System identification (SI) for constructed structural systems has received a lot of attention with the continuous development of modern technologies. This thesis proposes a new nonlinear time series model for use in system identification (SI) of smart structures. The proposed model is implemented by the integration of a wavelet transform (WT) and nonlinear autoregressive moving average (NARMA) time series model. The approach demonstrates the efficient and accurate nonlinear SI of smart structures subjected to both ambient excitation and high impact load. To demonstrate the effectiveness of the wavelet-based NARMA modeling (WNARMA), smart structures equipped with magnetorheological (MR) dampers are investigated. The simulation results show that the computation of the WNARMA model is faster than that of the NARMA model without sacrificing the modeling accuracy. In addition, the WNARMA model is robust against noise in the data since it inherently has a denoising capacity.

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In order for a piezoelectric transducer to be used as a sensor and actuator simultaneously, a direct charge due to the applied voltage must be removed from the total response in order to allow observation of the mechanical response alone. Earlier researchers proposed electronic compensators to remove this term by creating a reference signal which destructively interferes with the direct piezoelectric charge output, leaving only the charge related to the mechanical response signal. This research presents alternative analog LMS adaptive filtering methods which accomplish the same result. The main advantage of the proposed analog compensation scheme is its ability to more closely match the order of the adaptive filter to the assumed dynamics of the piezostructure using an adaptive first-order high-pass filter. Theoretical and experimental results are provided along with a discussion of the difficulties encountered in trying to achieve perfect compensation of the feedthrough capacitive charge on a piezoelectric wafer. / Master of Science

Theoretical formulations, analytical solutions, and finite element solutions for laminated composite plate and shell structures with smart material laminae are presented in the study. A unified third-order shear deformation theory is formulated and used to study vibration/deflection suppression characteristics of plate and shell structures. The von K??rm??n type geometric nonlinearity is included in the formulation. Third-order shear deformation theory based on Donnell and Sanders nonlinear shell theories is chosen for the shell formulation. The smart material used in this study to achieve damping of transverse deflection is the Terfenol-D magnetostrictive material. A negative velocity feedback control is used to control the structural system with the constant control gain. The Navier solutions of laminated composite plates and shells of rectangular planeform are obtained for the simply supported boundary conditions using the linear theories. Displacement finite element models that account for the geometric nonlinearity and dynamic response are developed. The conforming element which has eight degrees of freedom per node is used to develop the finite element model. Newmark's time integration scheme is used to reduce the ordinary differential equations in time to algebraic equations. Newton-Raphson iteration scheme is used to solve the resulting nonlinear finite element equations. A number of parametric studies are carried out to understand the damping characteristics of laminated composites with embedded smart material layers.

Theoretical formulations, analytical solutions, and finite element solutions for laminated composite plate and shell structures with smart material laminae are presented in the study. A unified third-order shear deformation theory is formulated and used to study vibration/deflection suppression characteristics of plate and shell structures. The von K??rm??n type geometric nonlinearity is included in the formulation. Third-order shear deformation theory based on Donnell and Sanders nonlinear shell theories is chosen for the shell formulation. The smart material used in this study to achieve damping of transverse deflection is the Terfenol-D magnetostrictive material. A negative velocity feedback control is used to control the structural system with the constant control gain. The Navier solutions of laminated composite plates and shells of rectangular planeform are obtained for the simply supported boundary conditions using the linear theories. Displacement finite element models that account for the geometric nonlinearity and dynamic response are developed. The conforming element which has eight degrees of freedom per node is used to develop the finite element model. Newmark's time integration scheme is used to reduce the ordinary differential equations in time to algebraic equations. Newton-Raphson iteration scheme is used to solve the resulting nonlinear finite element equations. A number of parametric studies are carried out to understand the damping characteristics of laminated composites with embedded smart material layers.

The health monitoring of smart structures in civil engineering is becoming more and more important as in-situ structural monitoring would greatly reduce structure life-cycle costs and improve reliability. The distributed strain and temperature sensing is highly desired in large structures where strain and temperature at over thousand points need to be measured simultaneously. It is difficult to carry out this task using conventional electrical strain sensors. Fiber optic sensors provide an excellent opportunity to fulfill this need due to their capability to multiplex many sensors along a single fiber cable. Numerous research studies have been conducted in past decades to increase the number of sensors to be multiplexed in a distributed sensor network. This dissertation presents detailed research work on the analysis, design, fabrication, testing, and evaluation of an intrinsic Fabry-Perot fiber optic sensor for quasi-distributed strain and temperature measurements. The sensor is based on two ultra-short and broadband reflection fiber Bragg gratings. One distinct feature of this sensor is its ultra low optical insertion loss, which allows a significant increase in the sensor multiplexing capability. Using a simple integrated sensor interrogation unit and an optical spectrum based signal processing algorithm, many sensors can be interrogated along a single optical fiber with high accuracy, high resolution and large dynamic range. Based on the experimental results and theoretical analysis, it is expected that more than 500 sensors can be multiplexed with little crosstalk using a frequency-division multiplexing technology. With this research, it is possible to build an easy fabrication, robust, high sensitivity and quasi-distributed fiber optic sensor network that can be operated reliably even in harsh environments or extended structures. This research was supported in part by U.S. National Science Foundation under grant CMS-0427951. / Ph. D.

Given the advantages of parallel manipulators and lightweight manipulators, a 3-PRR planar parallel manipulator with three lightweight intermediate links has been developed to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators in electronic manufacturing, such as X-Y tables or gantry robots. Lightweight members are more likely to exhibit structural defection and vibrate due to the inertial forces from high speed motion, and external forces from actuators. Structural flexibility effects are much more pronounced at high operational speeds and accelerations. Therefore, this thesis presents the dynamics and vibration control of a 3-PRR parallel manipulator with three flexible links. Firstly, a procedure for the generation of dynamic equations for a 3-PRR parallel manipulator with three flexible intermediate links is presented based on the assumed mode method. The dynamic equations of the parallel manipulator with three flexible intermediate links are developed using pinned-pinned boundary conditions. Experimental modal tests are performed using an impact hammer and an accelerometer to identify the mode shapes, frequencies, and damping ratios of flexible intermediate links. The mode shapes and frequencies, obtained from experimental modal tests, match very well the assumed mode shapes and frequencies obtained based on pinned-pinned boundary conditions, and therefore the dynamic model developed is validated. Secondly, this thesis presents the investigation on dynamic stiffening and buckling of the flexible links of a 3-PRR parallel manipulator by including the effect of longitudinal forces on the modal characteristics. Natural frequencies of bending vibration of the intermediate links are derived as the functions of axial force and rigid-body motion of the manipulator. Dynamic stiffening and buckling of intermediate links is investigated and configuration-dependant frequencies are analyzed. Furthermore, using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight into the design and control of the parallel manipulator with flexible intermediate links. Thirdly, an active vibration control strategy is developed for a moving 3-PRR parallel manipulator with flexible links, each of which is equipped with multiple PZT control pairs. The active vibration controllers are designed using the modal strain rate feedback (MSRF). The amplification behavior of high modes is addressed, and the control gain selection strategy for high modes is developed through modifying the IMSC method. The filters are developed for the on-line estimation of modal coordinates and modal velocity. The second compensator is used to cut off the amplified noises and unmodeled dynamics due to the differentiation operation in the developed controller. The modal coupling behavior of intermediate links is examined with the modal analysis of vibrations measured by the PZT sensors. The error estimation of the moving platform is examined using the measurement of PZT sensors. Finally, an active vibration control experimental system is built to implement the active vibration control of a moving 3-PRR parallel manipulator with three flexible links. The smart structures are built through mounting three PZT control pairs to each intermediate flexible link. The active vibration control system is set up using National Instruments LabVIEW Real-Time Module. Active vibration control experiments are conducted for the manipulator moving with high-speed, and experimental results demonstrate that the vibration of each link is significantly reduced.

Given the advantages of parallel manipulators and lightweight manipulators, a 3-PRR planar parallel manipulator with three lightweight intermediate links has been developed to provide an alternative high-speed pick-and-place positioning mechanism to serial architecture manipulators in electronic manufacturing, such as X-Y tables or gantry robots. Lightweight members are more likely to exhibit structural defection and vibrate due to the inertial forces from high speed motion, and external forces from actuators. Structural flexibility effects are much more pronounced at high operational speeds and accelerations. Therefore, this thesis presents the dynamics and vibration control of a 3-PRR parallel manipulator with three flexible links. Firstly, a procedure for the generation of dynamic equations for a 3-PRR parallel manipulator with three flexible intermediate links is presented based on the assumed mode method. The dynamic equations of the parallel manipulator with three flexible intermediate links are developed using pinned-pinned boundary conditions. Experimental modal tests are performed using an impact hammer and an accelerometer to identify the mode shapes, frequencies, and damping ratios of flexible intermediate links. The mode shapes and frequencies, obtained from experimental modal tests, match very well the assumed mode shapes and frequencies obtained based on pinned-pinned boundary conditions, and therefore the dynamic model developed is validated. Secondly, this thesis presents the investigation on dynamic stiffening and buckling of the flexible links of a 3-PRR parallel manipulator by including the effect of longitudinal forces on the modal characteristics. Natural frequencies of bending vibration of the intermediate links are derived as the functions of axial force and rigid-body motion of the manipulator. Dynamic stiffening and buckling of intermediate links is investigated and configuration-dependant frequencies are analyzed. Furthermore, using Lagrange multipliers, the fully coupled equations of motions of the flexible parallel manipulator are developed by incorporating the rigid body motions with elastic motions. The mutual dependence of elastic deformations and rigid body motions are investigated from the analysis of the derived equations of motion. Open-loop simulation without joint motion controls and closed-loop simulation with joint motion controls are performed to illustrate the effect of elastic motion on rigid body motions and the coupling effect amongst flexible links. These analyses and results provide valuable insight into the design and control of the parallel manipulator with flexible intermediate links. Thirdly, an active vibration control strategy is developed for a moving 3-PRR parallel manipulator with flexible links, each of which is equipped with multiple PZT control pairs. The active vibration controllers are designed using the modal strain rate feedback (MSRF). The amplification behavior of high modes is addressed, and the control gain selection strategy for high modes is developed through modifying the IMSC method. The filters are developed for the on-line estimation of modal coordinates and modal velocity. The second compensator is used to cut off the amplified noises and unmodeled dynamics due to the differentiation operation in the developed controller. The modal coupling behavior of intermediate links is examined with the modal analysis of vibrations measured by the PZT sensors. The error estimation of the moving platform is examined using the measurement of PZT sensors. Finally, an active vibration control experimental system is built to implement the active vibration control of a moving 3-PRR parallel manipulator with three flexible links. The smart structures are built through mounting three PZT control pairs to each intermediate flexible link. The active vibration control system is set up using National Instruments LabVIEW Real-Time Module. Active vibration control experiments are conducted for the manipulator moving with high-speed, and experimental results demonstrate that the vibration of each link is significantly reduced.

L’objectif de cette étude est d’améliorer les performances des transformateurs piézoélectriques en terme de courant de sortie et de puissance pour des applications d’alimentation DC/DC, grâce à la gestion de l’échauffement. Le courant de sortie des transformateurs piézoélectriques, et donc la puissance transmise, sont directement liés à la vitesse de vibration qui pour des valeurs élevées engendre des pertes et une forte élévation de température. Cette élévation excessive de la température a comme conséquence le changement des caractéristiques du transformateur et plus particulièrement la diminution du facteur de qualité Q. Ainsi cela entraine une limite structurelle de la puissance transmise du transformateur. Une solution pour augmenter le courant de sortie est l’utilisation d’un redresseur doubleur de courant, qui grâce à 2 inductances permet, à courant de charge donné, de diminuer la vitesse de vibration du transformateur, mais ne permet pas de régler le problème d’échauffement du transformateur. Dans cette thèse nous proposons des moyens d’évacuation de la chaleur ainsi que le choix de l’environnement dans lequel le transformateur devra fonctionner. L’influence de différents systèmes de refroidissement d’un convertisseur DC/DC à base transformateur piézoélectrique est étudiée. L’étude thermique du transformateur piézoélectrique multicouche polarisé en épaisseur et ayant des électrodes circulaires met en évidence un comportement non linéaire. Une plaque vibrante piézoélectrique est d’abord envisagée pour créer un flux d’air qui augmente l’évacuation de chaleur par convection, puis un module de refroidissement utilisant l’effet thermoélectrique. Les mesures montrent que la première solution est plus avantageuse car elle améliore sensiblement les performances du transformateur pour un coût énergétique très faible. Une étude thermique par éléments finis complète cette étude, montrant que l’approche par schéma électrique est pertinente. La puissance que peut délivrer le transformateur sur une charge optimale est encore augmentée. Enfin, ce travail montre qu’en combinant les dispositifs de refroidissement tout en respectant la condition de température inférieure à 55°C, le rendement du convertisseur reste raisonnable (70%) et la puissance disponible peut doubler dans le meilleur des cas. / The objective of this study was to increase the output current and power in a piezoelectric transformer (PT) based DC/DC converter by adding a cooling system. It is known that the output current of PT is limited by temperature build-up because of losses especially when driving at high vibration velocity. Excessive temperature rise will decrease the quality factor Q of piezoelectric component during the operational process. Simultaneously the vibration energy cannot be increased even if under higher excitation voltage. Although connecting different inductive circuits at the PT secondary terminal can increase the output current, the root cause of temperature build-up problem is not solved.This dissertation presents the heat transfer technology to deal with the temperature build-up problem. With the heat transfer technology, the threshold vibration velocity of PT can be increased and thus the output current and output power (almost three times).Furthermore, a comparison between heat transfer technology and current-doubler rectifier applied to the piezoelectric transformer based DC/DC converter was also studied. The advantages and disadvantages of the proposed technique were investigated. A theoretical-phenomenological model was developed to explain the relationship between the losses and the temperature rise. It will be shown that the vibration velocity as well as the heat generation increases the losses. In our design, the maximum output current capacity can increase 100% when the operating condition of PT temperature is kept below 55°C. The study comprises of a theoretical part and experimental proof-of-concept demonstration of the proposed design method.

This thesis represents the work that has been done by the author in the area of vibration analysis and control of smart structures during his PhD candidature. The research was concentrated on flexible structures, using piezoelectric materials as actuators and sensors. The thesis consists of four major parts. The first part (Chapter 2) is the modelling of piezoelectric laminate structures using modal analysis and finite element methods. The second part (Chapter 4) involves the model correction of pointwise and spatial models of resonant systems. The model correction solution compensates for the errors associated with the truncation of high frequency modes. The third part (Chapter 5) is the optimal placement methodology for general actuators and sensors. In particular, optimal placement of piezoelectric actuators and sensors over a thin plate are considered and implemented in the laboratory. The last part (Chapters 6 to 8) deals with vibration control of smart structures. Several different approaches for vibration control are considered. Vibration control using resonant, spatial H-2 and H-infinity control is proposed and implemented on real systems experimentally. It is possible, for certain modes, to obtain the very satisfactory result of up to 30 dB vibration reduction. / PhD Doctorate