Sensitive devices are affected by extreme vibration excitations during operation so require isolation from high levels of vibration excitations. When these excitation characteristics of the devices are well known, the vibration isolation can be achieved accurately. However, it is possible to have expected profile information of the excitations with respect to frequency. Therefore, it is practical and useful to implement this information in the design process for vibration isolation. In this thesis, passive vibration isolation technique is examined and a computer code is developed which would assist the isolator selection process. Several sample cases in six degree of freedom are designed for a sample excitation and for sample assumptions defined for an inertial measurement unit. Different optimization methods for design optimizations are initially compared and then different designs are arranged according to the optimization results using isolators from catalogues for these sample cases. In the next step, the probable designs are compared according to their isolator characteristics. Finally, one of these designs are selected for each case, taking into account both the probable location deviations and property deviations of isolators.

Transmissibility is the most common metric used for isolator characterization. However, engineers are becoming increasingly concerned about energy transmission through an isolator at high frequencies and how the compliance of the machine and foundation factor into the performance. In this study, the transfer matrix approach for isolator characterization is first reviewed. Two methods are detailed for determining the transfer matrix of an isolator using finite element simulation. This is accomplished by determining either the mobility or impedance matrix for the isolator and then converting to a transfer matrix. One of the more useful metrics to characterize the high frequency performance of an isolator is insertion loss. Insertion loss is defined as the difference in transmitted vibration in decibels between the unisolated and isolated cases. Insertion loss takes into account the compliance on the source and receiver sides. Accordingly, it has some advantages over transmissibility which is a function of the damping and mounted resonant frequency. A static analysis is to preload the isolator so that stress stiffening is accounted for. This is followed by modal and forced response analyses to identify the transfer matrix of the isolator. In this paper, the insertion loss of spring isolators is examined as a function of several geometric parameters including the spring diameter, wire diameter, number of active coils, and height. Results demonstrate how modifications to these parameters affect the insertion loss and the first surge frequency.

In this work, we investigate the active vibration isolation and damping of sensitive equipment. Several single-axis isolation techniques are analyzed and tested. A comparison between the sky-hook damper, integral force feedback, inertial velocity feedback and LagLead control techniques is conducted using several practical examples. The study of single-axis systems has been developed and used to build a six-axis isolator. A six degrees of freedom active isolator based on Stewart platform has been designed manufactured and tested for the purpose of active vibration isolation of sensitive payloads in space applications. This six-axis hexapod is designed according to the cubic configuration; it consists of two triangular parallel plates connected to each other by six active legs orthogonal to each other; each leg consists of a voice coil actuator, a force sensor and two flexible joints. Two different control techniques have been tested to control this isolator : integral force feedback and Lag-Lead compensator, the two techniques are based on force feedback and are applied in a decentralized manner. A micro-gravity parabolic flight test has been clone to test the isolator in micro-gravity environment. ln the context of this research, another hexapod has been produced ; a generic active damping and precision painting interface based on Stewart platform. This hexapod consists of two parallel plates connected to each other by six active legs configured according to the cubic architecture. Each leg consists of an amplified piezoelectric actuator, a force sensor and two flexible joints. This Stewart platform is addressed to space applications where it aims at controlling the vibrations of space structures while connecting them rigidly. The control technique used here is the decentralized integral force feedback.

Vibration isolation is a common approach to reduce the undesired vibration of a dynamic system from its surrounding. The common material used for the vibration isolator is rubber (for example) which is known to be environmentally unfriendly. This thesis presents a study on the use of corrugated cardboard for the vibration isolator, which is known to be a highly environment-friendly material. The focus of the study is on understanding and modeling of stiffness and damping of cardboard when it or its system (several cardboards) is used for isolating the vibration coming from the vertical direction of cardboard. In this thesis, a study is presented of finite element modeling of stiffness of corrugated cardboard in its vertical direction with the aim of overcoming two major shortcomings in modeling in the current literature: (1) the width effect is neglected even for cardboard with its width greater than length and (2) the non-linear constitutive relation is not accurately determined. Indeed, it is likely that these shortcomings are responsible for inaccuracy with the models in the current literature to predict the stiffness and peak load. Further, a test bed was set up for the measurement of damping of cardboards in this study. This thesis also presents an application of the theoretic development in the stiffness and damping of corrugated cardboard to design an isolator for the vacuum pump at Canadian Light Source. Several conclusions are drawn from this study: (1) modeling with consideration of the width effect and non-linear constitutive relation is necessary to improve the accuracy of prediction of stiffness of cardboard; (2) set up for the measurement of damping of cardboard is accurate; and (3) cardboard systems are feasible for vibration isolation in terms of the reduction of amplitude of vibration. The contribution of this thesis includes: (1) providing a finite element method for modeling of corrugated cardboards which have a complex non-linear constitutive relation, variable contact configuration, and 3D geometrical effect and (2) providing the feasibility of proving that corrugated cardboard can be used for vibration isolation.

In future human spaceflight missions, with prolonged exposure to microgravity, resistive and aerobic exercises will be countermeasures for bone loss, muscle loss, and decreased aerobic capacity. Two of the exercises of interest are squats and rowing. The cyclic forces produced during these exercises are at relatively low frequencies which are likely to excite structural resonances of space vehicles. Vibration Isolation Systems (VIS) are being designed to be paired with future exploration exercise devices in order to prevent these cyclic exercise forces from impacting the space vehicle. The VIS may be configured such that a platform supports the human and exercise device. There is limited knowledge about the interaction between a human exercising and a dynamic platform. This research sought to fill part of the knowledge gap and study how the force inputs to the platform change as well as how exercise form was affected. For this research, a system which can produce dynamic responses similar to those of a prospective VIS platform was used. This system is the Computer Assisted Rehabilitation Environment (CAREN) (Motekforce Link, Amsterdam, Netherlands). Simplified sinusoidal responses were implemented in a single degree of freedom, vertical (heave) motion, and also in multi-degree of freedom, heave and pitch motion. Human subject testing was conducted using four subjects with exercise experience. The subjects completed squats and rows, while standing, in both static (platform not moving) and dynamic (with platform moving) conditions. Subjects aimed to synchronize with platform motion, at the appropriate phase. Kinetic and kinematic data were collected via force plate measurements and motion capture, respectively. Testing was completed with several predetermined frequencies for platform motion, but also at each subject’s baseline frequency, which was the measured, comfortable exercise rate for the subject. Data were processed and arranged in a presentable format. Results showed attenuation of the vertical component of forces between the comparable frequency static and dynamic platform conditions, as expected, for most subjects in the squat exercise. This was seen only in the heave with pitch condition during rows for most subjects. Results also showed increasing amplitude of forces as frequency increased, which was also expected. Knee angle range of motion was well maintained between static and dynamic conditions. These results suggest that conditions desirable for both VIS and exercise are possible. Further testing and extended analysis at additional amplitudes, frequencies, and degrees of freedom are of interest and warrant further study. This work contributed knowledge and data regarding the forces involved and human kinematics produced while exercising with platform motion. These data can further be used as inputs and requirements for VIS design work, VIS and human biomechanical modeling, and exercise countermeasure development. This work achieved the objectives of establishing an appropriate test environment and developing platform dynamics in which human-VIS interaction could be studied. It also acted as a proof-of-concept for future testing which can be conducted to answer new questions relating to dynamic platform motion effects on human activity.

Cette thèse s'inscrit dans le cadre de l'étude de la stabilisation de modules d'un futur collisionneur linéaire, CLIC (Compact Linear Collider). Afin d'assurer le fonctionnement et la collision des particules dans ce futur grand instrument de physique, il faut garantir l'alignement de modules guidant des faisceaux de dimensions nanométriques. Les travaux développés ont pour support expérimental deux dispositifs : un dispositif de micropositionnement, avec une résolution inférieur au 1µm, où les perturbations peuvent être simulées et un prototype de nanostabilisation active pour charges importantes (>50kg @300Hz), avec une résolution validée expérimentalement inférieur à 0,15 nm, permettant de démontrer la faisabilité du contrôle de la stabilisation subnanométrique en s'intéressant particulièrement au rejet des mouvements du sol. Les problématiques traitées lors de ces travaux portent sur la méthodologie de conception de tels systèmes, ce qui inclue la conception électromécanique et l'instrumentation, ; la mise en œuvre et la modélisation du comportement des prototypes ,; le contrôle avec notamment les aspects de non linéarité des actionneurs. Les performances obtenues de ces différents travaux et validées expérimentalement incluent notamment les points suivants: La bande passante de fonctionnement pour du micro-positionnement à l'aide d'actionneurs piézoélectriques a été augmentée grâce à la compensation d'hystérésis : Rejet de perturbation issue du support jusqu'à 100 Hz et positionnement jusqu'à 190 Hz. Il a été démontré la faisabilité du contrôle à l'aide de capteurs sismiques. L'isolation active réalisée présente une atténuation des nano-mouvement du sol dans une bande passante comprise entre 12 et 100Hz. Expérimentalement, cela conduit à une réduction des mouvements du sol de 0,6nm [rms] à 0,25nm [rms] à 50Hz et de 3,7nm [rms] à 0,9nm [rms] à 20Hz. / This thesis takes place in the framework of a general study about the stabilization of the mechanical modules of a future linear collider, CLIC (Compact Linear Collider). In order to guarantee the good operation and the particle collision, the nanometer sized beams need to be stabilized. The proposed approach was developed on two mock-ups: one dedicated to micropositioning with disturbances generation capabilities, and an active isolation system operating heavy load (up to 50kg at 300Hz) at the nanometer scale with an experimentally validated resolution of 0.15 nm. This work studies the electromechanical design and the instrumentation, the implementation of the two set-ups and their modeling,; the control scheme that takes into account the nonlinearities of the actuators. The experimental achievements include the increase of the bandwidth for piezoelectric micro-positioning thanks to an inverse hysteresis operator: the perturbation rejection is efficient until 100 Hz and the tracking control until 190 Hz. A control scheme using seismic sensors is developed to attenuate ground motion and to isolate a platform in a 12 Hz to 100 Hz frequency range. The experimental displacement is reduced from 0.6 nm to 0.25 nm at 50 Hz and from 3.7 to 0.9 at 20 Hz.

The purpose of this research is to study a new type of vibration isolator, utilizing the post-buckled stiffness of elastic struts (or columns). The advantage of the post-buckled state is that ideally it can support more static load with a relatively small static deflection than traditional vibration isolators such as springs or rubber mounts, but can also exhibit a low axial stiffness when dynamic excitation is introduced. Three models consisting of buckled or pre-bent struts serving as vibration isolators which support a rigid bar are examined in this research. The three cases studied are 1) two buckled struts supporting a symmetric rigid bar, 2) two buckled struts supporting an asymmetric rigid bar, and 3) two pairs of buckled struts with a bonded filler supporting a symmetric rigid bar. The models are subjected to a harmonic excitation at the base, and external damping is included. The struts in all cases are modeled as an elastica, and the boundary conditions are clamped/clamped for all cases. Because the purpose of the struts is to reduce unwanted vibrations, determining the displacement transmissibility of the system is the main goal of this research. Transmissibility versus frequency plots are generated for all cases, with varying parameters such as stiffness, damping, and location of center of mass, to determine how they affect the behavior of the struts. Models that produce a large range of frequencies at which the transmissibility is well below unity are the most effective. Vibration shapes are also determined for certain frequencies so that the physical behavior of the system can be studied. / Master of Science

The power requirements imposed on an active vibration isolation system are quite important to the overall system design. In order to improve the efficiency of an active isolation system we analyze different feedback control strategies which will provide electrical energy regeneration. The active isolation system is modeled in a state-space form for two different types of actuators: a piezoelectric stack actuator and a linear electromagnetic (EM) actuator. During regenerative operation, the power is flowing from the mechanical disturbance through the electromechanical actuator and its switching drive into the electrical storage device (batteries or capacitors). We demonstrate that regeneration occurs when controlling one or both of the flow states (velocity and/or current). This regenerative control strategy affects the closed loop dynamics of the isolator which sees its damping reduced. / Master of Science

Automotive engine mounts are used to support engine weight, protect engine from road inputs and isolate transmission of vibrations created by the engine, which has a drastic effect on the noise generated inside the passenger cabin. Most common types of engine mounts are elastomeric and hydraulic mounts, the former having better vibration isolation characteristics whereas the latter displays better shock isolation. Elastomeric mounts are widely used for their low initial cost, while hydraulic mounts with inertia track and decoupler are chosen for their good vibration isolation and shock excitation characteristics. However, hydraulic mounts with inertia track and decoupler are not appropriate for small segment and commercial vehicles due their high initial cost. In this thesis, the effect of the addition of a dry friction damper on the performance of elastomeric automobile engine mounts is investigated. Friction dampers are used to attenuate vibration amplitudes in many applications such as gas turbine engines, railway vehicles, space structures and civil buildings. In this study, a friction element is added to the engine mount at its axial direction and its effect is studied. Results show that, the addition of dry friction damping to the original system increases vibration isolation performance significantly at low frequencies / whereas, due to the increased stiffness of the system, at high frequencies dry friction damper has a mitigating effect on performance. In order to overcome this problem, original system parameters are modified. In the modified system a softer mount that increase vibration isolation performance at high frequencies / but, which might cause excessive static deflection due to reduced stiffness of the system is used. On the other hand, addition of dry friction damping prevents excessive static deflections due to the increased stiffness effect and also increases the performance at high frequencies due to the soft mount. Final results showed that vibration isolation performance at low frequencies increases considerably while vibration isolation performance at high frequency is similar and even slightly better than the original system with addition of dry friction damping.

[pt] Sistemas de isolamento de vibrações são utilizados em uma grande variedade de aplicações (automóveis, edifícios, estruturas espaciais como aeronaves, satélites e em máquinas rotativas) para reduzir a transmissão de vibrações mecânicas geradas por equipamentos ou a eles transmitidas pela vizinhança. Um isolamento é obtido inserindo-se um componente mecânico (isolador) que desempenha o papel de vínculo entre o sub-sistema que contém a perturbação e o sub-sistema a ser isolado. Duas são as quantidades geralmente utilizadas para avaliar a efetividade de um sistema de isolamento: a transmissibilidade e a potência. Neste trabalho foi utilizada a potência, sendo esta uma metodologia mais geral que pode ser facilmente utilizada em sistemas complexos, mas que tem a desvantagem de ser de difícil avaliação experimental. Nesta tese, serão simulados numericamente vários sistemas de isolamento passivo por componentes rígidos ou flexíveis, os quais serão modelados por suas respectivas matrizes de mobilidade ou impedância. Estas matrizes serão obtidas por métodos analíticos ou numéricos dependendo da conveniência de cada caso específico. Os projetos tradicionais de sistemas de isolamento geralmente consideram uma excitação unidirecional e avaliam somente algumas componentes da resposta do sistema, isso devido as limitações impostas pelo conceito da transmisibilidde usados nesses projetos. Além disso, eles não dão a devida importância a alguns parâmetros essenciais de configuração geométrica do sistema (localização e ângulo de inclinação dos isoladores, localização dos apoios de base, etc.). No presente trabalho, será mostrada a relevância desses parâmetros mencionados anteriormente no processo de busca das configurações ótimas e também se verá como essas configurações são fortemente dependentes do tipo de excitação do sistema, para isso serão utilizadas combinações de excitações harmônicas multidirecionais. / [en] Vibration isolation systems are used in a large variety of applications (automotive, buil- dings, spatial structures such as aircrafts, satellites and in rotating machines) in order to reduce the transmission of mechanical vibrations from the equipments toward the foun- ation or viceversa. An isolation is obtained inserting a mechanical component (isolator) that acts as a link between the source subsystem and the isolated subsystem. There are two quantities generally used to evaluate the e®ectiveness of a isolation system: the trans-missibility and the power transmitted. In this work, it has been used the power, being this the most generic methodology that can be easily used in complex systems, but it has the disadvantage of a di±cult experimental validation. In this thesis, it will be studied numerically several passive isolation systems with rigid or °exible components, these will be modeled by theirs mobility or impedance matrices. This matrices are achieved by analytical or numerical methods depending of the convenience in each case. Generally traditional projects of isolation systems consider a unidirectional excitation and evaluate only some components of the response system, this occurs for the limitations in the trans-missibility use. Moreover, they do not give an appropriate attention to some parameters of geometrical con¯guration of the system (location and angle inclination of the isolators, location of the base supports, etc.). Herein, it will be shown the relevance of this pa-rameters in the search process of optimal con¯gurations and it will be also see how they depend strongly on the kind of the system excitation, so it will be used some combinations of multidirectional harmonic excitations. / [es] Los sistemas de aislamiento de vibraciones son utilizados en una gran variedad de aplicaciones (automóbiles, edificios, extructuras espaciales como aeronaves y en máquinas rotativas) para reducir la transmisión de vibraciones mecánicas generadas por los equipos. Se obtiene un aislamiento insertando un componente mecánico (aislante) que desempeña el papel de vínculo entre el subsistema que contiene la perturbación y el subsistema que se desea aislar. Generalmente son dos las cantidades utilizadas para evaluar la efectividad de un sistema de aislamiento: la transmisibilidad y la potencia. En este trabajo se utiliza la potencia, pués al ser una metodología más general, puede ser utilizada en sistemas complejos, pero tiene la desventaja de ser de díficil evaluación experimental. En esta tesis, serán simulados numéricamente varios sistemas de aislamiento pasivo por componentes rígidos o flexibles, que serán modelados por sus respectivas matrices de movilidad o impedancia. Estas matrices se obtendrán por métodos analíticos o numéricos según convenga. Los proyectos tradicionales de sistemas de aislamiento, debido a las limitaciones impuestas por el concepto de transmisibilidad utilizada, consideran una excitación unidireccional y evalúan solamente algunas componentes de la respuesta del sistema. Además de eso, ellos no dan la debida importancia a algunos parámetros escenciales de configuración geométrica del sistema (localización y ángulo de inclinación de los aislantes, localización de los apoyos de base, etc.). En este trabajo, se muestra la relevancia de los parámetros mencionados anteriormente en el proceso de búsqueda de las configuraciones óptimas y también se verá como esas configuraciones son fuertemente dependientes del tipo de exitación del sistema. Para esto se utilizaran combinaciones de exitaciones armónicas multidireccionales.