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Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Prof. Dr.-Ing. Tamara Nestorović
Ruhr-University Bochum, Mechanics of Adaptive Systems
Building IA, Room 01/128
E-mail: [email protected]; www.rub.de/mas
Adaptronics
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Recommended literature and links• Lecture Notes – Course slides (final version will be updated in Blackboard in the end of
the course)
• Matlab online Helpdesk and Tutorialshttp://www.mathworks.com/academia/student_center/tutorials/http://www.mathworks.com/academia/student_center/tutorials/mltutorial_launchpad.html#http://www.mathworks.com/academia/student_center/tutorials/sltutorial_launchpad.htmlhttp://www.mathworks.com/academia/student_center/tutorials/controls-tutorial-launchpad.htmlhttp://www.mathworks.com/access/helpdesk/help/helpdesk.html
• Fuller C. R., Elliott S. J., Nelson P. A.: Active Control of Vibration, Academic Press Ltd, London, 1996
• Franklin G. F., Powell J. D., Emami-Naeini A.: Feedback Control of Dynamic Systems, second edition, Addison-Wesley Publishing Company, 1991
• Franklin G. F., Powell J. D., Workman M. L.: Digital Control of Dynamic Systems, third edition, Addison-Wesley Longman, Inc., 1998
• Richard J. Vaccaro: Digital Control, A State-Space Approach, McGraw-Hill Inc., 1995
• Preumont A.: Vibration Control of Active Structures: An Introduction, Kluwer Academic Publishers, Dordrecht, Boston, London, 1997
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Active Structural Control – Motivation
Motivation for development of smart structures andactive structural control:
Growing interest and application possibilities in a broad field of engineering, such as automotive industry, civil engineering,aero-space industry, robotics, mechatronics, etc.
Overall design of smart systems(modeling, control, simulation, experimental testing, implementation)
Possibility for investigation in early development phaseswhen real system or a prototype is not available
Cost reduction (material, space, energy savings) through optimization
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Active Structural Control – Tasks
Smart structural control challenges and tasks:
- to achieve desired behavior and stabile smart structures in a noisyenvironment or in the presence of excitations
- a need to design a robust and stable control systemusing minimal prior knowledge about the controlled plant
- solution of different optimization problems,e.g. vibration suppression and noise control:
- active vibration control AVC,- active noise control ANC,- active structural acoustic control ASAC
- design and application of control laws for the vibration and noise suppression of piezoelectric smart structures
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Smart Structures and Adaptronics - Terms
Terms
Several terms are used to denote structures and systems with ability to adapt themselves to changing environmental conditions.
Most often used terms
- English terminology:smart structures, intelligent structures, adaptive structures,active structures;
- German terminology: adaptronics, adaptronic systems (Adaptronik)
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Smart Structures and Adaptronics - Definitions
Definitions
Definition suggested by the Fraunhofer SocietySource: http://www.fraunhofer.de/fhg/research/index/perspektiven_4.jsp
Under the term smart structures or adaptronics one can understand structures which enable a direct actively controlled adaptation of mechanical properties in accordance to changing environmental operating conditions through integrated functionalities within the structure itself.
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Smart Structures and Adaptronics - DefinitionsDefinition of DLR – Deutsches Zentrum für Luft- und Raumfahrt (Leitprojekt Adaptronik),Source: http://www.mechatronik-portal.de/mechatronik_definition.php
Adaptronics stands for a field of technology which provides a new class of so-called intelligent structures. This concept imposes the development of adaptive systems, which are able to adapt to different operating conditions through autonomous self-regulating mechanisms. The premise for that is an optimal integration of sensors and actuators based on new active functional materials (like e.g. piezoelectric fibers or films) as well as of adaptive controllers. These active materials play at the same time the carrying or supporting role of mechanical structure, as well as the the actuating/sensing role, and therefore they are multi-functional.
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Structure of smart systems
Comparison of different structural systems
noiseless vibrationinstable
Excitations
adaptive
- vibration elimination- stable- lightweight- integrated controller
Adaptive controller
Excitations
adaptive
Goal:- vibration elimination- stable- lightweight- external controller
Passivestructure
Excitations
Passivestructure
Controller
SensorsActuators active
Excitations
less noiseless vibrationstable, heavy
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Examples of Adaptive Structures and SystemsICE bogie
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
+
+
+
Hierarchy of Smart Structures and Systems
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Development of active structures – goals and tasks
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Multi-functional materials:
• Piezo ceramics
• Shape memory alloys (SMA)
• Electrorheological fluids (ERF)
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Controller design:
• Optimal LQ control(SISO and MIMO control systems)
• LQ controller with additionaldynamics
• Adaptive control (MRAC)
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
What are we studying in the field of active vibration and noise control?
GoalsIncreasing the efficiency, safety and comfort by: active vibration suppression active noise attenuation active shape control active position control health monitoring noise reduction
Development of active structures – goals and tasks
Development tasks structure conform integrated
actuator / sensor systems
discrete real-time controllers
up-to-date design andoptimization methods
• Modeling of adaptive structures: FE approach Experimental identification
• Optimal placement of actuators and sensors
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
actuators
sensorsactuatorsdisturbances
-101030507090
110
0 25 50 75 100
Frequency [Hz]
Ampl
itude
[dB
]controlled uncontrolled
Examples of active structural control – automotive
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Examples of active structural control – medical solutions
actuators
sen sors
d isturbance
20
40
60
80
100
120
0 20 40 60 80Frequency [Hz]
Ampli
tude [
dB]
controlled uncontrolled
Piezoelectric films cut down noise generated by the MRI scanner
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Example:Vibration suppression using control techniques
Example of an actively controlled piezoelectric beam structure
Basic elements of an active structural system
Fundamentals of ActiveStructural Control
Prof. Dr.-Ing. Tamara Nestorovićwww.rub.de/mas
Adaptronics
Classification of control lawsModel-based control: - FE-Model
- Model identificationAdaptive controllers: - Model Reference Adaptive Control (MRAC)
- Self-tuning regulators (STR)Classification of model-based controller design techniques
Model-based Controller
Linear Time-Invariant Controller (LTI)
Output FeedbackState Feedback
DiscreteContinuousDigital Tracking
Systems
LQR-ControllerPole Placement
LQR-ControllerPole Placement
Disturbance RejectionReference Model Design
Disturbance Cancellation
Nonlinear Controller PID Control