Control of Vibration in Mechanical Systems Using Shaped Reference Inputs

Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the natural frequencies in order to reduce residual vibration for fast moves. Such profiles are developed using a ramped sinusoid function and its harmonics, choosing coefficients to reduce spectral energy at the natural frequencies of the system. To improve robustness with respect to parameter uncertainty, spectral energy is reduced for a range of frequencies surrounding the nominal natural frequency. An additional set of versine profiles are also constructed to permit motion at constant speed for velocity-limited systems. These shaped force profiles are incorporated into a simple closed-loop system with position and velocity feedback. The force input is doubly integrated to generate a shaped position reference for the controller to follow. This control scheme is evaluated on the MIT Cartesian Robot. The shaped inputs generate motions with minimum residual vibration when actuator saturation is avoided. Feedback control compensates for the effect of friction Using only a knowledge of the natural frequencies of the system to shape the force inputs, vibration can also be attenuated in modes which vibrate in directions other than the motion direction. When moving several axes, the use of shaped inputs allows minimum residual vibration even when the natural frequencies are dynamically changing by a limited amount.

Dynamic soil–structure interaction of monopile supported wind turbines in cohesive soil.

Offshore wind turbines supported on monopile foundations are dynamically sensitive because the overall natural frequencies of these structures are close to the different forcing frequencies imposed upon them. The structures are designed for an intended life of 25 to 30 years, but little is known about their long term behaviour. To study their long term behaviour, a series of laboratory tests were conducted in which a scaled model wind turbine supported on a monopile in kaolin clay was subjected to between 32,000 and 172,000 cycles of horizontal loading and the changes in natural frequency and damping of the model were monitored. The experimental results are presented using a non-dimensional framework based on an interpretation of the governing mechanics. The change in natural frequency was found to be strongly dependent on the shear strain level in the soil next to the pile. Practical guidance for choosing the diameter of monopile is suggested based on element test results using the concept of volumetric threshold shear strain.

Variation of modal parameters of pile-supported structures in seismically liquefiable soils.

This paper presents experimental results that aimed to investigate the effects of soil liquefaction on the modal parameters (i.e. frequency and damping ratio) of pile-supported structures. The tests were carried out using the shaking table facility of the Bristol Laboratory for Advanced Dynamics Engineering (BLADE) at the University of Bristol (UK) whereby four pile-supported structures (two single piles and two pile groups) with and without superstructure mass were tested. The experimental investigation aimed to monitor the variation in natural frequency and damping of the four physical models at different degrees of excess pore water pressure generation and in full-liquefaction condition. The experimental results showed that the natural frequency of pile-supported structures may decrease considerably owing to the loss of lateral support offered by the soil to the pile. On the other hand, the damping ratio of structure may increase to values in excess of 20%. These findings have important design consequences: (a) for low-period structures, substantial reduction of spectral acceleration is expected; (b) during and after liquefaction, the response of the system may be dictated by the interactions of multiple loadings, that is, horizontal, axial and overturning moment, which were negligible prior to liquefaction; and (c) with the onset of liquefaction due to increased flexibility of pile-supported structure, larger spectral displacement may be expected, which in turn may enhance Pdelta effects and consequently amplification of overturning moment. Practical implications for pile design are discussed.

Dynamic solid mechanics using finite volume methods

A procedure for evaluating the dynamic structural response of elastic solid domains is presented. A prerequisite for the analysis of dynamic fluid–structure interaction is the use of a consistent set of finite volume (FV) methods on a single unstructured mesh. This paper describes a three-dimensional (3D) FV, vertex-based method for dynamic solid mechanics. A novel Newmark predictor–corrector implicit scheme was developed to provide time accurate solutions and the scheme was evaluated on a 3D cantilever problem. By employing a small amount of viscous damping, very accurate predictions of the fundamental natural frequency were obtained with respect to both the amplitude and period of oscillation. This scheme has been implemented into the multi-physics modelling software framework, PHYSICA, for later application to full dynamic fluid structure interaction.

A Theoretical and Experimental Study of Resonance in a High Performance Engine Intake System: Part 1

The unsteady gas dynamic phenomena in engine intake systems of the type found in racecars have been examined. In particular, the resonant tuning effects, including cylinder-to-cylinder power variations, which can occur as a result of the interaction between an engine and its airbox have been considered. Frequency analysis of the output from a Virtual 4-Stroke 1D engine simulation was used to characterise the forcing function applied by an engine to an airbox. A separate computational frequency sweeping technique, which employed the CFD package FLUENT, was used to determine the natural frequencies of virtual airboxes in isolation from an engine. Using this technique, an airbox with a natural frequency at 75 Hz was designed for a Yamaha R6 4-cylinder motorcycle engine. The existence of an airbox natural frequency at 75 Hz was subsequently confirmed by an experimental frequency sweeping technique carried out on the engine test bed. A coupled 1D/3D analysis which employed the engine simulation package Virtual 4-Stroke and the CFD package FLUENT, was used to model the combined engine and airbox system. The coupled 1D/3D analysis predicted a 75 Hz resonance of the airbox at an engine speed of 9000 rpm. This frequency was the induction frequency for a single cylinder. An airbox was fabricated and tested on the engine. Static pressure was recorded at a grid of points in the airbox as the engine was swept through a speed range of 3000 to 10000 rpm. The measured engine speed corresponding to resonance in the airbox agreed well with the predicted values. There was also good correlation between the amplitude and phase of the pressure traces recorded within the airbox and the 1D/3D predictions.

A Theoretical and Experimental Study of Resonance in a High Performance Engine Intake System: Part 2

The unsteady gas dynamic phenomena in a racecar airbox have been examined, and resonant tuning effects have been considered. A coupled 1D/3D analysis, using the engine simulation package Virtual 4-Stroke and the CFD package FLUENT, was used to model the engine and airbox. The models were experimentally validated. An airbox was designed with a natural frequency in the region of 75 Hz. A coupled 1D/3D analysis of the airbox and a Yamaha R6 4 cylinder engine predicted resonance at the single-cylinder induction frequency; 75 Hz at an engine speed of 9000 rpm.

Drive-by bridge inspection from three different approaches

This study presents a vibration-based health monitoring strategy for short span bridges utilizing an inspection vehicle. How to screen the health condition of short span bridges in terms of a drive-by bridge inspection is described. Feasibility of the drive-by bridge inspection is investigated through a scaled laboratory moving vehicle experiment. The feasibility of using an instrumented vehicle to detect the natural frequency and changes in structural damping of a model bridge was observed. Observations also demonstrated the possibility of diagnosis of bridges by comparing patterns of identified bridge dynamic parameters through periodical monitoring. It was confirmed that the moving vehicle method identifies the damage location and severity well.

Identification of the Dynamic Parameters of a Real Bridge under Different Damage Conditions in a Field Experiment

This paper presents the results of a real bridge field experiment in which damage was applied artificially to a steel truss bridge. The aim of this paper is to identify the dynamic parameters of this bridge using conventional techniques and investigate the effect of various damage conditions on those parameters. In the field experiment, acceleration measurements were recorded at a number of locations on the bridge deck. To excite the bridge, a two-axle van was driven across the bridge at constant speed. Dynamic parameters, such as the bridge mode shape, natural frequency and damping constant, are identified from the acceleration signals using existing techniques such as the fast Fourier transform, logarithmic decrement and frequency domain decomposition. The variation of these parameters under the influence of artificially applied damage conditions is investigated in order to evaluate their sensitivity to the bridge damage.

Theoretical investigation of the use of a moving vehicle to identify bridge dynamic parameters

Pavements and bridges are subject to a continuous degradation due to traffic aggressiveness, ageing and environmental factors. A rational transport policy requires the monitoring of this transport infrastructure in order to provide adequate maintenance and guarantee the required levels of transport service and safety. This paper investigates the use of an instrumented vehicle fitted with accelerometers on its axles to monitor the dynamics of bridges. A simplified quarter carbridge interaction model is used in theoretical simulations and the natural frequency of the bridge is extracted from the spectra of the vehicle accelerations. The accuracy is better at lower speeds and for smooth road profiles. The structural damping of the bridge was also monitored for smooth and rough road profiles. The magnitude of peaks in the power spectral density of the vehicle accelerations decreased with increasing bridge damping and this decrease was easier to detect the smoother the road profile.

A Review of Indirect Bridge Monitoring Using Passing Vehicles

Indirect bridge monitoring methods, using the responses measured from vehicles passing over bridges, are under development for about a decade. A major advantage of these methods is that they use sensors mounted on the vehicle, no sensors or data acquisition system needs to be installed on the bridge. Most of the proposed methods are based on the identification of dynamic characteristics of the bridge from responses measured on the vehicle, such as natural frequency, mode shapes, and damping. In addition, some of the methods seek to directly detect bridge damage based on the interaction between the vehicle and bridge. This paper presents a critical review of indirect methods for bridge monitoring and provides discussion and recommendations on the challenges to be overcome for successful implementation in practice.

Experimental Investigation of the Detection of Bridge Dynamic Parameters using a Moving Vehicle

This paper investigates the feasibility of using an instrumented vehicle to detect bridge dynamic parameters, such as natural frequency and structural damping, in a scaled laboratory experiment. In the experiment, a scaled vehicle model crosses a steel girder which has been adopted as the bridge model. The bridge model also includes a scaled road surface profile. The effects of varying vehicle model mass and speed are investigated. The damping of the girder is also varied. The bridge frequency and changes in damping are detected in the vehicle acceleration response in the presence of a rough road surface profile.

Experimental investigation of drive-by bridge inspection

This study presents a vibration-based health monitoring of short span bridges by
an inspection vehicle. How to screen health condition of short span bridges in terms of the
drive-by bridge inspection is described. Feasibility of the drive-by bridge inspection is
investigated through a scaled laboratory moving vehicle experiment. The feasibility of using an
instrumented vehicle to detect the natural frequency and changes in structural damping of a
model bridge is observed. Observations also demonstrate possibility of diagnosis of bridges by
comparing patterns of identified dynamic parameters of bridges through a periodical
monitoring. It is confirmed that the method for damage identification under a moving vehicle
identifies the damage location and severity well.

Elastodynamic Modeling and Analysis for an Exechon Parallel Kinematic Machine

As a newly invented parallel kinematic machine (PKM), Exechon has attracted intensive attention from both academic and industrial fields due to its conceptual high performance. Nevertheless, the dynamic behaviors of Exechon PKM have not been thoroughly investigated because of its structural and kinematic complexities. To identify the dynamic characteristics of Exechon PKM, an elastodynamic model is proposed with the substructure synthesis technique in this paper. The Exechon PKM is divided into a moving platform subsystem, a fixed base subsystem and three limb subsystems according to its structural features. Differential equations of motion for the limb subsystem are derived through finite element (FE) formulations by modeling the complex limb structure as a spatial beam with corresponding geometric cross sections. Meanwhile, revolute, universal, and spherical joints are simplified into virtual lumped springs associated with equivalent stiffnesses and mass at their geometric centers. Differential equations of motion for the moving platform are derived with Newton's second law after treating the platform as a rigid body due to its comparatively high rigidity. After introducing the deformation compatibility conditions between the platform and the limbs, governing differential equations of motion for Exechon PKM are derived. The solution to characteristic equations leads to natural frequencies and corresponding modal shapes of the PKM at any typical configuration. In order to predict the dynamic behaviors in a quick manner, an algorithm is proposed to numerically compute the distributions of natural frequencies throughout the workspace. Simulation results reveal that the lower natural frequencies are strongly position-dependent and distributed axial-symmetrically due to the structure symmetry of the limbs. At the last stage, a parametric analysis is carried out to identify the effects of structural, dimensional, and stiffness parameters on the system's dynamic characteristics with the purpose of providing useful information for optimal design and performance improvement of the Exechon PKM. The elastodynamic modeling methodology and dynamic analysis procedure can be well extended to other overconstrained PKMs with minor modifications.

Determining the Presence of Scour around Bridge Foundations Using Vehicle-Induced Vibrations

Bridge scour is the number one cause of failure in bridges located over waterways. Scour leads to rapid losses in foundation stiffness and can cause sudden collapse. Previous research on bridge health monitoring has used changes in natural frequency to identify damage in bridge beams. The possibility of using a similar approach to identifying scour is investigated in this paper. To assess if this approach is feasible, it is necessary to establish how scour affects the natural frequency of a bridge, and if it is possible to measure changes in frequency using the bridge dynamic response to a passing vehicle. To address these questions, a novel vehicle–bridge–soil interaction (VBSI) model was developed. By carrying out a modal study in this model, it is shown that for a wide range of possible soil states, there is a clear reduction in the natural frequency of the first mode of the bridge with scour. Moreover, it is shown that the response signals on the bridge from vehicular loading are sufficient to allow these changes in frequency to be detected.

Sensores ópticos para monitorização dinâmica de estruturas

O presente trabalho centra-se no desenvolvimento e aplicação de sensores de aceleração ópticos, baseados em redes de Bragg gravadas em fibras ópticas, para monitorização da integridade estrutural de estruturas de engenharia civil. Foram implementados dois acelerómetros uniaxiais e um acelerómetro biaxial. Recorreu-se a uma ferramenta de simulação baseada no método dos elementos finitos que permitiu optimizar, sem custos de produção, as características dos sensores, nomeadamente a sua frequência de ressonância. A caracterização dos sensores foi realizada em ambiente laboratorial e a sua resposta comparada com os resultados de simulação, de modo a validar os modelos numéricos. A aplicabilidade e demonstração de conceito foram realizadas na monitorização de estruturas com testes de campo. Foi monitorizado um teste destrutivo de uma parede de adobe, construída à escala real no Departamento de Engenharia Civil da Universidade de Aveiro, onde foram utilizados sensores estáticos e dinâmicos baseados em redes de Bragg gravadas em fibra óptica. Foram realizadas medidas dinâmicas na ponte pedonal do Campus Universitário da Universidade de Aveiro, onde se compararam os resultados obtidos com os sensores ópticos com resultados de sensores electrónicos comerciais. O acelerómetro biaxial foi testado na monitorização de estruturas esbeltas, nomeadamente na monitorização de duas torres de telecomunicações móveis, onde se demonstrou a possibilidade da utilização de sensores ópticos na caracterização dinâmica deste tipo de estruturas. Outro tipo de estruturas de engenharia civil onde foi demonstrada a aplicabilidade dos sensores ópticos desenvolvidos na monitorização estrutural foram os reservatórios de água elevados. Foi realizada a monitorização dinâmica de um exemplo deste tipo de estruturas, localizado no Campus Universitário da Universidade de Aveiro. A monitorização foi realizada recorrendo ao sensor biaxial desenvolvido e a um sismógrafo, ficando o sensor óptico instalado na estrutura de modo a permitir futuras leituras e assim a monitorização periódica da estrutura. Foi ainda desenvolvido um sensor de humidade relativa do ar, com um material sol-gel, que permitiu registar o nível de humidade relativa no interior de blocos de betão, durante um ano. Este sensor pode ser incluído numa rede de sensores multiplexados, na caracterização e monitorização da integridade estrutural de certas estruturas de engenharia civil.