Vibration Control of Adaptive StructuresModeling, Simulation and Implementation of
Viscoelastic and Piezoelectric Damping Technologies
by
Csar Miguel de Almeida Vasques(MSc, Mechanical Engineering)
Vibration Control of Adaptive StructuresModeling, Simulation and Implementation of
Viscoelastic and Piezoelectric Damping Technologies
by
Csar Miguel de Almeida Vasques(MSc, Mechanical Engineering)
Dissertation submitted to theFaculdade de Engenharia da Universidade do Porto
in partial fulfilment of the requirements for the degree of
Doutor
em
Engenharia Mecnica
Advisor:Jos Fernando Dias Rodrigues
(Associate Professor)
Laboratrio de Vibraes de Sistemas MecnicosDepartamento de Engenharia Mecnica e Gesto Industrial
Faculdade de Engenharia da Universidade do PortoPorto, Portugal
May 2008
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The research presented in this dissertation has been performed at theLaboratory of Vibrations of Mechanical Systems of the Departmentof Mechanical Engineering and Industrial Management, Faculty ofEngineering, University of Porto, Porto, Portugal.
This dissertation was funded by Fundao para a Cincia e a Tecnolo-gia (FCT) of the Ministrio da Cincia, Tecnologia e Ensino Superior(MCTES) of Portugal under grant POSI SFRH/BD/13255/2003.
Csar M. A. Vasques
Faculdade de Engenharia da Universidade do PortoDepartamento de Engenharia Mecnica e Gesto IndustrialLaboratorio de Vibraes de Sistemas MecnicosRua Dr. Roberto Frias s/n, Sala M2064200-465 PortoPortugal
E-mail: [email protected]: http://publicationslist.org/cmavasques
Copyright 2008Csar M. A. Vasques
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Acknowledgments
I would like to express my sincere gratitude to Dr. Jos Dias Rodrigues, the advisor of this dis-sertation, not only for his guidance and support during the course of this dissertation but alsofor the several fructuous and rewarding discussions that we had on matters of life and scienceduring the last years. Working under his supervision has been a truly exciting experience.
I am deeply appreciated to Dr. Jorge Seabra for the kindly support given through all thisyears as an undergraduate and graduate student and for his guidance and invaluable advices.
I owe special thanks to Dr. Brian Mace and Dr. Paolo Gardonio from the Institute of Soundand Vibration Research (ISVR) at the University of Southampton, UK, for kindly receiving methere and being my advisors during the two-semester period that I spend there as visitingstudent under the European Doctorate in Sound and Vibration Studies (EDSVS) program, andto Dr. Mike Brennan, the Chairman of the Dynamics Group at the ISVR, for kindly welcomingand integrating me into the group. My perspective of sound and vibration engineering, inparticular, and science, in general, is nowadays in great part a reflex of my stay at the ISVR,which deeply inspired me both in my academic and professional careers.
I am thankful to Dr. Ayech Benjeddou from the Institut Suprieur de Mcanique de Paris,France, for the kind comments and suggestions given in an early stage of this endeavor.
I would like also to thank Dr. Rui Moreira for providing some of the material in Chapter 7and to the colleagues and friends at FEUP for their friendship and support.
Special thanks are due to my closest friends in Ermesinde that have ever been there for me.Finally, my heartfelt appreciation goes to my mother for her love and partnership through
my whole life, and to Olga Pousa, my beloved girlfriend and future wife, for her love, patienceand comprehension during the last two years and a half. Without their devotion and care, Icould not have accomplished this much.
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Abstract
In the last decade the interest demonstrated, mainly by public and private companies from theaerospace and space engineering sectors, in the development and use of high performancestructures, in general, and adaptive structures, in particular, comprising piezo-visco-elasticdamping treatments as technological solutions to tackle vibration- and noise-related problemshas grown. In the meantime, a relative maturity in the adequate modeling and design of piezo-visco-elastic damping treatments has also been achieved. However, with the ever increasingstrong demands of lighter, stiffer, lower cost and more efficient and reliable structures, en-gineers and scientists are faced nowadays with the requirement of having at their disposalrefined and more accurate multiphysics models of those complex multilayer structures anddamping technologies. That problem pushes the underlying complexity of more representa-tive models to higher levels and poses a sustained and application-motivated challenge to theadaptive structures research community.
In that context, this dissertation addresses issues on the vibration control of adaptive struc-tures, tentatively covering the design, analysis and application of the emerging piezo-visco-elastic damping technologies focusing, in general, main five research fields/topics. (1) MO-DELING: new refined finite element (FE) models of multilayer piezo-visco-elastic beam, plateand shell structures with a high degree of accuracy and a suitable trade-off between accuracyand complexity are developed; (2) DAMPING: viscoelastic (frequency-dependent) dampingmodeling and solution approaches are developed, assessed and implemented into FE mod-eling; (3) CONTROL: passive, active and hybrid damping treatments and control strategiesconsidering both feedback and adaptive feedforward algorithms used separately or blendedare developed, simulated, assessed and implemented in real-time control; (4) DESIGN: the ef-ficiency of the damping treatments/technologies in terms of material properties, location, geo-metric configuration, thicknesses of the layers and control law is analyzed and discussed, anda general design methodology to assess their design is proposed and demonstrated; (5) AP-PLICATION: FE routines devoted to hybrid damping design and simulation, real-time testand analysis, validation and application of hybrid (with multi-algorithms and multi-dampingmaterials) damping technologies are developed and implemented into a FE modeling and pro-graming environment.
Keywords: beam, plate, shell, finite element, adaptive structure, vibration, damping, control,piezoelectric, viscoelastic, feedback, feedforward.
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Rsum
Au cours de la dernire dcennie, lintrt dmontr, principalement par les compagnies publi-ques et prives dans les secteurs de lingnierie aronautique et arospatiale, dans le dveloppe-ment et lemploi de structures haute performance, en gnral, et structures adaptatives, enparticulier, incorporant des traitements damortissement piezo-visco-lastique pour rgler desproblmes de vibrations et bruit, a augment. Cependant, avec les rquisits fonctionnels deplus en plus exigeants qui amnent des structures plus lgres, rigides et bas cot et qui,simultanment, soient aussi efficaces et fiables lorsquelles sont soumises des charges dy-namiques, les ingnieurs et les chercheurs se rencontrent actuellement confronts avec la n-cessit davoir leur disposition des modles multi-physiques plus raffins et prcis qui soientreprsentatives de ces structures complexes multicouches et des technologies damortissement.Ce problme dplace la complexit intrinsque de ces modles plus raffins et plus reprsenta-tives pour un plus haut niveau et il dfie, de une forme soutenue et motive par lapplication,la communaut des chercheurs de structures adaptatives donner la rponse ce problme.
Dans ce contexte, cette dissertation adresse des questions sur le contrle des vibrations desstructures adaptatives, en essayant de couvrir le projet, lanalyse et lapplication des technolo-gies mergentes damortissement piezo-visco-lastique exploitant, en gnral, cinq aires/th-mes principales de recherche. (1) MODLISATION: nouveaux modles dlments finis raf-fins sont dvelopps pour les structures piezo-visco-lastique multicouche du type poutre,plaque et coque avec un haut degr dexactitude et un compromis adquat entre exactitude etcomplexit; (2) AMORTISSEMENT: diffrents modles damortissement viscolastique dpen-dant de la frquence (hystrtique au sens gnral) et des mthodes de solution sont dvelop-ps, valus et implments dans des modles dlments finis; (3) CONTRLE: traitementsdamortissement passif, actif et hybride ainsi que des stratgies de contrle en considrantles approches par feedback et feedforward adaptatif, utiliss sparment ou ensemble, sontdvelopps, simuls, valus et implments en temps-rel; (4) PROJET: lefficacit des traite-ments/technologies damortissement, par rapport leurs proprits matrielles, emplacement,configuration gomtrique, paisseur des couches et loi du contrle, est analyse et discute etune mthodologie gnrale pour aider le projet des traitements est propose et dmontre;(5) APPLICATION: des routines dlments finis dvous au projet et simulation des traite-ments damortissement hybride, test en temps-rel et analyse, validation et application destechnologies damortissement hybride (avec plusieurs algorithmes et matriaux amortisseurs)sont dveloppes et implmentes dans un environnement de modlisation et programmationdlments finis.
Mots-cls: poutre, plaque, coque, lment fini, structure adaptative, vibration, amortissement,contrle, pizolectrique, viscolastique, feedback, feedforward.
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Resumo
Na ltima dcada o interesse demonstrado, principalmente por empresas pblicas e privadasnos sectores de engenharia aeronutica e aeroespacial, no desenvolvimento e utilizao de es-truturas de elevado desempenho, em geral, e estruturas adaptativas, em particular, incorpo-rando tratamentos de amortecimento piezo-visco-elstico para tratar problemas relacionadoscom vibraes e rudo, tem aumentado. Entretanto, com os cada vez mais exig
