Displacement tracking of pre-deformed smart structures

Hans Irschik,Michael Krommer,Christian Zehetner 국제구조공학회 2016 Smart Structures and Systems, An International Jou Vol.18 No.1

This paper is concerned with the dynamics of hyperelastic solids and structures. We seek for a smart control actuation that produces a desired (prescribed) displacement field in the presence of transient imposed forces. In the literature, this problem is denoted as displacement tracking, or also as shape morphing problem. One talks about shape control, when the displacements to be tracked do vanish. In the present paper, it is assumed that the control actuation is provided by imposed eigenstrains, e.g., by the electric field in piezoelectric actuators, or by thermal actuators, or via analogous physical effects, such as magneto-striction or pre-stress. Structures with a controlled eigenstrain-type actuation belong to the class of smart structures. The action of the eigenstrains can be conveniently characterized by actuation stresses. Our theoretical derivations are performed in the framework of the theory of small incremental dynamic deformations superimposed upon a statically pre-deformed configuration of a hyperelastic solid or structure. We particularly ask for a distribution of incremental actuation stresses, such that the incremental displacements follow exactly a prescribed trajectory field, despite the imposed incremental forces are present. An exact solution of this problem is presented under the assumption that the actuation stresses can be tailored freely and applied everywhere within the body. Extending a Neumann-type solution strategy, it is shown that the actuation stresses due to the distributed control eigenstrains must satisfy certain quasi-static equilibrium conditions, where auxiliary body-forces and auxiliary surface tractions are to be taken into account. The latter auxiliary loading can be directly computed from the imposed forces and from the desired displacement field to be tracked. Hence, despite the problem is a dynamic one, a straightforward computation of proper actuator distributions can be obtained in the framework of quasi-static equilibrium conditions. Necessary conditions for the functioning of this concept are presented. Particularly, it must be required that the intermediate configuration is infinitesimally superstable. Previous results of our group for the case of shape control and displacement tracking in linear elastic structures are included as special cases. The high potential of the solution is demonstrated via Finite Element computations for an irregularly shaped four-corner plate in a state of plain strain.

Passive shape control of force-induced harmonic lateral vibrations for laminated piezoelastic Bernoulli-Euler beams-theory and practical relevance

Schoeftner, J.,Irschik, H. Techno-Press 2011 Smart Structures and Systems, An International Jou Vol.7 No.5

The present paper is devoted to vibration canceling and shape control of piezoelastic slender beams. Taking into account the presence of electric networks, an extended electromechanically coupled Bernoulli-Euler beam theory for passive piezoelectric composite structures is shortly introduced in the first part of our contribution. The second part of the paper deals with the concept of passive shape control of beams using shaped piezoelectric layers and tuned inductive networks. It is shown that an impedance matching and a shaping condition must be fulfilled in order to perfectly cancel vibrations due to an arbitrary harmonic load for a specific frequency. As a main result of the present paper, the correctness of the theory of passive shape control is demonstrated for a harmonically excited piezoelelastic cantilever by a finite element calculation based on one-dimensional Bernoulli-Euler beam elements, as well as by the commercial finite element code of ANSYS using three-dimensional solid elements. Finally, an outlook for the practical importance of the passive shape control concept is given: It is shown that harmonic vibrations of a beam with properly shaped layers according to the presented passive shape control theory, which are attached to an resistor-inductive circuit (RL-circuit), can be significantly reduced over a large frequency range compared to a beam with uniformly distributed piezoelectric layers.

On the static and dynamic stability of beams with an axial piezoelectric actuation

Zehetner, C.,Irschik, H. Techno-Press 2008 Smart Structures and Systems, An International Jou Vol.4 No.1

The present contribution is concerned with the static and dynamic stability of a piezo-laminated Bernoulli-Euler beam subjected to an axial compressive force. Recently, an inconsistent derivation of the equations of motions of such a smart structural system has been presented in the literature, where it has been claimed, that an axial piezoelectric actuation can be used to control its stability. The main scope of the present paper is to show that this unfortunately is impossible. We present a consistent theory for composite beams in plane bending. Using an exact description of the kinematics of the beam axis, together with the Bernoulli-Euler assumptions, we obtain a single-layer theory capable of taking into account the effects of piezoelectric actuation and buckling. The assumption of an inextensible beam axis, which is frequently used in the literature, is discussed afterwards. We show that the cited inconsistent beam model is due to inadmissible mixing of the assumptions of an inextensible beam axis and a vanishing axial displacement, leading to the erroneous result that the stability might be enhanced by an axial piezoelectric actuation. Our analytical formulations for simply supported Bernoulli-Euler type beams are verified by means of three-dimensional finite element computations performed with ABAQUS.

Sensor and actuator design for displacement control of continuous systems

Krommer, Michael,Irschik, Hans Techno-Press 2007 Smart Structures and Systems, An International Jou Vol.3 No.2

The present paper is concerned with the design of distributed sensors and actuators. Strain type sensors and actuators are considered with their intensity continuously distributed throughout a continuous structure. The sensors measure a weighted average of the strain tensor. As a starting point for their design we introduce the concept of collocated sensors and actuators as well as the so-called natural output. Then we utilize the principle of virtual work for an auxiliary quasi-static problem to assign a mechanical interpretation to the natural output of the sensors to be designed. Therefore, we take the virtual displacements in the principle of virtual work as that part of the displacement in the original problem, which characterizes the deviation from a desired one. We introduce different kinds of distributed sensors, each of them with a mechanical interpretation other than a weighted average of the strain tensor. Additionally, we assign a mechanical interpretation to the collocated actuators as well; for that purpose we use an extended body force analogy. The sensors and actuators are applied to solve the displacement tracking problem for continuous structures; i.e., the problem of enforcing a desired displacement field. We discuss feed forward and feed back control. In the case of feed back control we show that a PD controller can stabilize the continuous system. Finally, a numerical example is presented. A desired deflection of a clamped-clamped beam is tracked by means of feed forward control, feed back control and a combination of the two.

Sensor and actuator design for displacement control of continuous systems

Michael Krommer,Hans Irschik 국제구조공학회 2007 Smart Structures and Systems, An International Jou Vol.3 No.2

The present paper is concerned with the design of distributed sensors and actuators. Strain type sensors and actuators are considered with their intensity continuously distributed throughout a continuous structure. The sensors measure a weighted average of the strain tensor. As a starting point for their design we introduce the concept of collocated sensors and actuators as well as the so-called natural output. Then we utilize the principle of virtual work for an auxiliary quasi-static problem to assign a mechanical interpretation to the natural output of the sensors to be designed. Therefore, we take the virtual displacements in the principle of virtual work as that part of the displacement in the original problem, which characterizes the deviation from a desired one. We introduce different kinds of distributed sensors, each of them with a mechanical interpretation other than a weighted average of the strain tensor. Additionally, we assign a mechanical interpretation to the collocated actuators as well; for that purpose we use an extended body force analogy. The sensors and actuators are applied to solve the displacement tracking problem for continuous structures; i.e., the problem of enforcing a desired displacement field. We discuss feed forward and feed back control. In the case of feed back control we show that a PD controller can stabilize the continuous system. Finally, a numerical example is presented. A desired deflection of a clamped-clamped beam is tracked by means of feed forward control, feed back control and a combination of the two.

Dynamic response of an elastic bridge loaded by a moving elastic beam with a finite length

Cojocaru, Eugenia C.,Irschik, Hans Techno-Press 2010 Interaction and multiscale mechanics Vol.3 No.4

The present paper is concerned with vibrations of an elastic bridge loaded by a moving elastic beam of a finite length, which is an extension of the authors' previous study where the second beam was modeled as a semi-infinite beam. The second beam, which represents a train, moves with a constant speed along the bridge and is assumed to be connected to the bridge by the limiting case of a rigid interface such that the deflections of the bridge and the train are forced to be equal. The elastic stiffness and the mass of the train are taken into account. The differential equations are developed according to the Bernoulli-Euler theory and formulated in a non-dimensional form. A solution strategy is developed for the flexural vibrations, bending moments and shear forces in the bridge by means of symbolic computation. When the train travels across the bridge, concentrated forces and moments are found to take place at the front and back side of the train.

On the static and dynamic stability of beams with an axial piezoelectric actuation

C. Zehetner,H. Irschik 국제구조공학회 2008 Smart Structures and Systems, An International Jou Vol.4 No.1

The present contribution is concerned with the static and dynamic stability of a piezo-laminated Bernoulli-Euler beam subjected to an axial compressive force. Recently, an inconsistent derivation of the equations of motions of such a smart structural system has been presented in the literature, where it has been claimed, that an axial piezoelectric actuation can be used to control its stability. The main scope of the present paper is to show that this unfortunately is impossible. We present a consistent theory for composite beams in plane bending. Using an exact description of the kinematics of the beam axis, together with the Bernoulli-Euler assumptions, we obtain a single-layer theory capable of taking into account the effects of piezoelectric actuation and buckling. The assumption of an inextensible beam axis, which is frequently used in the literature, is discussed afterwards. We show that the cited inconsistent beam model is due to inadmissible mixing of the assumptions of an inextensible beam axis and a vanishing axial displacement, leading to the erroneous result that the stability might be enhanced by an axial piezoelectric actuation. Our analytical formulations for simply supported Bernoulli-Euler type beams are verified by means of three-dimensional finite element computations performed with ABAQUS.

Passive shape control of force-induced harmonic lateral vibrations for laminated piezoelastic Bernoulli-Eulerbeams-theory and practical relevance

J. Schoeftner,H. Irschik 국제구조공학회 2011 Smart Structures and Systems, An International Jou Vol.7 No.5

The present paper is devoted to vibration canceling and shape control of piezoelastic slender beams. Taking into account the presence of electric networks, an extended electromechanically coupled Bernoulli-Euler beam theory for passive piezoelectric composite structures is shortly introduced in the first part of our contribution. The second part of the paper deals with the concept of passive shape control of beams using shaped piezoelectric layers and tuned inductive networks. It is shown that an impedance matching and a shaping condition must be fulfilled in order to perfectly cancel vibrations due to an arbitrary harmonic load for a specific frequency. As a main result of the present paper, the correctness of the theory of passive shape control is demonstrated for a harmonically excited piezoelelastic cantilever by a finite element calculation based on one-dimensional Bernoulli-Euler beam elements, as well as by the commercial finite element code of ANSYS using three-dimensional solid elements. Finally, an outlook for the practical importance of the passive shape control concept is given: It is shown that harmonic vibrations of a beam with properly shaped layers according to the presented passive shape control theory, which are attached to an resistor-inductive circuit (RL-circuit), can be significantly reduced over a large frequency range compared to a beam with uniformly distributed piezoelectric layers.

Dynamic displacement tracking of a one-storey frame structure using patch actuator networks: Analytical plate solution and FE validation

Daniel Huber,Hans Irschik,Michael Krommer 국제구조공학회 2009 Smart Structures and Systems, An International Jou Vol.5 No.6

The present paper is concerned with the design of a proper patch actuator network in order to track a desired displacement of the sidewalls of a one-storey frame structure; both, for the static and the dynamic case. Weights for each patch of the actuator network found in our previous work were based on beam theory; in the present paper a refinement of these weights by modeling the sidewalls of the frame structure as thin plates is presented. For the sake of calculating the refined weights approximate solutions of the plate equations are calculated by an extended Galerkin method. The solutions based on the analytical plate model are compared with three-dimensional Finite Element results computed in the commercially available code ANSYS. The patch actuator network is put into practice by means of four piezoelectric patches attached to each of the two sidewalls of the frame structures, to which electric voltages proportional to the analytically refined patch weights are applied. Analytical and numerical results coincide very well over a broad frequency range.

Dynamic displacement tracking of a one-storey frame structure using patch actuator networks: Analytical plate solution and FE validation

Huber, Daniel,Krommer, Michael,Irschik, Hans Techno-Press 2009 Smart Structures and Systems, An International Jou Vol.5 No.6

The present paper is concerned with the design of a proper patch actuator network in order to track a desired displacement of the sidewalls of a one-storey frame structure; both, for the static and the dynamic case. Weights for each patch of the actuator network found in our previous work were based on beam theory; in the present paper a refinement of these weights by modeling the sidewalls of the frame structure as thin plates is presented. For the sake of calculating the refined weights approximate solutions of the plate equations are calculated by an extended Galerkin method. The solutions based on the analytical plate model are compared with three-dimensional Finite Element results computed in the commercially available code ANSYS. The patch actuator network is put into practice by means of four piezoelectric patches attached to each of the two sidewalls of the frame structures, to which electric voltages proportional to the analytically refined patch weights are applied. Analytical and numerical results coincide very well over a broad frequency range.