device

Damping peaks at a low frequency which is controlled by the mass of
the fluid in the inertia track and stiffness of the rubber elements
Increased stiffness at high frequencies
damping
Adaptive hydraulic engine mount
Engine side
Effective length of inertia

track is adjusted in real-time
m
Structure side
Freudenburg active engine mount

actuator
diaphragm
working
reservoir
At low frequencies (<20Hz)

the mount behaves as a
conventional hydromount
At high frequencies the inertia

of the fluid is high decoupling
outer
the working and balance
reservoir
reservoirs
balance
reservoir
bellows
rubber
element
At high frequencies the

generated forces are in
anti-phase with the dynamic
forces generated by the engine
Combined active noise/engine mount

system
dB re 20 Pa
Combined active noise/engine mount

system
Engine speed (RPM)

Drivers position 3rd gear acceleration
Chassis acceleration (dB)
Active mount driven with a piezo actuator
Engine speed (RPM)
FULLY-ACTIVE VIBRATION CONTROL
FEEDFORWARD CONTROL OF VIBRATION
Used where it is possible to get advance

information on the vibration to be controlled
eg. To control machinery vibration which is generally
periodic in nature
Response
Excitation
Mechanical system
Controller
+
+
Fully-Active Systems where to place the

secondary force? - SDOF example
Fp
Fp
Fs
m
k
Fp
receiver
(1) Secondary source

applied to source
m
c F
s
receiver

applied to receiver
c Fs
receiver

applied between
source and receiver
Where to apply the secondary force to bring the receiver to

rest with a minimum applied force?

Fp
Fs
m
Fs ( ) Fp ( )
receiver

applied to source

Fp
Fs ( )
m
k
c F
s
receiver

applied to receiver
k jc
k m jc
2
Fp ( )
Or in non-dimensional terms as
Fs ( )
1 j 2
1 j 2
2
Fp ( )
where
c
2 mk
k
n
m

k j c
Fs ( )
Fp ( )
2
m
Fp
m
c Fs
receiver

applied between
source and receiver
Or in non-dimensional terms as
1 j 2
Fs ( )
Fp ( )
2

2
10
Force applied to the receiver

Fs
Fp
10
Force applied to the source

0
10
-1
10
Force applied
between the receiver
and the source
-2
10 -1
10
10
10
Active Control of Structural Response

(Westlands, 1989)
Application of ACSR to the Westland/Agusta
EH101 Helicopter.
Active Control of Rotor Vibration

rotor
Active control at rotor blade

passing frequency at
about 18 Hz + harmonics
Feedforward control
Hydraulic actuators
fuselage
ACSR - Actuator Installation for Production

EH101
Hydraulic Supply
Composite
Compliant
Element
Titanium
Lug End
ACSR Actuator
sa
Steel downtube
Support
Strut/ACSR
Actuator
Assembly
Main Gearbox
Installation
FEEDBACK CONTROL OF VIBRATION

Used where it is not possible to get advance
information on the vibration to be controlled
Often used to control random vibration
Disturbance
Response
Mechanical system
Controller
Feedback Control of a Single-degree-of-freedom

System
accelerometer
m
equipment
vibrating
base
Can feed back displacement,

velocity or acceleration
H(j)
controller
Fs
actuator
H ( j ) K jC 2M
Feedback gains
Closed-loop response is given
by
X ( j )
k j c
Y ( j ) k K 2 m M j c C
Feedback Control of a Single-degree-of-freedom

System base excitation
accelerometer
m
equipment
H(j)
controller
X
Y
dB
fs
actuator
Non-dimensional frequency
vibrating
base
Y
Constant gain feedback control
Open-Loop FRF Nyquist Plots (simulations)
No high-pass filter
All are unconditionally stable
One high-pass filter

Velocity feedback is
the most stable
Active Vibration Isolation Feedback Control
Base
plate
Equipment
Objective
To isolate the delicate piece of
equipment using active vibration
control
Controller
Secondary shaker
Primary shaker
Electromagnetic actuator
- relatively low forces and large
displacements
The Control Problem
H11
0
H( s)
0
0
H 22
0
0
0
0
H 33
0
0
0
0
H 44
Decentralised
Control
imaginary
Stability of the Decentralised Control System

(measurements)
real
det I+G( j )H( j ) 1 1( j )1 2 ( j ) ......

Stability criterion: None of the eigenvalues i should encircle
the Nyquist point (-1,0) as varies from infinity to +infinity
Performance of the Decentralised Control System

(measurements)
y( j ) I+G( j )H( j ) d( j )
1
Overall Performance
Decentralised velocity
feedback control
Electromagnetic actuators in
parallel with resilient mounts
Feedback of absolute velocity
in 4 local loops
Analogue controller still
effective if one channel fails
Example: Feedback (displacment) control of

circular saw vibrations (Ellis and Mote, 1979)
Example: Ride comfort improvement o an aircraft

(Sensburg et al, 1980)
Discomfort due to fuselage bending
Mode at 9 Hz
Velocity feedback to the taileron
9Hz vibration reduced by 2/3
Frequency (Hz)
Flexural waves in a beam
power
power
Fe
j t
Active control of waves in beams
Equivalent block diagram
PSD at error sensor (dB)
Active control of waves in beams
Poor performance at
high frequencies
because of high
group velocity
causing causality
problems
Frequency (Hz)
Poor performance at low frequencies

because of noise and presence of near field wave
Concluding Remarks
Active control of vibration is being used as an alternative to passive
control in many different applications
Weight /space constraints
Novelty factor
Many more current and potential applications:

Dynamic control of large space structures
Flutter control in aircraft
Vibration isolation
Vibration control of rotating machines
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 of Sound.

Academic Press
C.H. HANSEN and S.D. SNYDER 1997 Active Control of Noise 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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Controle Ativo

CONTROLE ATIVO DE VIBRAO

Limitaes de espao e peso.

CONTROLE ATIVO DE VIBRAO

Controle Totalmente Ativo

Controle da fora e posio;

CONTROLE ATIVO DE VIBRAO

CONTROLE ATIVO DE VIBRAO

Passivo Massa, rigidez e amortecimento (quantidade e distribuio)

fixa na fase de concepo.

propriedades afim de ajustar as foras dinmicas internas e com isso minimizar

minimizar os efeitos da vibrao.

CONTROLE ATIVO DE VIBRAO

Alterao da Rigidez Baixas frequncias (molas de ar)

CONTROLE ATIVO DE VIBRAO

ER Fluidos que respondem a estimulos

CONTROLE ATIVO DE VIBRAO

CONTROLE ATIVO DE VIBRAO

Shear Stress (kPa)

Shear Strain Rate (sec

CONTROLE ATIVO DE VIBRAO

Amortecedor com fluido MR

CONTROLE ATIVO DE VIBRAO

Utilizados em veiculos off-road e equipamentos agricolas

= Presso na mola pneumtica

A frequncia natural dada por:

Substituindo K da mola pneumtica temos:

Mas P.A=F=mg, ento:

Assim, desde que a rea e o volume permaneam constante, a frequncia

Alterao da Rigidez Ligas com mmoria de forma

Liga de nquel e titnio

Alterao da Rigidez Ligas com mmoria de forma

Alterao da Rigidez Ligas com mmoria de forma

Arames de SMA inseridos no painel

Aplicao da alterao da rigidez

Tunable Vibration Absorbers

Tuned to suppress the

Tuned to suppress the

The Absorber some key parameters

A fora secundria fs(t) usada para ajustar o absorverdor de vibrao

Valor mdido z(t)

Valor requerido z(t)

Modelo computacional de 2 grau de

Planta do 63 andar do edficio Citicorp, de Nova York

Edficio Citicorp em Nova York

Alguns Parmetros importantes

Absorvedor de Vibrao Pneumtico

h=Distancia entre viga

35% Alterao da frequncia natural

Liga com mmoria de forma

Change in Stiffness Shape Memory Alloys

Change in Stiffness shape memory

Elastic modulus changes from 40 to 59 MPa

Shape Memory Alloy Beam-Like Neutraliser

Shape Memory Alloy Beam-Like Neutraliser

Temperature above 67C

Shape Memory Alloy Beam-Like Neutraliser

Shape Memory Alloy Beam-Like Neutraliser

Change in natural frequency by shape change

Low natural frequency

High natural frequency

Change in stiffness by change in curvature

Adaptive Neutraliser using shape change

Adaptive Neutraliser using shape control