sang-myeong kim unesp @ ilha solteira 2013...• a theoretical overview - "ch. 7 filter design...
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Sang-Myeong Kim
UNESP @ Ilha Solteira
2013
Vibration Modeling, Measurement and Control
ACTIVE VIBRATION CONTROL 3/3
III. Practical Considerations in Vibration
Control
ContentsContentsA FACT: “Although not many around the world have yet experienced it, control of sound & vibration is no more a theory but a reality.”
1. Actuators: piezoelectric, electromagnetic
2. Sensors: strain, acceleration
3. Controllers: analog, digital
4. Some tips:
A fundamental question in all control systems: “(+) or (-), that is the question.”
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PrerequisitesPrerequisites
- Understanding the physics of the plant : Vibration
- System identification tools: Digital Signal Processing
- Implementation: Circuit theory, Control
At least, one should know about Vibration and Control.
I. Actuators I. Actuators -- PZT PZT
• PZT Strain Type
• Mechanism : similar to bimetal.
I. Z1T25×60R-S (C-83H) : 10 pieces
(TERMINAL: NEGATIVE) -
(TERMINAL: POSITIVE) +
PIEZO CERAMIC PLATE FOR NDT.
-DIMENSIONS : 60(L)×25(W)×1(T) mm 10PCS @W87,000
-ELECTRODE : FIRED SILVER,
-MATERIAL. : C-83H
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I. Actuators I. Actuators -- PZTPZT
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I. Actuators I. Actuators -- PZTPZT
• PZT Strain Type Actuation
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I. Actuators I. Actuators -- PZTPZT
• PZT Inertial Type Actuation
I. Actuators I. Actuators -- EMEM
• Electromagnetic Type; Grounded Installation
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I. Actuators I. Actuators -- EMEM
• Electromagnetic Type; Mounted Installation
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I. Actuator Comparison – Duality
Coupling
Coefficient
Electrical
Impedance
Mechanical Impedance
Dynamic Equation
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I. Actuators – Equivalent Circuits
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II. Sensors II. Sensors –– mounting type and grounding typemounting type and grounding type
• Accelerometer
piezo type for high temp.
ICP type
• Strain gauge
• PVDF (should be used with care)
• Encoder
• Proximate Sensor, camera
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III. Digital Controller III. Digital Controller –– Introduction to the Introduction to the xPCxPC Target Target
xPC Target: a new standard for real time processing; a DSP prototyping machine;
running in Matlab Simulink environment;
ideal for realizing a real time filtering processing (i.e. a controller)
Construction: Host PC + Target PC (DAQ Board) + DAQ Frontend
III. Introduction to the III. Introduction to the xPCxPC Target Target
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III. Introduction to the III. Introduction to the xPCxPC Target Target
1. Cabling as shown in the figure
2. type ‘xpcexplr’ on Matlab command window; set IP address of the target PC; make
a boot diskette. A C compiler (e.g., Visual Studio) must have been installed.
3. Boot the target PC with the boot diskette
4. copy & paste blocks in Simulink; Build block; Connect; Run
5. Measure the controller response
III. Test Run 1 with Fs = 9000 Hz III. Test Run 1 with Fs = 9000 Hz
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III. Test Run 1 III. Test Run 1 --Results Results
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
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Time (s)Le
vel (
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inputoutputTime domain analysis
Frequency domain analysis for a random noise input
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Frequency (Hz)
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Frequency Response Function
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Frequency (Hz)
Ph
ase
(D
eg
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s)Frequency Response Function
ExperimentApproximation Delay=1.6*dt
• Ideally, 0 dB & 0
• For NI PCI-6024E with Fs= 9kHz:
Amp slightly decreasing with frequency
Anti-aliasing filter delay = 1.6 dt
III. Test Run 2 with NI PCI 6251 and Fs = 40 kHzIII. Test Run 2 with NI PCI 6251 and Fs = 40 kHz
1000 2000 3000 4000 5000 6000 7000 8000 9000 10000-10
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Frequency (Hz)
Am
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(dB
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Frequency Response Function
1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
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Frequency (Hz)
Ph
ase
(D
eg
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Frequency Response Function
ExperimentApproximation Delay=1.6*dt
1. Proportional Gain
2. Bandpass Filter
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Frequency (Hz)
Am
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Frequency Response Function
exp.analog filter
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Frequency (Hz)
Ph
ase
(D
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Frequency Response Function
Experimentanalog filterwith Approximation Delay=1.6*dt
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III. Comparison of some NI boardsIII. Comparison of some NI boards
930$ 1630$ 217$ 3100$ 1400$
Perform OK
III. III. SimulinkSimulink Block Block ConstrutionConstrution = Causal machines= Causal machines
• How to implement a digital filter for an analogue EDA filter
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III. Analog EDA filters III. Analog EDA filters
III. Discrete equivalences of EDA filters III. Discrete equivalences of EDA filters
• Impulse invariant method
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IV. Safety concerns and OthersIV. Safety concerns and Others
• (+) or (-), that is the question.
• Volume control for PZT
• Fuses for EM (high current type, high temp. type)
• Others: Coupling between electric and electronic devices
Summary
• xPC target is a cheap and convenient tool for real time DSP prototyping
• Impulse invariant method is accurate for digitally realizing EDAs.
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References
[Impulse Invariant Method]
• A theoretical overview - "Ch. 7 Filter Design Techniques, Discrete Time Signal Processing by
Oppenheim and Schafer, 1989."
• A practical shortcut - "Table 13.1 A Table of Z transforms, p629, Modern Control Engineering by Ogata,
1970."
• Digital realization of an Electrical Dynamic Absorber (EDA) -" Appendix A.
S M Kim, J E Oh, A modal filter approach to non-collocated vibration control of structures, Journal of
Sound and Vibration 332 pp. 2207-2221(2013).“
[Dynamics of Piezoelectric Material]
• S M Kim, S Wang and M J Brennan, Dynamic analysis and optimal design of a passive and an active
piezo-electrical dynamic vibration absorber, Journal of Sound and Vibration, 330, pp. 603-614 (2011)
[Dynamics of Transducers]
• L E Kinsler et al., Chapter 14 Transduction, Fundamentals of Acoustics, 4th ed. (2000)