Submitted by FREDERIC CONRAD JANZEN null (fcjanzen@utfpr.edu.br) on 2016-11-13T01:59:49Z No. of bitstreams: 1 Positioning and vibration control of a flexible structure in slewing motion by applying Shape Memory Alloys.pdf: 10393447 bytes, checksum: 905f7c805c63133af1f576ad7ebbfd4b (MD5) / Approved for entry into archive by Juliano Benedito Ferreira (julianoferreira@reitoria.unesp.br) on 2016-11-17T18:09:27Z (GMT) No. of bitstreams: 1 janzen_fc_dr_bauru.pdf: 10393447 bytes, checksum: 905f7c805c63133af1f576ad7ebbfd4b (MD5) / Made available in DSpace on 2016-11-17T18:09:27Z (GMT). No. of bitstreams: 1 janzen_fc_dr_bauru.pdf: 10393447 bytes, checksum: 905f7c805c63133af1f576ad7ebbfd4b (MD5) Previous issue date: 2016-09-19 / Estruturas flexíveis com movimento de rastreamento tem sido encontradas com frequência cada vez maior em diversos tipos de aplicações, por serem mais eficientes do que suas concorrentes rígidas. O estudo desses sistemas é importante por conta das vibrações advindas da redução de massa das estruturas. Muitos trabalhos têm sido publicados apresentado técnicas de controle aplicadas na redução dos efeitos dessas vibrações. Vários trabalhos demonstram a aplicação de materiais inteligentes como atuadores para esse tipo de aplicação. Sendo assim, o presente trabalho apresenta uma proposta para o controle do posicionamento angular e da vibração de uma estrutura flexível em movimento de rastreamento. Para tal, atuadores compostos de um material inteligente conhecido como Liga com Memoria de Forma são empregados para o controle da vibração da estrutura flexível. Com relação ao controle, a técnica de controle conhecida como Equações de Ricatti Dependentes dos Estados (SDRE) é aplicada para o controle. Com o objetivo de analisar a dinâmica do sistema com o controle proposto considera-se a modelagem matemática do sistema e sua validação através do desenvolvido de um protótipo experimental. Simulações numéricas são realizadas para analisar a viabilidade do controle proposto e testes experimentais são realizados com a finalidade de validar o modelo teórico e a proposta de controle. / Flexible structures with slewing motion has been found with increasing frequency in various types of applications, because they are more efficient than their rigid competitors. The study of these systems is important because of the vibrations coming from the mass reduction of structures. Many works have been published presenting control techniques applied in reducing the effects of these vibrations. Several studies demonstrate the application of intelligent materials as actuators for this application. This paper presents a proposal for controlling the angular positioning and vibration of a flexible structure in slewing motion. For such compounds an intelligent actuator materials known as Shape Memory Alloy is employed to control the vibration of the flexible structure. To control the system, the control technique known as State Dependent Ricatti Equation (SDRE), is applied to the control. In order to analyse the dynamics of the system with the proposed control the mathematical modelling of the system is considered and its validation by developed an experimental prototype. Numerical simulations are carried out to analyse the viability of the control and experimental tests are performed in order to validate the theoretical model and the proposed control.

Vibrations caused by rough road excitations influence tracked vehicle dynamic performance. Good capabilities of such vehicles like high mobility, manoeuvrability and comfort are guaranteed by optimal suspension systems. The suspension systems of tracked vehicles are exposed to extreme operating conditions. This creates a conflict between ride comfort and handling that is even greater than the conflict between ride comfort and handling for general road vehicles. Tracked vehicles must be able to traverse not only rough roads but also smooth terrains. The challenges in developing an optimized suspension system for tracked vehicles include the high and changeable damping forces required for tracked vehicles crossing rough terrains. The use of active or semi-active suspension systems overcomes the limitations inherent in the conventional passive suspension. However, active suspension systems are expensive, complicated to design and have high power demand. Thus, semi-active suspension systems have emerged as a good compromise between active and passive suspension system. There is considerable current research on the applications of magnetorheological (MR) fluid dampers for semi-active suspensions of executive brand of some cars. However, there is very little research on semi-active devices for tracked vehicle suspension. In fact, currently, there is no commercially available large scale MR dampers in the market that produce the high damping force to suit such applications. In response to these requirements, this research proposes a novel semi-active tracked vehicle suspension system that uses MR dampers to improve the ride comfort and handling characteristics of tracked vehicles. It also assesses the dynamics of the new suspension with various semi-active control methods. This study is conducted in four phases. The first phase provides a numerical investigation on the dynamic performance of a seven-degrees-of-freedom (7-DOF) passive suspension model of the armour personnel carrier (APC) M113 tracked vehicle. The numerical investigation considers the influence of variation of five suspension design parameters on the vehicle dynamic performance. These parameters include number, locations of hydraulic shock absorber, damping coefficient, suspension and wheel stiffnesses. The results indicate that the optimal suspension performance is attained by using two or three dampers. The best locations for these dampers are at the extreme road wheels i.e. the first, second and last road wheel stations. Moreover, the vehicle performance is reduced when the damping coefficient is increased. Additionally, low suspension stiffness offers better vehicle ride while high wheel stiffness degrades the vehicle performance. These results identify the limitations inherent in the conventional passive suspension. For the second phase, the dynamic characteristics of the hydraulic, hydro-gas and MR dampers are experimentally measured and fitted using the Chebyshev orthogonal functions to produce the restoring force surfaces for each damper, which are compared. On one hand, the restoring force surfaces of the hydraulic and hydro-gas dampers show fixed properties at specified frequencies. On the other hand, the restoring force surfaces of the MR dampers show properties that can be controlled at the same specified frequencies by the variation of the applied current levels. Thus, the potential and the effectiveness of the controllable properties of MR dampers for semi-active vibration control is demonstrated. Also, in this phase, the best set of parameters to use in the modified Bouc-Wen model to characterise the MR dampers, has been derived. The third phase of the project is also experimentally based. A new and novel test rig which represents the 7-DOF scaled suspension model of the tracked vehicle is designed and fabricated. The primary purpose of the test rig is to evaluate the performance of the proposed suspension with MR dampers. Furthermore, experiments are conducted on the test rig to evaluate some semi-active control methods and their effectiveness in reducing suspension vibration. The results show that the use of two or three MR dampers at the extreme wheels offers optimal suspension performance. This confirms the numerical results that are derived from the full scale passive suspension system with hydraulic dampers. The experimental results also show that skyhook control and hybrid control (which combines groundhook and skyhook controls) of the semi-active suspension are more effective in reducing the road-induced vibration and improving the suspension dynamic behaviours. Also, validations of the predicted responses of the semi-active scaled MR suspension model with the measured responses have been presented. The fourth and final phase provides a numerical simulation on the development and evaluation of the semi-active control methods for a full scale tracked vehicle suspension with MR dampers using the validated suspension model. Three semi-active control strategies are proposed. The first two controllers are the skyhook and hybrid controls which provide better suspension performance. In addition, the third controller, which is an intelligent fuzzy-hybrid control system, is used to optimize the suspension performance. The results from this intelligent system are compared with the two traditional control methods (skyhook and hybrid controls) under bump, sinusoidal and random excitations. It is shown that the proposed controller can enhance simultaneously the vehicle ride and handling characteristics.

The pantograph - catenary interaction is one of the most important features in high speed trains, and to guarantee a reliable current collection is the target that every railway system must take into consideration in order to speed up trains. The problem that goes against this direction is mainly the variation of the overhead equipment's stiness. To understand the phenomenon a lumped mass model of the pantograph with a rigid body attached to the ground representing the contact wire were built up; in this way a complete lumped mass model is developed. All information regarding both wire and pantograph set up is introduced as lumped parameters. Creating the model, dierent active control strategies as ideal control, PID control and optimal control are introduced. All simulations are made in GENSYS, while the control part is made inSIMULINK; a connection between those two softwares was created as part of the thesis using TCP/IP protocol. Results compared to experimental acquisition are satisfactory in terms of contact force representation. The standard deviation and average value's errors of the contact force are lower than 10%; regarding the control system, typically 20% of reduction of the standard deviation compared to the passive case is achieved. Also a comparison with a nite element program is done in order to better understand the limits of the model compared with a more sophisticated one. The comparison shows a good accordance up to 60 % of the average speed of the wave propagation in the catenary. The last feature analyzed is how the behavior of the controlled system changes introducing a real actuator: results shows that the performance is reduced in dierent ways considering dierent speeds, but no instabilities occur.

A principal component least mean square (PC-LMS) adaptive algorithm is described that has considerable benefits for large control systems used to implement feedforward control of single frequency disturbances. The algorithm is a transform domain version of the multichannel filtered-x LMS algorithm. The transformation corresponds to the principal components of the transfer function matrix between the sensors and actuators in a control system at a single frequency. The method is similar to other transform domain LMS algorithms because the transformation can be used to accelerate convergence when the control system is ill-conditioned. This ill-conditioning is due to actuator and sensor placement on a continuous structure. The principal component transformation rotates the control filter coefficient axes to a more convenient coordinate system where (1) independent convergence factors can be used on each coordinate to accelerate convergence, (2) insignificant control coordinates can be eliminated from the controller, and (3) coordinates that require excessive control effort can be eliminated from the controller. The resulting transform domain algorithm has lower computational requirements than the filtered-x LMS algorithm. The formulation of the algorithm given here applies only to single frequency control problems, and computation of the decoupling transforms requires an estimate of the transfer function matrix between control actuators and error sensors at the frequency of interest. The feasibility of the method was demonstrated in real-time noise control experiments involving 48 microphones and 12 control actuators mounted on a closed cylindrical shell. Convergence of the PC-LMS algorithm was more stable than the filtered-x LMS algorithm. In addition, the PC-LMS controller produced more noise reduction with less control effort than the filtered-x LMS controller in several tests. / Ph. D.

The purpose of this study is to develop an analytical solution for modal analysis of actively damped orthotropic composite plates in bending and to verify it with experimental analysis. The analytical modal analysis solution for composite plate dynamics is derived using Euler theory. This analysis applies to structures with orthotropic lamina of uniform material properties at any lamination angle. The bending-extensional coupling can be neglected for plates that are symmetric or approximately symmetric, which allows an exact solution for natural frequency and mode shape to be obtained. An exact solution can be found for natural vibration and in general. The active control is modeled analytically by combining the Lagrange equation with the Ritz Assumed Mode method. This analysis produces a generalized coordinate vector that correlates the assumed mode to the particular amplitude of a particular case. The kinetic energy dissipated by the piezoelectric actuator from the system over one oscillation can be calculated from the generalized coordinate vector and the assumed mode. The equivalent damping ratio of the active control system is calculated as the ratio between the kinetic energy absorbed by the piezoelectric actuator from the system in one oscillation and the maximum strain energy of the system during that oscillation. A point mass on the plate, such as an accelerometer mass, can also be modeled as a single layer of uniform mass, that is an isotropic layer, by equating the potential energy of the point mass with the potential energy of the uniform mass layer. It is important to note that the mass of the isotropic layer is frequency dependent, and it has no effect on the plate stiffness. The analytical model is validated by comparison to experimental work. The samples studied were aluminum and composite plates of various lengths. The active control predictions were also validated using previous experimental work completed at California Polytechnic State University in San Luis Obispo. These cases included active control of an aluminum beam with a patch of piezoelectric material and an aluminum sailplane with a patch of piezoelectric material. Results indicate that while the analytical mode solutions are in good agreement with the experimental results, they are also systematically higher than the experimental results. The analytical active control solutions match previous work when the piezoelectric effects are linear. The main result of adding an active control system is approximately a 5-10% increase in modal frequencies and a 200-800% increase of damping ratio.

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A dual approach integrating structural tailoring and adaptive materials technology and designed to control the dynamic response of cantilever beams subjected to external excitations is addressed. The cantilevered structure is modeled as a thin-walled beam of arbitrary cross-section and incorporates a number of non-classical effects such as transverse shear, warping restraint, anisotropy of constituent materials and heterogeneity of the construction. Whereas structural tailoring uses the anisotropy properties of advanced composite materials, adaptive materials technology exploits the actuating/sensing capabilities of piezoelectric materials bonded or embedded into the host structure. Various control laws relating the piezoelectrically-induced bending moment with combined kinematical variables characterizing the response at given points of the structure are implemented and their effects on the closed-loop frequencies and dynamic response to external excitations are investigated. The combination of structural tailoring and control by means of adaptive materials proves very effective in damping out vibration. In addition, the influence of a number of non-classical effects characterizing the structural model on the open and closed-loop dynamic responses have been considered and their roles assessed. / Ph. D.

Based on a refined analytical anisotropic thin-walled beam model, aeroelastic instability, dynamic aeroelastic response, active/passive aeroelastic control of advanced aircraft wings modeled as thin-walled beams are systematically addressed. The refined thin-walled beam model is based on an existing framework of the thin-walled beam model and a couple of non-classical effects that are usually also important are incorporated and the model herein developed is validated against the available experimental, Finite Element Anaylsis (FEA), Dynamic Finite Element (DFE), and other analytical predictions. The concept of indicial functions is used to develop unsteady aerodynamic model, which broadly encompasses the cases of incompressible, compressible subsonic, compressible supersonic and hypersonic flows. State-space conversion of the indicial function based unsteady aerodynamic model is also developed. Based on the piezoelectric material technology, a worst case control strategy based on the minimax theory towards the control of aeroelastic systems is further developed. Shunt damping within the aeroelastic tailoring environment is also investigated. The major part of this dissertation is organized in the form of self-contained chapters, each of which corresponds to a paper that has been or will be submitted to a journal for publication. In order to fullfil the requirement of having a continuous presentation of the topics, each chapter starts with the purely structural models and is gradually integrated with the involved interactive field disciplines. / Ph. D.

This thesis presents a new active-passive treatment developed to reduce structural vibrations and their associated radiated sound. It is a contribution to the research of efficient and low cost devices that implement the advantages of active and passive noise control techniques. A theoretical model has been developed to investigate the potential of this new "active-passive distributed absorber". The model integrates new functions that make it extremely stable numerically. Using this model, a genetic algorithm has been used to optimize the shape of the active-passive distributed absorber. Prototypes have been designed and their potential investigated. The device subsequently developed can be described as a skin that can be mechanically and electrically tuned to reduce unwanted vibration and/or sound. It is constructed from the piezoelectric material polyvinylidene fluoride (PVDF) and thin layers of lead. The tested device is designed to weight less than 10% of the main structure and has a resonance frequency around 1000 Hz. Experiments have been conducted on a simply supported steal beam (24"x2"x1/4"). Preliminary results show that the new treatment out-performs active-passive point absorbers and conventional constrained layer damping material. The compact design and its efficiency make it suitable for many applications especially in the transportation industry. This new type of distributed absorber is totally original and represent a potential breakthrough in the field of acoustics and vibration control. / Master of Science