CONTENTS

TOPIC PAGE NO.

ABSTRACT
LIST OF FIGURES
LIST OF TABLES

Chapter 1
Introduction..............................................................................................................................................4
1.1Background .........................................................................................................................................4
1.2 Motivation..........................................................................................................................................6
1.3 Aim and Objective .............................................................................................................................7
1.4 Literature Review ..............................................................................................................................7
1.5 Problem Definition ............................................................................................................................9
1.6 Scope..................................................................................................................................................9
Chapter 2
2.1 Introduction......................................................................................................................................11
2.1.1 Structure ........................................................................................................................................11
2.1.2 Sensor ...........................................................................................................................................12
2.1.3 Controllers ....................................................................................................................................12
2.1.4 Actuators .......................................................................................................................................13
2.2 Experimental Study .........................................................................................................................13
2.2.1. Sensor ..........................................................................................................................................13
2.2.2 Controller ......................................................................................................................................13
2.2.3 Accelerometer ...............................................................................................................................14
2.2.4 Amplifier.......................................................................................................................................14
2.5 Experimental setup ..........................................................................................................................15
2.6 Development of Open loop system ..................................................................................................15
2.7 Development of closed loop system ................................................................................................16
2.8 Results and Discussion ....................................................................................................................16
Chapter 3
3.1 Dynamic modelling of the smart cantilever beam ...........................................................................18
3.2 Finite element modelling .................................................................................................................19
3.3 Modal Analysis of cantilever beam .................................................................................................20
3.4 Convergence study...........................................................................................................................20
3.5 State space modelling ......................................................................................................................21
3.6 Simulation results of modal analysis of cantilever beam ................................................................22
3.7 Open loop Transient Response Analysis of Smart cantilever Beam using MATLAB Software- ...................25
3.8 Closed loop Transient Response Analysis of Smart CantileverBeam using MATLAB Software- .................26
Appendix................................................................................................................................................28
References ..............................................................................................................................................35

1
 LIST OF FIGURES

Figure no. Caption Page no.

1.1 Collapsed Tacoma narrows bridge 4

2.1 Smart Cantilever beam 11

2.2 Piezoelectric Patch 11

2.3 Block Diagram of PID controller 13

2.4 Bi-polar Amplifier 13

2.5 Experimental setup 14

2.6 Uncontrolled response of the system 15

2.7 Controlled response of the system 15

2.8 Controlled and uncontrolled response of the system 16

3.1 Configuration of Smart cantilever beam 18

3.2 Physical Model of cantilever beam 21

3.3 Meshed view of the cantilever beam 22

3.4 mode 1 22

3.5 mode 2 23

3.6 mode 3 23

3.7 mode 4 24

3.8 Open Loop Transient response in MATLAB Software 24

3.9 Closed Loop Transient response in MATLAB Software 25

2
 LIST OF TABLES

Table no. Caption Page no.

3.1 Modal analysis of cantilever beam 19

3.2 Convergence study 20

3
 Chapter 1

Introduction

1.1 Background

Undesired vibrations are a major cause of problems in the diverse areas like space and aircraft
structures, satellites, bridges, etc. The effect of such vibrations is varied. Minor effects may include
annoyance due to noise in automobile, machine etc. Major effects are felt in areas like space structures
where precise behaviours of the structure are desired and any deviation from the required behaviour
may prove expensive. An example of the detrimental effects of vibrations is the collapse of Tacoma
narrows bridge near Washington State on November 7 ,1940. Hence the control of noise and vibrations
has become a relevant technological challenge.

Fig .1.1 Collapsed Tacoma narrows bridge

4
In particular, active vibration control using smart materials is generating much interest around
the world. Active vibration control is the process of using smart materials for controlling
vibrations in real time. Smart materials are materials that respond with significant change in a
property upon application of an external driving force. Such materials can act as sensors, which
sense the disturbances in the structures, and as actuators which are capable of applying the
controlling force. The examples of smart materials are piezoelectric materials, shape memory
alloys and ionic polymer metal composites. The construction of mathematical model for
complicated real-life dynamic structures is very difficult and time consuming. In present study,
the mathematical model required for the analysis is extracted from the results of modal analysis
of cantilever beam model done on ANSYS©. This mathematical model is used to optimally
design the controller based on state feedback control for active vibration control of cantilever
beam.

Types of vibration

A. Passive vibration control

Different approaches have been applied to suppress or reduce unwanted vibrations in the
engineering field. Traditionally, isolators and passive dampers are used to attenuate mechanical
vibration, leading to so called passive vibration control. Recent advancements of digital signal
processing in sensors and actuators have prompted interest in active vibration control.
One of the basic methods of vibration isolation is stopping the waves coming from the source
to the object. As per the practical perspective, two methods are used namely forced vibration
isolation and displacement vibration isolation. The main motive of the former is the isolation
of the dynamic force generated by the object and transmit it to the ground. In displacement
vibration isolation, the vibration suppressing system has to isolate the object from the source
of the undesired dynamic displacement which is coming from the ground. The passive methods
which suppress the vibration uses the following methods:
Prevention of vibration occurrence,

Modification in different parameters,

Modification in structural design,

Vibration isolation.

5
B. Active vibration control

Better results can be obtained using the active vibration control methods, which amount to
structural changes or parametric changes using external source of power supply. These methods
solve the problem such as high machine efficiency, low vibration level, dynamic stability and
rigidity. In active methods, controlled source of external power can take or give energy in a
specific way from different parts of the machine. The drive (hydraulic, pneumatic, and electric)
added to the vibration isolated object generates opposite force to the unwanted dynamic
displacement. The control strategy of the force generator set by controller is based on
information about the system coming from the sensor. The measurement system gives the
specified force to damp the vibration including transducers, amplifiers and pre-equalization
elements. On the basis of drive (hydraulic, electromagnetic pneumatic, and hybrid), active
vibration isolation systems are differentiated.

A typical active vibration control system is an integration of mechanical and electronic

components with computer control. The main components of active vibration control system
are mechanical structure introduced by the disturbance (creating unwanted vibrations), the
sensors (to perceive the vibration), the controller (to intelligently make use of signal from the
sensor and to generate the appropriate control signal) and the actuator (to damp the disturbance
of the structure). Destructive interference from the influence of actuator, suppresses or
attenuates the unwanted disturbance on the structure.

1.2 Motivation

Vibration control is an upcoming branch of mechanical engineering. It has a wide range of

applications in diverse fields. A lot of research is being conducted in this area and new methods
of control are being proposed and applied to practical system. Achieving desired results in this
project, while acquiring conceptual knowledge about dynamics and command over software
like ANSYS©, Arduino IDE and MATLAB© is appealing. This concept of active vibration
control motivated in selecting the present study where experimental demonstration of active
vibration control may be attempted.

6
1.3 Aim and Objective

The aim and objective of present study discussed in this section are as follows: -

1.3.1 Aim
To design and develop suitable controller for active vibration control of a cantilever beam.

1.3.2 Objective
1. To control the Vibrations of cantilever beam by using PZT patches.
2. To find-out the suitable controller for effective vibration control of cantilever beam with
minimum control input.

1.4 Literature Review

S.X. Xu and T. S. Koko [1] (2002) studied the finite element analysis and design of actively
controlled piezoelectric smart structures. The structure modeling of sensors and actuators made
of piezoelectric materials was performed in MATLAB ©. The design of active control system
was carried out in state space form. The Aluminium beam (508×25.4×0.8mm) with four
piezoelectric sensor (27×13×0.028mm), and two piezoelectric actuators (76.2×25.4×0.305mm)
was used for the experimental study. The results of the experimental study were compared with
the theoretical values.

[2]
H. Karagulle (2004) studied the active vibration control of smart structure by using PID
controller. The mathematical modelling of system for two degrees of freedom was performed
in MATLAB©. The solution required for mathematical modelling was extracted from the modal
analysis in ANSYS©. Four actuators with different dimensions were analysed. The natural
frequencies for the undamped system were calculated. SOLID45 element was used for metal
part and SOLID5 element was used for piezoelectric part of the structure. The error signal was
calculated by subtracting the instantaneous value of sensor quantity from the reference
quantity. Instantaneous value of the actuator voltage was calculated by multiplying error signal
to control gain.

7
W. K. Ramesh Kumar and S. Narayanan[3] (2010) studied the optional placement of
piezoelectric sensor and actuator patches for active control of vibrations of beams. For optimal
placement, the point of maximum strain in the vibrating beam were found and the patches were
placed there for optimal displacement control of the vibrating beam. The eigen vectors were
extracted from ANSYS© into MATLAB© to form the corresponding system model. The
reduced model was formed by sorting the DC gains of the models and eliminating models with
significantly lower DC gains values viz. fewer contributing models. The transient and
frequency responses of full and reduced model are compared, to ascertain the degree of
accuracy of reduced model. The PID controller was designed to control the vibrations of the
system.

K. Dhanalakshmi [ 4] (2010) studied the vibration control of smart cantilever beam using Shape
Memory Alloy (SMA) as actuator and piezo-sensed flexible beam . The vibration was
controlled using the interactive force of a pair of almost identical SMA wires connected in an
antagonistic manner, arranged in parallel on both sides of the cantilever beam structure.
Standard Proportional (P) and proportional plus integral (PI) controllers have been used to
control the first mode of vibration of the flexible beam.

[5]
SM Khot (2011) studied active vibration control of smart structure using piezoelectric
sensor/actuator and PID based output feedback controller. In the approach, the first step
involved was the modal analysis of the cantilever beam. The modal analysis was done in
ANSYS©. The mathematical model of the beam required for designing the controller was
extracted in MATLAB©. Further, the Model reduction was performed and responses of full and
reduced models were compared and they were closely matched.

SM Khot [6 ] (2012) studied the model extraction from the FEA model for designing controller
for active vibration control of dynamic systems. Further, the approach to the simulation study
of the system using optimal control strategy with feedback control law was demonstrated using
MATLAB© and ANSYS© .

8
1.5 Problem Definition

Problem definition for this project is “Active vibration control of cantilever beam using
Piezoelectric transducers” .

1.6 Scope

The scope of present study involves: -

• Study of vibration control techniques.

• Study of active vibration control methods using Smart materials.
• Experimental simulation of beam on ANSYS© and MATLAB©
• Application of active vibration control for earthquake protection of multi-structure
buildings , bridges , railway tracks ,etc.

9
 Chapter 2

Experimental setup for Active vibration control of

cantilever beam

2.1 Introduction
In active vibration control technique, the response of system is directly sensed using sensor-
transducer devices and control action of specified values are applied to desired locations of
system. Objective of active vibration control is to reduce the vibration of a mechanical system
by automatically modifying the system's structural response. Active vibration control technique
uses the concept of closed loop system to control vibration. Closed loop system uses the
concept of feedback and the system response becomes relatively insensitive to internal and
external disturbances.

2.1.1 Structure
The structure or plant is the main element in a closed loop system. Structure may be an
equipment or a set of machine elements functioning together, the purpose of which is to
perform a particular operation. A typical smart cantilever beam (structure) with piezoelectric
sensor and actuator is shown in the fig 2.1.
11
 Fig. 2.1 Smart cantilever beam

2.1.2 Sensor
A sensor is used in a closed loop system to measure the output of the structure, which has to
be controlled. Depending upon the type of variable to be measured, a suitable sensor is selected.
The piezoelectric sensor which is widely used for industrial purpose is shown in the fig.2.2.

Fig.2.2 Piezoelectric Patch

2.1.3 Controllers
Selection and design of controllers for a control system mainly depends on the structural system
dynamics. Mathematical modelling of the structure is used for designing controllers. Some of
the widely used industrial controllers are On-Off controllers. Proportional (P) controllers.
Proportional plus Derivative (PD) controllers, Proportional plus Integral (PI) controllers and
Proportional plus Integral plus Derivative (PID) controllers.

12
2.1.4 Actuators

In a closed loop system, the controller output is given to the actuator. If the magnitude of the
controller signal is very small, an amplifier is to be used to magnify the controller signal.
According to the signal from the controller, the actuator will perform the actuation so that the
output of the structure will be within the set values. Piezoelectric sensor and actuator are
mounted on the cantilever beam. Sensor senses the voltage developed due to the disturbance in
the system. The sensed voltage is compared with the reference voltage, i.e. the voltage
developed by the sensor when the beam is in steady or in equilibrium position to obtain the
error signal. The error signal is led into the controller and the control signal is then amplified
in the amplifier to the required level to actuate the actuator. The actuator will perform the
required action to control the vibration of the beam.

2.2 Experimental Study

2.2.1. Sensor

Sensor used for the experimental work is PZT-SP-5H of size (76.2×25.4×1 mm). The
piezoelectric sensor is embedded on the Aluminium cantilever beam. When the beam is
vibrating, the PZT sensor will sense the vibration and will produce corresponding analog
voltage. The sensed signal is given to the controller. The output of the controller is applied to
the actuator and the actuator will control the vibration of the structure.

2.2.2 Controller

Selection and design of controller for a control system mainly depends upon the structural
system dynamics. Mathematical modelling of the structure is the criteria for the design of the
controllers. Some of the widely used industrial controllers are On-Off controllers, Proportional
(P) controllers, Proportional plus Derivative (PD) controllers, Proportional plus Integral (PI)
controllers, Proportional Plus Integral Plus Derivative (PID).

13
2.2.2.1 PID Controller

The PID controller is used to generate the control signal for the active vibration control of the
cantilever beam. The signal from the sensor is sent to the comparator, where the error signal
is calculated. The error signal is then processed to generate the control signal. The PID
controller is developed in Arduino IDE. The processing value; i.e., the gain for the control
signal is determined from the simulation study. The gain values are adjusted by trial and error
for getting accurate iterations. The block diagram of PID controller is shown in fig. 2.3

Fig.2.3 Block Diagram of PID Controller

2.2.3 Accelerometer

Accelerometer is attached at the tip of the cantilever beam to measure the acceleration of
cantilever beam, when subjected to external vibration. In this study, MPU6050 accelerometer
is used.

2.2.4 Amplifier

The magnitude of the controller output is very small, which cannot actuate the piezoelectric
actuator because the voltage required for the PZT actuator is high. So a high-speed bipolar
voltage amplifier is used for this purpose. The bi-polar amplifier is having an amplification
factor of 10, 20 and 50. For the present study, the amplification factor is selected as 50. The
controller output is amplified by using bi-polar amplifier.

Fig. 2.4 Bi-polar Amplifier

14
2.5 Experimental setup

Fig. 2.5 Experimental Setup

Components-

1. Cantilever beam (550*25.4*2 mm)

2. Piezoelectric patch (sensor)
3. Piezoelectric patch (actuator)
4. Accelerometer (MPU6050)
5. Arduino (UNO)

2.6 Development of Open loop system

The required parts for the active control of vibration i.e. cantilever beam with piezoelectric
patches mounted on it, controller, and the amplifier are prepared. The connections of the sensor
and controller are made, the output of the controller is given to the amplifier and the output of
the amplifier is connected to the actuator. Initially, the open loop testing of the system is done,
i.e. without switching On the control system. The fig.2.6 shows the response of the system in
Open loop. It can be seen from the graph that the settling time of the system is around 19
seconds, which is almost same as the transient response in simulation study.

15
 Fig. 2.6 Uncontrolled response of the system

2.7 Development of closed loop system

The fig.2.7 shows the transient response of the system in closed loop with control system
switched On. It can be seen from the graph that in controlled transient response, the system
almost settles at 7 seconds. Due to some spurious signals from the controller and external
disturbances, the system is excited. Error signals are generated and these errors are amplified
by the amplifier and system starts vibrating. To overcome this problem, programming of PID
controller is modified accordingly and then system settles.

Fig. 2.7 Controlled response of the system

2.8 Results and Discussion

A tip displacement of 60 mm was given using servomotor to the beam and the uncontrolled
and controlled response of the beam was tracked using the accelerometer. The obtained
values were processed in MATLAB© software and the corresponding graphs were plotted.

16
The settling time for uncontrolled system was found to be 19 seconds. The controlled and
uncontrolled response of the system is shown in fig 2.8. It can be seen from the graph that the
settling time of the system is 7 seconds which is almost 50% of the settling time for the
uncontrolled system.

Fig. 2.8 Controlled and Uncontrolled response of the system.

17
 Chapter 3

Simulation technique to control vibration of the cantilever

beam

A Simulation study has been carried out to validate the result obtained by experimental work.
Initially the eigen values and eigen vectors are extracted, which are used to create state space
model in MATLAB©. A Proportional-Integral and Derivative controller is implemented in a
closed loop system to control the vibration of the smart cantilever beam.

3.1 Dynamic modelling of the smart cantilever beam

An integrated structure is developed with piezoelectric sensor and actuator mounted on the
Aluminium cantilever beam. For better vibration control of the structure, the actuator is
mounted at the root of the cantilever beam. Modal analysis has to be carried out by which eigen
values and eigen vectors are generated, which can be used to create state space model. In order
to perform modal analysis, a finite element model is created in ANSYS ©.

18
3.2 Finite element modelling

A finite element model of the Smart structure is modelled in ANSYS ©. The three-dimensional
material properties are then assigned. The piezoelectric material properties are defined in
ANSYS©. SOL1D45 elements are used for the metal part and SOLID5 elements are used for
the piezoelectric part of the smart structure. The size of the Aluminium beam is 550×25.4×1
mm and piezoelectric sensor/actuator is 76.2×25.4×1 mm. The configuration of the smart
cantilever beam is shown in the fig. 3.1. Piezoelectric sensor and actuator is firmly bonded on
the Aluminium beam.

Fig. 3.1 Configuration of smart Cantilever beam

The actuator and sensor are fixed, where ‘l’ is the distance from the fixed end. It is taken as
20mm. Fixed boundary conditions are defined for the nodes at x=0. The degree of freedom,
VOLT is coupled for the nodes at the top and bottom surfaces of the actuator by the command
cp. The material properties of the Aluminium beam and piezoelectric sensor/actuator is as
follows:

Cantilever beam: - Length= 550mm

Width=25.4mm

Thickness=1mm

Young’s modulus= 70×109 N/m2

Poisson’s ratio=0.3

Density=2770 kg/m3

19
Lead Zirconate Titanate (PZT):- Length= 76.2mm

Width=25.4mm

Thickness=1mm

Young’s modulus= 1.3×109 N/m2

Permittivity in x & y direction= 15.03×10-9

Permittivity in z direction= 13×10-9

3.3 Modal Analysis of cantilever beam

The modal analysis of the cantilever beam is performed with a mesh size of 40×4×1.

Table 3.1 Modal analysis of cantilever beam

Sr. no Theoretical Mesh size 40×4×1

(hz) (hz)

1 2.5 2.53

From the above table, it can be observed that there is a scope of improvement which means
that the result can be improved by selecting proper mesh size. The selection of proper mesh
size is called Convergence study.

3.4 Convergence study

In order to get accurate results of modal analysis by using finite element method, selection of
mesh size is important. The appropriate mesh size is derived through Convergence study
results. Convergence study in terms of natural frequency is formed in order to select the best
possible mesh size. The natural frequencies for different mesh size from the convergence study
is given in table 3.2.

20
The exact natural frequency of the cantilever beam can be obtained from the following equation

𝐸𝐼
𝜔 = 𝛽2 √𝐴𝜌

𝐴2 𝐸𝐼
𝑓 = 2𝜋 √𝑤𝑙4

Table 3.2 Convergence study

Mode Theoretical (30×4×1) (60×8×1) (120×16×1)

shape
(hz) (hz) (hz) (hz)

1 7.151 7.1699 7.155 7.152

2 28.603 28.901 28.670 28.632

3 64.357 65.813 64.693 64.499

3.5 State space modelling

In state-space modelling, three types of variables are constructed that are involved in the
modelling of dynamic system, which are input variable, output variable and state variable.

𝑥1̇ = 𝑎11 𝑥1 + 𝑎12 𝑥2 + ⋯ 𝑎1𝑛 𝑥𝑛 + 𝑏11 𝑢1 + 𝑏12 𝑢2 + ⋯ + 𝑏1𝑟 𝑢𝑟

𝑥2̇ = 𝑎21 𝑥1 + 𝑎22 𝑥2 + ⋯ + 𝑎2𝑛 𝑥𝑛 + 𝑏21 𝑢1 + 𝑏22 𝑎2 + ⋯ + 𝑏2𝑟 𝑢𝑟

𝑥𝑛̇ = 𝑎𝑛1 𝑥1 + 𝑎𝑛2 𝑥2 + ⋯ + 𝑎𝑛𝑛 𝑥𝑛 + 𝑏𝑛1 𝑢1 + 𝑏𝑛2 𝑎2 + ⋯ + 𝑏𝑛𝑟 𝑢𝑟 ……..…(i)

And the output will have the form

𝑦1̇ = 𝑐11 𝑥1 + 𝑐12 𝑥2 + ⋯ 𝑐1𝑛 𝑥𝑛 + 𝑑11 𝑢1 + 𝑑12 𝑢2 + ⋯ + 𝑑1𝑟 𝑢𝑟

𝑦2̇ = 𝑐21 𝑥1 + 𝑐22 𝑥2 + ⋯ + 𝑐2𝑛 𝑥𝑛 + 𝑑21 𝑢1 + 𝑑22 𝑎2 + ⋯ + 𝑑2𝑟 𝑢𝑟

𝑦𝑛̇ = 𝑐𝑛1 𝑥1 + 𝑐𝑛2 𝑥2 + ⋯ + 𝑐𝑛𝑛 𝑥𝑛 + 𝑑𝑛1 𝑢1 + 𝑑𝑛2 𝑎2 + ⋯ + 𝑑𝑛𝑟 𝑢𝑟 …….... (ii)

21
Where the coefficients aij, bij, cij and dij are constant, some of which may be zero. This equation
can be written in matrix expression as,

𝑥̇ = 𝐴𝑥 + 𝐵𝑢 ……………………………….…….………(iii)

𝑦̇ = 𝐶𝑥 + 𝐷𝑢 ………………………………………......….(iv)

Where,

𝑥1 𝑎11 𝑎12 … 𝑎1𝑛 𝑏11 𝑏12 … 𝑏1𝑛 𝑢1

𝑥2 𝑎21 𝑎22 … 𝑎2𝑛 𝑏21 𝑏22 … 𝑏2𝑛 𝑢2
𝑥 =[ ], A=[ ], B=[ ], u=[ ]
⁞ ⁞ ⁞ ⁞ ⁞ ⁞ ⁞ ⁞ ⁞ ⁞
𝑥𝑛 𝑎𝑛1 𝑎𝑛2 … 𝑎𝑛𝑛 𝑏𝑛1 𝑏𝑛2 … 𝑏𝑛𝑛 𝑢 𝑛

𝑦1 𝑐11 𝑐12 … 𝑐1𝑛 𝑑11 𝑑12 … 𝑑1𝑛

𝑦2 𝑐21 𝑐22 … 𝑐2𝑛 𝑑21 𝑑22 … 𝑑2𝑛
𝑦 =[ ⁞ ], C=[ ⁞ ⁞ ⁞ ⁞ ], D=[ ⁞ ]
⁞ ⁞ ⁞
𝑦𝑛 𝑐𝑛1 𝑐𝑛2 … 𝑐𝑛𝑛 𝑑𝑛1 𝑑𝑛2 … 𝑑𝑛𝑛

3.6 Simulation results of modal analysis of cantilever beam

The physical model of the cantilever beam is made in Autodesk inventor and then it is imported
to ANSYS© Workbench. The further modal analysis is conducted in order to get the respective
frequency values.

Fig. 3.2 Physical Model of cantilever beam.

22
The meshed view is obtained in ANSYS© in order to obtain accurate frequency values.

Fig. 3.3 Meshed view of the cantilever beam

The below fig. 3.4 indicates the modal analysis results for mode 1. (frequency 0.8097 Hz)

Fig. 3.4 mode 1

23
The below fig.3.5 indicates the modal analysis results for mode 2. (frequency 5.19Hz)

Fig. 3.5 mode 2

The below fig.3.6 indicates the modal analysis results for mode 3. (frequency 14.22 Hz)

Fig. 3.6 mode 3

24
The below fig.3.7 indicates the modal analysis results for mode 4. (frequency 27.933) Hz

Fig. 3.7 mode 4

3.7 Open loop Transient Response Analysis of Smart cantilever

Beam using MATLAB Software-

The transient response is observed by simulating transient analysis on the cantilever beam to
which the piezoelectric patch is attached. The result shows that the beam has a settling time of
18 seconds.

Fig. 3.8 Open Loop Transient response in MATLAB Software

25
3.8 Closed loop Transient Response Analysis of Smart Cantilever
Beam using MATLAB Software-

A closed loop system is implemented with a PID controller and closed loop transient response
of the structure is obtained. The closed loop transient response is shown in the fig3.9. The
closed loop response shows the settling down of the beam with a settling time of 6 sec.

Fig. 3.9 Closed Loop Transient response in MATLAB Software

26
 Chapter 4

Conclusion

An experimental investigation is performed to control the vibration of a smart cantilever beam

using active vibration control technique. PID controller is developed using ARDUINO. It is
observed that PID controller supresses vibration of the smart structure more effectively with a
settling time of 7 seconds. It also gives a transient response without any steady state error. The
Simulation study is also conducted to control the vibration of the smart cantilever beam. For
Simulation study, MATLAB© and ANSYS© softwares are used. Initially a finite element model
of the structure is created and modal analysis is performed. Eigen values and eigen vectors are
imported in MATLAB©. The results show the effective suppression of the vibration of the
structure. The study shows both experimental and simulation method can be effectively used
for controlling the vibration of the smart cantilever beam using active vibration control
technique.

27
Appendix

1.Algorithm Code for servomotor on ARDUINO©

#include <Servo.h>

Servo myServo;y[[[[[pppppp
int pos=0;
void setup() {
// put your setup code here, to run once:
myServo.attach(9);

myServo.write(110);
delay(5000);
for (pos = 110; pos >= 0; pos -= 1) { // goes from 0 degrees to 180 degrees
// in steps of 1 degree
myServo.write(pos); // tell servo to go to position in variable 'pos'

delay(15); // waits 15ms for the servo to reach the position

}
}
void loop() {
}

2.Algorithm-Code for Accelerometer on ARDUINO©

#include<Wire.h>
const int MPU6050_addr=0x68;
int16_t AccX,AccY,AccZ,Temp,GyroX,GyroY,GyroZ;
void setup(){
Wire.begin();
Wire.beginTransmission(MPU6050_addr);
Wire.write(0x6B);
Wire.write(0);

28
Wire.endTransmission(true);
Serial.begin(9600);
}
void loop(){
Wire.beginTransmission(MPU6050_addr);
Wire.write(0x3B);
Wire.endTransmission(false);
Wire.requestFrom(MPU6050_addr,14,true);
AccX=Wire.read()<<8|Wire.read();
AccY=Wire.read()<<8|Wire.read();
AccZ=Wire.read()<<8|Wire.read();
Temp=Wire.read()<<8|Wire.read();
GyroX=Wire.read()<<8|Wire.read();
GyroY=Wire.read()<<8|Wire.read();
GyroZ=Wire.read()<<8|Wire.read();
Serial.print("AccX = "); Serial.print(AccX);
Serial.print(" || AccY = "); Serial.print(AccY);
Serial.print(" || AccZ = "); Serial.print(AccZ);
Serial.print(" || Temp = "); Serial.print(Temp/340.00+36.53);
Serial.print(" || GyroX = "); Serial.print(GyroX);
Serial.print(" || GyroY = "); Serial.print(GyroY);
Serial.print(" || GyroZ = "); Serial.println(GyroZ);
delay(100);
}

3. MATLAB© Code for State Space Model-

[numdof, num_modes_total]=size(xn);
in_node=numdof;
out_node=numdof;
x=xn;
f=freqvec;
w = (f*2*pi);

29
w2=w.^2;
alpha=0.687;
beta = 2.89*1e-4;
for cnt=1:num_modes_total
zeta(cnt,1)=(alpha+beta*w2(cnt))/(2*w(cnt));

w(cnt);
end;
format long
zw=2*(zeta.*w);
asize=2*num_modes_total;

a=zeros(asize);
for col=2:2:asize
row=col-1;
a(row, col)=1;
end;

for col=1:2:asize
row=col+1;
a(row, col)=-w2((col+1)/2);
end;
for col=2:2:asize

row=col;
a(row, col)=-zw(col/2);
end;
f_physical=zeros(numdof,1);
f_physical(numdof)=1;
f_principal=x'*f_physical;

b=zeros(2*num_modes_total,1);
for cnt=1:num_modes_total
b(2*cnt)=f_principal(cnt);

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end;
for col=1:2:2*num_modes_total
for row=1:numdof
c(row, col)=x(row, ceil(col/2));
cvel(row, col)=0;

end
end
for col=2:2:2*num_modes_total
for row=1:numdof
c(row, col)=0;

cvel(row, col)=x(row,(col/2));
end
end
d=[0];
sysp=ss(a,b,c(out_node,:),d);

figure(1);
dt=0.0005;
ttotal=2;
t=linspace(0,ttotal,ttotal/dt);
u_ex=zeros(size(t));

u_ex(1)=1;
[disptip, ts]=lsim(sysp, u_ex,t);
plot(ts, disptip,'r.-');
hold on;
grid on;
xlabel('Time(s)');

ylabel('Displacement(m)');
freqlo=1;
freqhi=100000;

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flo=log10(freqlo);
fhi=log10(freqhi);
f=logspace(flo,fhi,200);
frad=f*2*pi;
[magdisptip, phsdisptip]=bode(sysp, frad);

magdisptipdb=20*log10(magdisptip);
figure(2);
semilogx(f, magdisptipdb(1,:),'r.-');
hold on;
grid on;

xlabel('log w');
ylabel('20logM');

4. MATLAB© code for converting acceleration to displacement plot-

fs=10; % sampling freq

fc=0.16; % cutoff freq

order=6;

[b1,a1]=butter(order,fc,'high'); % designing the filter

accn=filtfilt(b1,a1,acc);

vel=cumtrapz(time,accn);

vel1=filtfilt(b1,a1,vel);

disp=cumtrapz(time,vel1);

plot(time,disp);

xlabel('time (s)');

ylabel('Displacement(m)');

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5. ARDUINO code for PID controller

#include <Servo.h>
Servo myServo;
int pos=0;

#include <PID_v1.h>
#define PIN_INPUT A0
#define PIN_OUTPUT A1
//Define Variables we'll be connecting to
double Setpoint, Input, Output;

//Specify the links and initial tuning parameters

double Kp=2.45, Ki=1, Kd=1;
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
void setup()
{Serial.begin(9600);
//initialize the variables we're linked to
Input = analogRead(PIN_INPUT);
Setpoint = 512;
//turn the PID on
myPID.SetMode(AUTOMATIC);
// put your setup code here, to run once:
myServo.attach(9);
myServo.write(110);
delay(2000);
for (pos = 110; pos >= 0; pos -= 1) { // goes from 0 degrees to 180 degrees

// in steps of 1 degree
myServo.write(pos); // tell servo to go to position in variable 'pos'
delay(15); // waits 15ms for the servo to reach the position
}}
void loop()

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{if(analogRead(PIN_INPUT)<400 && analogRead(PIN_INPUT)>700)
{Input = analogRead(PIN_INPUT);
Serial.println(Input);
myPID.Compute();
analogWrite(PIN_OUTPUT, Output);

}
else
{analogWrite(PIN_OUTPUT, 0);
}}

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 References

1. S, X. Xu and T. S. Koko, “Finite Element Analysis and Design of Actively Controlled

Piezoelectric Smart Structures”, Elsevier journal,2002.
2. H. Karagulle, L. Malgaca and H. F. Oktem, “Analyis of Active Vibration Control in
Smart Structures by ANSYS©”, Smart Materials and Structures, 2008.
3. W. K. Ramesh Kumar and S. Narayanan, “Active Vibration control of beam structure
with piezoelectric actuators and sensors”, Smart materials and structures 10, pp.404-
408, 2010.
4. K. Dhanalakshmi, “Experimental study on vibration control of shape memory alloy
actuated flexible beam”, International journal of smart sensing and intelligent systems
vol.3, no.2, June 2010.
5. S.M Khot, Nitesh P Yelve, Rajat Tomar, Sameer Desai and S Vittal “Active vibration
control of cantilever beam by using PID based output feedback controller”, Journal of
Vibration and Control, July 2011.
6. S.M Khot, Nitesh P Yelve and Ramya Iyer “ Extraction of system model from finite
element model and simulation study of active vibration control”, Advances in Vibration
Engineering, July 2012.

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