Académique Documents
Professionnel Documents
Culture Documents
de Vibrao
Sensores
Estrutura
Controlada
Controle
Alterar o amortecimento;
Alterar a rigidez;
Alterar a massa;
Isoladores de vibrao ajustavl.
Tipos de
controle
Semiativo
100%
ativo
Pertubao
Definida
Aleatoria
Objetivo do
controle
Controle
local
Controle
do meio
Controle
Total
fp
m
c
fp
Passivo
fs
m
c
Semi-ativo
100%- ativo
Controle de vibrao
SEMI-ATIVO
Amplitude
f
m
k
Controle
Rigidez
Controle Massa
Alto Amortecimento
Baixo Amortecimento
Semi-ativo
frequncia
Amortecimento ativo
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
120
240 kA/m
100
80
160 kA/m
60
40
80 kA/m
20
0 kA/m
0
0
25
50
AmortecimentoTotal = Viscoso
Constante
75
100
-1
Coulomb
Efeito MR
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
Alterao da Rigidez
Considerando uma nica massa e uma nica mola pneumtica
k
m
PA2
Vm
gA
V
Menos Rigido
Aumento da rigidez
com a Temperatura
MaisRigido
Painel Composto
ABSORVEDOR DE VIBRAO
Absorvedor de Vibraes
O absorvedor de vibraes o que ele faz?
X
F
x Xe jt
f Fe jt
estrutura
frequncia
Absorvedor de Vibraes
X
F
frequncia
X
F
Absorber:
Neutraliser:
frequency
X
F
frequency
Forcing frequency
X
F
ma
ca
ka
m
k
c
frequency
ma
0.17
Mass ratio
0.1 Optimum Damping opt
3
8 1
m
Absorvedor de Vibraes
Localizao
ma
ca
ka
Edfico
Yokohama
ka
ma
Edficio Yokohama
Construido em uma rea de terremotos
Absorvedor de Vibraes
ma
Deslocamento relativo
z(t) utilizando o
transdutor para medir
a diferena de altura.
ca
ka
fs (t )
+
_
m
k
Absorvedor de Vibraes
Absorvedor de Vibraes
X
F
XX
FF
Alterao
Amortecimento
frequncia
Alterao Rigidez
Alterao
frequncia
frequncia
Absorvedor de Vibraes
ma
ca
ka
ka
ma
ma
t
4
Frequncia
Maior
Amortecimento
2 PA2
K =
Stiffness
V
Absorvedor de Vibraes
Tipo - Viga
m
excitao
L
k
meq
meq me m
Massa efetiva da viga
3EI
L3
Alterando E, I or L
Absorvedor de Vibraes
Tipo - Viga
u
l
3h
1
8d
Absorvedor de Vibraes
Tipo - Viga
Servo motor
Absorvedor de Vibraes
Tipo Ligas com mmoria de forma
Absorvedor
Dispositivo que
altera temperatura
Agitador
Stiff
Cooling
Em
Heating
Stiffness increases
With temperature
Soft
Temperature
Force/Velocity [Ns/m]
Cold
state
Hot
state
ma
ka
ca
V
F
Frequency [Hz]
63.9 Hz
+17.5%
77.6 Hz
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
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
mass
mass
Curved beams
Change curvature
Host structure
Host structure
s
h
u
p
p
u
2
non-dimensional stiffness
EI h 2
s3
s
natural frequency: 39 Hz - 50 Hz
50
40
predicted
30
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
Control Algorithm
3
5
In 1 In P en en en Ddn
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
a1
voltage
amplifier
electrodynamic
shaker
amplifier
a2
input/output
board
variable frequency
harmonic excitation
signal
PC
controller output
en cos
acceleration (m/s 2)
frequency (Hz)
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
Primary rubber
Decoupler
Upper chamber
Inertia track
Lower chamber
Rubber bellows
damping
stiffness
damping
Engine side
m
Structure side
working
reservoir
balance
reservoir
bellows
rubber
element
dB re 20 Pa
Excitation
Mechanical system
Controller
+
+
Fp
Fs
m
k
Fp
receiver
m
c F
s
receiver
c Fs
receiver
Fs
m
Fs ( ) Fp ( )
receiver
Fs ( )
m
k
c F
s
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
Or in non-dimensional terms as
1 j 2
Fs ( )
Fp ( )
2
10
10
10
-1
10
Force applied
between the receiver
and the source
-2
10 -1
10
10
10
Hydraulic actuators
fuselage
Composite
Compliant
Element
Titanium
Lug End
ACSR Actuator
sa
Steel downtube
Support
Strut/ACSR
Actuator
Assembly
Main Gearbox
Installation
Response
Mechanical system
Controller
equipment
vibrating
base
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
equipment
H(j)
controller
X
Y
dB
fs
actuator
Non-dimensional frequency
vibrating
base
Y
Constant gain feedback control
No high-pass filter
All are unconditionally stable
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
H11
0
H( s)
0
0
H 22
0
0
0
0
H 33
0
0
0
0
H 44
Decentralised
Control
imaginary
real
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
Frequency (Hz)
power
power
Fe
j t
Poor performance at
high frequencies
because of high
group velocity
causing causality
problems
Frequency (Hz)
Concluding Remarks
Active control of vibration is being used as an alternative to passive
control in many different applications
Weight /space constraints
Novelty factor
References
C.R. FULLER, S.J. ELLIOTT and P.A. NELSON 1996. Active Control
of Vibration. Academic Press
C.H. HANSEN and S.D. SNYDER 1997 Active Control of Noise and
Vibration. E & F.N. Spon