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Narrow-Band Disturbance Rejection Using Semi-Active Control 基于半主动控制的窄带抗干扰
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23727
P. Anusonti-Inthra, F. Gandhi
The present study examines the potential of using a semi-active controllable damper, whose damping coefficient can be modulated in real-time, for narrow-band disturbance rejection applications. A frequency-domain optimal control algorithm is developed for determining the controllable damper input (of twice the disturbance frequency) that minimizes the force transmitted to the support at the disturbance frequency. The effectiveness of both open-loop and closed-loop controllers in rejecting the transmitted disturbances are evaluated. The results of the study indicate that for physically achievable damping coefficient variations, the support force could be reduced by about an additional 30%, beyond the levels due to the passive isolation characteristics (no damping coefficient variation). When the disturbance phase changed during the simulation, the effectiveness of the open-loop controller reduced, while the closed-loop controller was still able to generally reduce vibrations to levels lower than those due to pure passive isolation. Even so, closed-loop control of the semi-active damper was not able to completely maintain the level of reduction in vibration when the disturbance phase changed, suggesting that an adaptive controller may be necessary.
本研究探讨了使用半主动可控阻尼器的潜力,其阻尼系数可以实时调制,用于窄带抗干扰应用。提出了一种频域最优控制算法,用于确定可控制的阻尼器输入(扰动频率的两倍),使在扰动频率处传递给支承的力最小。对开环控制器和闭环控制器抑制传输扰动的有效性进行了评价。研究结果表明,对于物理上可实现的阻尼系数变化,支配力可以在被动隔离特性(无阻尼系数变化)的水平上再降低约30%。当仿真过程中扰动相位发生变化时,开环控制器的有效性降低,而闭环控制器仍然能够将振动降低到低于纯被动隔离的水平。尽管如此,当扰动相位改变时,半主动阻尼器的闭环控制仍不能完全保持振动的减小水平,这表明可能需要自适应控制器。
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引用次数: 0
Image-Based Modeling of Dynamic Porous SMA Behavior 基于图像的动态多孔SMA行为建模
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23729
M. Qidwai, V. Degiorgi, Rick K. Everett
Porous shape memory alloys (SMAs) are a relatively new group of materials that are of interest because of their potential use in the design of vibration-control, damping and shock mitigation systems. Essential to the use of these materials is an understanding of their mid to high strain-rate response. The emphasis of this research is to develop a computational methodology that will bridge the microstructural and macrostructural features of porous SMAs. In a first attempt, information obtained from x-ray computed micro tomography (XCMT) images is employed in producing realistic finite element meshes with the help of probabilistic pore generating algorithms. Average constitutive behavior of porous SMA in the intermediate strain rate of 103/s is studied by simulating the compressional split-Hopkinson bar test. Preliminary results are obtained for selected pore volume fractions and distinct trends in material behavior are observed.
多孔形状记忆合金(sma)是一种相对较新的材料,由于其在振动控制、阻尼和减震系统设计中的潜在用途而引起人们的兴趣。对这些材料的使用至关重要的是了解它们的中高应变率响应。本研究的重点是开发一种计算方法,该方法将连接多孔sma的微观结构和宏观结构特征。在第一次尝试中,利用x射线计算机微层析成像(XCMT)图像获得的信息,借助概率孔隙生成算法生成逼真的有限元网格。通过模拟压缩劈裂-霍普金森杆试验,研究了多孔SMA在中间应变速率为103/s时的平均本构行为。获得了选定孔隙体积分数的初步结果,并观察到材料行为的明显趋势。
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引用次数: 0
Vibration Testing and Analysis of Inflatable Structures Using Smart Materials 智能材料充气结构振动测试与分析
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23707
G. Park, E. Ruggiero, Marion Sausse, D. Inman
This paper presents experimental investigations of vibration testing of an inflated, thin-film torus using smart materials. Lightweight, inflatable structures are very attractive in satelite applications. However, the lightweight, flexible, and highly-damped nature of inflated structures poses difficulties in ground vibration testing. In this study, we show that PVDF patches and recently developed Macro-Fiber Composite actuators may be used as sensors and actuators in identifying modal parameters. Both smart materials can be integrated unobtrusively into the skin of a torus or space device forming an attractive testing arrangement. The addition of actuators and the PVDF sensors to the torus does not significantly interfere with the suspension modes of a free-free boundary condition, and both the actuators and PVDF sensors can be considered an integral part of the inflated structure. The results indicate the potential of using smart materials to measure and control the dynamic response of inflated structures.
本文介绍了利用智能材料对充气薄膜环面进行振动测试的实验研究。轻便、可充气的结构在卫星应用中非常有吸引力。然而,充气结构的轻量化、柔韧性和高阻尼特性给地面振动测试带来了困难。在这项研究中,我们表明PVDF贴片和最近开发的宏纤维复合材料致动器可以用作识别模态参数的传感器和致动器。这两种智能材料都可以不显眼地集成到环面或空间设备的皮肤中,形成一个有吸引力的测试安排。在环面上添加致动器和PVDF传感器对自由-自由边界条件下的悬架模式没有明显的干扰,致动器和PVDF传感器都可以被认为是充气结构的一个组成部分。研究结果表明,利用智能材料测量和控制充气结构的动力响应是有潜力的。
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引用次数: 4
Freeform Skeletal Shape Optimization of Compliant Mechanisms 柔性机构的自由曲面骨架形状优化
Pub Date : 2001-11-11 DOI: 10.1115/1.1563634
Dong Xu, G. K. Ananthasuresh
Compliant mechanisms are elastic continua used to transmit or transform force and motion mechanically. The topology optimization methods developed for compliant mechanisms also give the shape for a chosen parameterization of the design domain with a fixed mesh. However, in these methods, the shapes of the flexible segments in the resulting optimal solutions are restricted either by the type or the resolution of the design parameterization. This limitation is overcome here by focusing on optimizing the skeletal shape of the compliant segments in a given topology. It is accomplished by identifying such segments in the topology and representing them using Bezier curves. The vertices of the Bezier control polygon are used to parameterize the shape-design space. Uniform parameter steps of the Bezier curves naturally enable adaptive finite element discretization of the segments as their shapes change. Practical constraints such as avoiding intersections with other segments and self-intersections, and restrictions on the available space and material, are incorporated into the formulation. A multi-criteria function from our prior work is used as the objective. Analytical sensitivity analysis for the objective and constraints is presented and is used in the numerical optimization. Examples are included to illustrate the shape optimization method.
柔性机构是用于机械地传递或转换力和运动的弹性连续体。针对柔性机构所开发的拓扑优化方法也给出了具有固定网格的设计域的选定参数化的形状。然而,在这些方法中,得到的最优解中柔性段的形状受到设计参数化类型或分辨率的限制。本文通过优化给定拓扑中柔性部分的骨架形状来克服这一限制。它是通过在拓扑中识别这样的段并使用贝塞尔曲线表示它们来完成的。贝塞尔控制多边形的顶点用于参数化形状设计空间。Bezier曲线的均匀参数步长自然地实现了线段形状变化时的自适应有限元离散化。实际约束,如避免与其他部分和自交叉,以及对可用空间和材料的限制,都纳入了公式。我们使用先前工作中的多标准函数作为目标。提出了目标和约束条件的解析灵敏度分析方法,并将其应用于数值优化。通过实例说明了形状优化方法。
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引用次数: 92
Control of Shape Memory Alloy Actuators Using Pulse Width Pulse Frequency (PWPF) Modulation 利用脉宽调制(PWPF)控制形状记忆合金致动器
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23741
G. Song, N. Ma
This paper presents the design and experimental results of control of an SMA actuator using PWPF modulation to reduce the energy consumption by the SMA actuator. An SMA wire test stand is used in this research. Based on results of open-loop testing of the SMA wire actuator and parameter analysis of the PWPF modulator, a PWPF modulator is designed to modulate a Proportional plus Derivative (PD) controller. Experiments demonstrate that control of the SMA actuator using PWPF modulation effectively save actuation energy whiling maintaining same control accuracy as compared to continuous PD control.
本文介绍了利用 PWPF 调制控制 SMA 执行器以降低 SMA 执行器能耗的设计和实验结果。本研究使用了 SMA 线测试台。根据对 SMA 线执行器的开环测试结果和 PWPF 调制器的参数分析,设计了一个 PWPF 调制器来调制比例加微分 (PD) 控制器。实验证明,与连续 PD 控制相比,使用 PWPF 调制对 SMA 执行器进行控制可有效节省执行能量,同时保持相同的控制精度。
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引用次数: 0
Feedback Control of Resonant Modes in Bending Response of Ionic Polymer Actuators 离子聚合物作动器弯曲响应共振模式的反馈控制
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23732
Kiran Mallavarapu, D. Leo
Ionic polymer actuators exhibit large bending response under the application of an electric field but their slow time constant limits the actuation bandwidth. Recent results have demonstrated the ability of feedback control to increase the actuation bandwidth of ionic polymer bender actuators. A critical parameter in the control system is the frequency of the first elastic resonance of the actuator. Longer polymers exhibit a lower frequency resonance which limits the closed-loop performance. In this paper, an empirical model of ionic polymer actuator developed by Kanno (1994) is used for closed-loop control. The empirical model is modified to incorporate the resonant dynamics of the actuator and optimized. The empirical model is based on experimental measurements obtained through a series of open-loop responses for an ionic polymer actuator in a cantilever configuration. The empirical model is optimized and used to design a feedback compensator by state space modeling techniques. Since the ionic polymer actuator has slow settling time in the open-loop, the design objectives are to minimize the settling time and constrain the control voltage to be less than a prescribed value. The controller is designed using Linear Quadratic Regulator (LQR) techniques which reduced the number of design parameters to one variable. Simulations are performed which shows settling times of 0.03 seconds for closed-loop feedback control are possible as compared to the open-loop settling time of 15–20 seconds. The maximum control voltage varied from 1.2 Volts to 3.5 Volts depending on the LQR design parameter. The controller is implemented and results obtained are consistent with the simulations. Closed-loop settling time is observed to be 6–10 seconds and the ratio of the peak response to the steady-state response is reduced by an order of magnitude. Discrepancies between the experiment and the simulations are attributed to the inconsistencies in the resonant frequency of the actuator. Experiments demonstrate that changes in the surface hydration of the polymer result in 6.5%–12.5% variations in the actuator resonance. Variations in the actuator resonance require a more conservative compensator design, thus limiting the performance of the feedback control system.
离子聚合物致动器在电场作用下表现出较大的弯曲响应,但其缓慢的时间常数限制了致动带宽。最近的研究结果表明,反馈控制可以增加离子聚合物弯曲致动器的致动带宽。控制系统中的一个关键参数是执行器的第一次弹性共振频率。较长的聚合物表现出较低的频率共振,这限制了闭环性能。本文采用Kanno(1994)开发的离子聚合物作动器经验模型进行闭环控制。对经验模型进行了修正,纳入了作动器的谐振动力学,并进行了优化。该经验模型是基于对悬臂构型离子聚合物作动器的一系列开环响应的实验测量得出的。利用状态空间建模技术对经验模型进行了优化,并设计了反馈补偿器。由于离子聚合物致动器在开环中沉降时间较慢,因此设计目标是最小化沉降时间并约束控制电压小于规定值。该控制器采用线性二次型调节器(LQR)技术,将设计参数的数量减少到一个变量。仿真结果表明,与15-20秒的开环稳定时间相比,闭环反馈控制的稳定时间为0.03秒。根据LQR设计参数的不同,最大控制电压从1.2伏到3.5伏不等。该控制器的实现与仿真结果一致。观察到闭环稳定时间为6-10秒,峰值响应与稳态响应的比率降低了一个数量级。实验结果与仿真结果的差异是由于执行器谐振频率的不一致造成的。实验表明,聚合物表面水化的变化会导致致动器共振变化6.5% ~ 12.5%。执行器谐振的变化需要更保守的补偿器设计,从而限制了反馈控制系统的性能。
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引用次数: 1
Modeling of Active Constrained Layer Damping Structures Using a Commercial Finite Element Code 基于商业有限元规范的主动约束层阻尼结构建模
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23716
A. Lumsdaine
Active Constrained Layer Damping (ACLD), involving a hybrid of active and passive damping elements, has been shown to be a promising method for maximizing vibration damping effectiveness. Active damping can be effective at reducing vibration of a given single mode. Passive damping has dissipative qualities for all modes. There has been much discussion comparing and contrasting the uses of these different methods in the literature. It has been found that using a hybrid ACLD layer can be more effective than just using an active control (AC) approach or a Passive Constrained Layer Damper (PCLD) approach, in some cases. ACLD structures are characterized in the literature either by the development of analytic equations, or by finite element modeling. In cases where the ACLD structure is modeled using finite elements, the formulation is done by the author in developing a code. This limits the availability of the result beyond a specific application. For the modeling of ACLD structures to be more generally applicable, and available, modeling could be done using a commercial finite element code. A greater variety of different structures could be modeled, and structural optimization could easily be integrated. The study of ACLD structures would be available to an audience without the resources to construct their own elements. To the author’s knowledge, no studies of ACLD structures exist using a generally available finite element code. The ABAQUS commercial finite element code, with certain customizations, is used in this study. Results compare favorably with other sources in the literature.
主动约束层阻尼(ACLD)是一种混合了主动和被动阻尼元件的阻尼方法,已被证明是一种很有前途的最大化减振效果的方法。主动阻尼可以有效地降低给定单模态的振动。被动阻尼对所有模态都具有耗散特性。文献中对这些不同方法的使用进行了比较和对比。研究发现,在某些情况下,使用混合ACLD层比仅仅使用主动控制(AC)方法或被动约束层阻尼器(PCLD)方法更有效。在文献中,ACLD结构的特点要么是通过发展解析方程,要么是通过有限元建模。在使用有限元对ACLD结构进行建模的情况下,该公式由作者在开发代码时完成。这限制了结果在特定应用程序之外的可用性。为了使ACLD结构的建模更普遍地适用和可用,可以使用商业有限元代码进行建模。可以对更多种类的不同结构进行建模,并且可以很容易地集成结构优化。对ACLD结构的研究将提供给没有资源来构建自己的元素的受众。据作者所知,没有研究的ACLD结构存在使用一般可用的有限元代码。本研究使用的是ABAQUS商业有限元代码,并进行了一定的定制。结果与文献中的其他来源比较有利。
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引用次数: 2
Application of Kautz Models for Adaptive Vibration Control Kautz模型在振动自适应控制中的应用
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23725
D. Mayer, S. Herold, H. Hanselka
Both for active noise control (ANC) and active vibration control (AVC) the well known F-X-LMS-algorithm can be used. This approach requires a proper model of the path from the actuator to the error sensor, preferably received with an on-line identification. In the field of ANC adaptive finite impulse response (FIR) filters work well for this task, but for lightly damped mechanical systems with long impulse responses FIR filters with up to several thousand coefficients would have to be used. One alternative are adaptive IIR filters, but these can get unstable while adapting or the adapting process can get stuck in local minima. In this work, adaptive Kautz models are introduced, which need some a priori knowledge about the poles of the system. On the other hand, they represent an infinite impulse response while maintaining the transversal structure of the adaptive filter. This is reached by generalization of the FIR filter, for which the delay operator is substituted by discrete allpass filters, the Kautz filters. The adaptive filter bank is implemented by means of the straightforward LMS algorithm in the Matlab/Simulink environment. As an example, system identification with Kautz models and their usage in AVC for a simple mechanical system will be studied.
对于主动噪声控制(ANC)和主动振动控制(AVC),众所周知的f - x - lms算法都可以使用。这种方法需要从执行器到误差传感器的路径的适当模型,最好带有在线识别。在ANC领域,自适应有限脉冲响应(FIR)滤波器可以很好地完成这项任务,但对于具有长脉冲响应的轻阻尼机械系统,必须使用多达数千个系数的FIR滤波器。另一种选择是自适应IIR滤波器,但这些滤波器在自适应时可能变得不稳定,或者自适应过程可能陷入局部最小值。在这项工作中,引入了自适应Kautz模型,该模型需要一些关于系统极点的先验知识。另一方面,它们表示一个无限的脉冲响应,同时保持自适应滤波器的横向结构。这是通过FIR滤波器的泛化来实现的,其中延迟算子被离散的全通滤波器,即考茨滤波器所取代。在Matlab/Simulink环境下,采用直观的LMS算法实现了自适应滤波器组。作为一个例子,系统识别与Kautz模型及其在AVC对一个简单的机械系统的应用将进行研究。
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引用次数: 6
Vibration Delocalization of Nearly Periodic Structures Using Coupled Piezoelectric Networks 基于耦合压电网络的近周期结构振动解域
Pub Date : 2001-11-11 DOI: 10.1115/1.1521951
Jiong Tang, K. W. Wang
It is known that, when the mechanical coupling between the substructures is weak, small imperfections in a periodic structure can induce vibration localization. This will cause drastic and harmful changes in structure dynamic property. In this study, it is shown that the proposed coupled piezoelectric circuits can greatly relieve or even eliminate such vibration localization problems. Part of the structural vibration energy will be transferred into electrical energy by the piezoelectric materials, and the newly created electro-mechanical wave/energy channel due to the strong capacitive coupling between the piezoelectric circuits applied to the substructures will sustain the energy propagation throughout the structure. The effectiveness of the coupled piezoelectric circuits on reducing vibration localization is demonstrated, and qualitative analyses and design criteria are given.
众所周知,当子结构之间的力学耦合较弱时,周期结构中的小缺陷会引起振动局部化。这将导致结构动力性能发生剧烈而有害的变化。本研究表明,所提出的耦合压电电路可以极大地缓解甚至消除这种振动局部化问题。部分结构振动能量通过压电材料转化为电能,由于施加在子结构上的压电电路之间的强电容耦合,新形成的机电波/能量通道将维持能量在整个结构中的传播。验证了耦合压电电路对减小振动局部化的有效性,并给出了定性分析和设计准则。
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引用次数: 48
Damage Detection of CFRP Pipes and Ladder Structure by Using Localized Flexibility Method 基于局部柔度法的CFRP管梯结构损伤检测
Pub Date : 2001-11-11 DOI: 10.1115/imece2001/ad-23706
Y. Aoki, A. Shoji, O. Byon
This paper presents modal-based structural damage detection. Specifically, we focus on localized flexibility properties that can be deduced from the experimentally determined global flexibility matrix. We present the underlying theory that can be viewed a generalized flexibility formulation in three different generalized coordinates, viz., localized or substructural displacement-basis, elemental deformation-basis and element strain-basis. Then, the present methods are applied to a CFRP pipes and shells having interior damage and the numerical and experimental results show that the elemental strain-basis method is quite useful for detecting the inside damage of the CFRP filament winding pipes.
提出了一种基于模态的结构损伤检测方法。具体来说,我们关注的是可以从实验确定的全局柔性矩阵中推断出的局部柔性特性。我们提出了在三种不同的广义坐标下可以看作广义柔性公式的基本理论,即局部或子结构位移基、单元变形基和单元应变基。将该方法应用于具有内部损伤的CFRP管壳,数值和实验结果表明,单元应变基法对于检测CFRP丝缠绕管的内部损伤是非常有效的。
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引用次数: 0
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Adaptive Structures and Material Systems
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