Exam

feedb
Beard
The v
valve
frictio
motio

For th
Cha
mple 3.2: A
back through
d, 1984]
velocity of t
e from its n
on (other th
on of the sys
he control ro
apter 9: Acti
servomecha
h a dashpot a
Fig. 3.7 S
the output ra
eutral positi
han at the d
stem.
od,
ive Feedbac
anism incorp
and spring a
ervomechan
am (Dx,) is
ion. Given t
dashpot c) m
ck Control a
porating a h
assembly is s
nism with a h
equal to K
that the iner
may be negl
and Shunt D
hydraulic rel
shown below
hydraulic rel
times the m
rtia of all pa
ected, deter
Damping
lay with disp
w. [Control S
lay
movement of
arts and the
mine the eq

placement
System by
f the pilot
e effect of
quation of

wher


Force

So th
The f

This




Prob
A lin
poten
torqu
12 N
(i) Dr
(ii) C
and
e v is the spr
e balance for
hat
flow equatio
can be rearra
blem 3.3:
near remote
ntiometer giv
ue of 3 N m/V
m s/rad.
raw a block
Calculate the
ring displace

r the spring a
n gives Dx
o

anged to giv
position con
ving 8 V/ra
V to the loa
diagram for
e maximum o
ement and y

and dashpot

= Ky. Subst
ve the equatio
ntrol system
ad errors to
d. The load
the system a
overshoot in
is the movem


gives


tituting for y
on of motion
m with negati
an amplifie
has inertia o
and derive it
n the output
ment of the
y and v gives
n as;
ive output f
er, and a m
of 6 kg m2 a
ts equation o
response to
spool valve.
(3
(3
(3
(3
s
(3
(3
feedback con
motor which
and viscous f
of motion.
a step input
Thus;
3.19)
3.20)
3.21)
3.22)
3.23)
3.24)
nsists of a
applies a
friction of
t of 2 rad,
E
(iii) G
feedb
coeff

Sol:
(i) Th

Equation is
So th

wher
K = 8
G = 3
J = 6
c = 12

ii) W

Given that
back, derive
ficient neede
he block diag
he final equat
e
8 V/rad error
3 Nm/V,
kg m
2
, and
2 N m s/rad,
With a step inp
a tacho-gen
e the new e
ed to give cri
gram for the
F
tion of motio
r
,
put, oversho
nerator is em
quation of
itical dampin
e system is
Fig. 3.8 Block
on is
oot is
mployed to p
motion and
ng.
k Diagram

provide neg
d calculate t

gative outpu
the velocity
(3.25)
(3.26)
(3
ut velocity
feedback
3.27)

and o

(iii) W

Sotha
and th

For cr

that is
Hence
overshoot =
With output
at
he equation of
ritical damping
s
e,
2 x 0.163 ra
velocity feed
f motion is
g
ad = 0.326 r
dback, the b
Fig.3.9Block

A
rad, for a 2
lock diagram
kdiagram
Ans.

rad input
m is

(3
(3

3.28)
3.29)
Vibr
Damp
conve
Three

Two
energ

MAT
Type

ation Damp
ping is a p
erted as ther
Fi
e primary m
Internal d
Structural
Fluid dam
types of ext
gy dissipatio
Active da
Passive da
TERIAL (Int
Internal d
--microstr
-thermo e
-eddy-cur
-dislocatio
es of Internal
-Viscoela
-Hystereti
ping:
phenomenon
rmal energy)
ig. 3.10 Disp
echanisms in
damping of
l damping
mping throu
ternal damp
n characteris
ampers req
ampers Do
ternal) Damp
damping orig
ructure defec
elastic effects
rrent effects
on motion in
l damping:
astic damping
ic damping
n by which
) in dynamic
placement tim
nvolved in d
f material
at joints and
ugh fluid -st
pers can be a
stics:
quire externa
oes not requi
ping
ginates from
cts (grain bo
s (caused by
(ferromagne
n metals, etc
g
h mechanica
systems.
me response
damping
d interface
tructure inter
added to a m
l source of p
ire
energy dissi
oundaries &
y local tempe
etic material
c
al energy is

of damped
ractions
mechanical s
power
ipation assoc
impurities),
erature gradi
s),
s dissipated
system
system to im
ciated with:
ients)
d (usually
mprove its

Shunt Damping:
Structural damping is an important means of reducing vibration, noise and fatigue.
Vibration can be suppressed by adding mass to a system, introducing a mechanical
vibration absorber or a variety of other techniques. This paper explores the use of
smart materials or piezoelectric polymers in conjunction with an electrical shunt
circuit as a single mode damper. Piezoelectric shunt damping is a popular technique
for vibration suppression in smart structures. These are characterized by the
connection of electrical impedance to a structurally bonded piezoelectric transducer.
Such methods do not require an external sensor, may guarantee stability of the
shunted system and do not require parametric models for design purposes. The
piezoelectric materials are used in conjunction with passive inductance-resistance-
capacitance (RLC) circuits to dampen specific vibration modes. The piezoelectric
materials convert mechanical energy to electrical energy, which is then dissipated in
the RLC circuit through joule heating. Resonant shunt damping circuits, comprised of
inductors, capacitors, and resistors, are simple to design and can significantly augment
the damping of lightly-damped flexible structures.
Piezoelectric materials have the unique ability to convert mechanical energy into
electrical energy and vice versa. When strained the piezoelectric materials produce a
voltage difference across the poled terminals. This characteristic has been exploited in
various configurations of mechanical sensors. Inversely, piezoelectric materials strain
when a voltage is applied. This characteristic enables piezoelectric materials to be
used as mechanical actuators. Active control systems require complex amplifiers and
electronic sensors. Implementation of simple and robust passive control systems using
piezoelectric materials decreases the risk of malfunction and deterioration. A passive
control system is used to damp a single mode of a simple cantilever beam (1-DOF).
Analysis was done to predict the optimal position of a piezoelectric tile on the beam.
A resonant shunt circuit was created using an inductor and resistor in series and
parallel. The electrical impedance frequency was tuned to equate the modal frequency
that was to be damped. The efficiency of these shunts depends very much on the
ability to (i) transfer strain from the vibrating structure to the transducer material, and
(ii) transform the strain energy into electrical energy inside the active material. The
latter is measured by the piezoelectric electromechanical coupling factor k.
Appl
An a
shape
the ot
The E
undam
condi
wher
cross
condi
Cons
accor
lication of sh
analytical m
es and strain
ther was use
Euler-Berno
mped equat
itions can be
e w is the d
-sectional ar
itions are:
idering a h
rding to Fig.
hunt dampi
model has be
n energy of a
ed.
Fig. 3.
oulli method
tion of moti
e written as:
displacement
rea, and F(t)

harmonic for
1, we can w
ing for a can
een develop
a cantilever b
11 Cantileve
d is used to
ion for the
t of the beam
) is the exter
rcing functi
write:
ntilever bea
ed to determ
beam. A bea
er beam with
model the
beam for f

m, is the d
rnal force ap
on applied
am:
mine point
am clamped
h PZT patch
cantilever b
forced motio
density of the
pplied to the
to a single
displacemen
at one end a

beam. The g
on under ze
(3
e steel beam
e beam. The
e point on t
nts, mode
and free at
governing
ero initial
3.30)
m, A is the
boundary
the beam,
wher
as:
A pie
piezo
top a
direct
For t
cantil
PZT
is use
is spe
conve
energ
dissip
e is the fr

ezoelectric m
oelectric patc
and bottom p
tion in Figur
the given ex
lever beam a
produces a v
ed to describ
ecific to the
ert mechani
gy in the fo
pated by the
requency, L
f


material is a
ches (PZT) a
planes. As a
re 2), a strain
Fig. 3.12
xperiment, a
as shown in
voltage acro
be the relatio
PZT patch
ical energy
orm of joul
resistor is;

f
is the positi

a three-dime
are poled acr
a voltage di
n is produce
PZT patch d
xis 1 is bon
Figure 1. W
oss axis 3. Th
onship of en
design. A si
into electric
le heating t

ion of the ap

ensional dev
ross the thic
fference is a
d in the othe
design on ca
nded along t
When deform
he material
nergy transfe
implified des
cal energy
through a re

pplied force
vice poled a
ckness with e
applied acro
er two direct
antilever bea
the horizont
med by the c
transverse c
er from the i-
scription of
and then di
esistor. The
(3
and c
2
can b
(3
along one a
electrodes th
oss the elect
tions (x
1
and

am
tal neutral a
antilever ben
coupling con
-axis to the j
the PZT dam
issipate the
e equation f
(3
3.31)
be written
3.32)
axis. Most
hrough the
trodes (x3
d x
2
).
axis of the
nding, the
nstant (kij)
j-axis and
mper is to
electrical
for power
3.33)
Maxi
resist
dissip
Para
An in
frequ
PZT
resist
parall
(1997
1. Ex
PZT
2. Ca
3. De
capac
4. Ca
5. Th
6. Th
imizing the
tor shunt circ
pate energy f
allel RL Cir
nductor-resis
uency for sin
allows for
tor can be a
lel configur
7) as;
xperimentally
open-circuit
alculate the g
etermine the
citance.
alculate the n
he optimum p
he optimum p
current thro
cuit can be u
from all mod
rcuit
stor shunt c
ngle mode da
the simples
altered indep
ation were c
y determine
t and short-c
generalized e
e PZT capa

normalized tu
parallel indu
parallel shun
ough the res
used as a bro
des of vibrat
circuit was i
amping. Plac
st electrical
pendently. O
calculated u
e o and s
ircuit modal
electromecha
acitance at

uning freque

uctance is

nt resistance
sistor increas
oadband dam
tion.
implemented
cing the indu
frequency t
Optimum re
using the me
s for the can
l frequencies
anical coupl

constant str

ency


is

ses electrica
mper. The re
d to create a
uctor and res
tuning beca
esistor and i
ethod outlin
ntilever beam
s for the cant
ing coefficie
rain. CT is
al damping.
esistor will e
an electrical
sistor in para
ause the ind
inductor val
ned by Wu a
m. o and
tilever beam
ent for mode
(3
the pre-bon
(3
(3
(3
(3
A simple
effectively
l resonant
allel to the
ductor and
lues for a
and Bicos
s are the
m.
e 31.
3.34)
nded PZT
3.35)
3.36)
3.37)
3.38)





Serie
By K
and i
resist
calcu
dissip
The o
The o
The e
es RL Circu
Kirchoffs law
inductor in
tor. The op
ulated follow
pation tuning
optimal circu
optimal serie
electrical res
Fig. 3.13 R
uit
w, current is
series with
ptimum resi
wing the p
g parameter

uit damping
es shunt resis

sonance freq

RLC circuit
constant thr
h the PZT
istor and in
procedures o
was calculat

was determi
stance is

quency is

for piezo-el
rough eleme
can achieve
nductor valu
of Hagood
ted by

ined by



lectric mater
ents in series
e maximum
ues for the
and Von
rial
s. Therefore,
m current thr
e series circ
Flotow (19
(3
(3
(3
(3
, a resistor
rough the
cuit were
991). The
3.39)
3.40)
3.41)
3.42)
The
electr



optimal seri
rical frequen
ies configur
ncy equal to

ration induc
the short-cir

tance value
rcuit frequen

can be cal
ncy (e = o
lculate by s
o).
(3
etting the
3.43)