Module 5:

Actuators &
Sensors based on
HBLS Smart
Materials

Bishakh Bhattacharya and Nachiketa Tiwari

Department of Mechanical Engineering
Indian Institute of Technology, Kanpur
Topics Covered in the Last Lecture

Introduction to HBLS Materials

Smart Magnetostrictive Material

Modelling of Smart Laminated Beam

Basic Assumptions
LECTURE 34
Modelling of Smart Composite
Beam
(Part 2)
 Organization of this Lecture
• Displacement Field of Smart Composite
Beam
• Governing Equation of Motion
• A Di
Distributed
t ib t d C
Control
t lM Model
d l ffor Vib
Vibration
ti
Control
 Displacements

• u(x,y,z)=u
( ( ) x(x,y)
) 0(x,y)-z ( )
• v(x,y,z)=v0(x,y)-zy(x,y)
– if the plate is thin w 0
 x ( x , y) 
x
w 0
 y ( x , y) 
y
• assuming:
– length of A-D is constant zz~0
– x and x are very small
• w(x,y,z)=w0(x,y)
 Strain Displacement Relations
Strain-Displacement

The strains at any point in a plate are:

u
 x ( x , y, z) 
x
v
 x ( x , y, z) 
x
u v
 xy ( x , y, z)  
y x
v w
 yz ( x , y, z)  
z y
u w
 xz ( x , y, z)  
z x
 Strains and Curvatures
• Plugging
Pl i plate
l d
deformation
f i equations
i iinto the
h strain-displacement
i di l
relations and simplifying yields:
• Strains in terms of midplane
p strains and curvatures

  x   0 x    x 
   0   
  y     y   z  y 
   0 xyy   
 xy     xy 
strains mid  
   
in 
 surface   zcurvatures
plate  strains 
   
 Mid-plane
Mid plane Strains and Curvatures
u 0
 x ( x , y) 
0

x
• Midsurface Strains v
 0 y ( x , y)  0
y
u v
 0 xy ( x , y)  0  0
y x

 x 2w 0
 x ( x , y)   
x x 2
• Curvatures  y ( x , y)  
 y

2w 0
y y 2
2w 0
 xy ( x , y)  2
xy
 i
S  (1 / Q11 )
i

i
Q 11  Q Cos  i  2(Q  2Q ) Cos  i Sin  i  Q Sin  i
i
11
4 i
12
i
66
2 2 i
22
4

i i
E E
Q11 
i 11
v i
, Q i
 22

1  v12 1  v12i v 21
i 21 22 i

i i
v E
Q12i  Q21
i
 21 i 11i
1  v12 v 21
i
Q66  G12 where E11 i , ν21 i etc. are Elastic constants and
Poisson’s ratio respectively. Following
Euler - Bernoulli model, the total strain at any layer
may also be expressed as
    z w, x x .
i
x

Assume velocity proportional control algorithm,

the active strain becomes proportional to the
transverse velocity of the beam,
 x   Cw

the symbol ‘.’ denotes differentiation with

respect to time, the constant of proportionality
C is function of electro/magneto-mechanical
constant(d), and controller gain (f).
In case of magnetostrictive material,

C  d m k1 f
where the coil constant k1 is given by
nc
k1 
w  4r
2
c c
2

nc is the total number of coil-turns, rc – effective

l
lengthth off magnetizing
ti i coilil and
d wc – effective
ff ti widthidth
of magnetizing coil.
Stress at any layer may now be written as

Using the Hamilton's principle, the governing

Equation of Motion may be derived as

  P  x , t 
D11 w, x x x x   11 w , xx  mw
 n i

D11   
z1 1
Q11 z 2 dz
d
z1
i 1
n zk 1
 11    S 1C ia z dz
zk
i 1
n
m
z i 1
 dz
zi
i 1

P (x, t) is the generalized distributed load on the

beam
For distributed
F di t ib t d control,
t l there
th i an interesting
is i t ti
difference
d e e ce in forming
o g tthe
e equat
equation
o oof motion
ot o
of the system.
In the usual Hamiltonian, the actuation of the
structure is considered as an outside effect
and the work done due to actuation is
considered separately, whereas in this
approach the effect of actuator is considered
approach,
implicitly.
Consider a freely vibrating simply supported
beam of length L, subjected to distributed
control.
control

The specified initial condition of velocity is 1

unit. Find out the responses of the system and
compare it with uncontrolled vibration for a
control gain of unity.

Let us consider w, the transverse deflection as

the product of the following spatial and temporal
functions -
 kx
 ( x, t )  T1 (t ) Sin
L
when after variable separation, the governing eqn. reduces to

DT1  T1  mT  0

The damped natural frequency and the damping constant α of
the system may be evaluated as:
D
d  n 1  ,   c
2
  ,c    f
2
n
2m n m
For the case of initial displacement specified as T1(0) = 1;
Displacement:

d  t 1  d   x
 e  sin ( d t  tan    ) sin
 2   d2      L
Actuation Effort – Voltage or Current:
f dd  t 1  d   x
E(t)       ) sin
2 dt 
e sin ( t tan
 
d
  d
2
   L

Actuation Stress:
d  t 
C d 1   d    x
a  e sin   d t  tan    sin
  d
2 2 dt
     L
The spatial variation for the actuation stress and the applied
voltage is the same as that of deflection. However, the
variation with respect to time is different for deflection and
application of electric / magnetic field
field.

The ppresent solution is although

g found out for the first mode
of vibration of a simply supported beam, it should be noted
that the controller is not designed individually for each
mode.

It is shown through the solution of transverse deflection w,

w
that the presence of constant gain velocity feedback can
suppress
pp anyy mode of vibration and hence the overall
vibration of the beam.

.
Thus,, the problem
p of 'spill-over'
p etc. does
not arise here. The general solution of
d fl ti shows
deflection h th
thatt th
the ddamping
i effect
ff t off
smart actuator is implicitly
p y incorporated
p
through the term .

 f

2m
By controlling the control gain and thereby
the term ,
 one can achieve the required
damping. The presence of smart layer also
affects the natural frequency of the beam
through both damping coefficient  and
material property constant Dn.
 References
• Krishna Murty, A. V., Anjanappa, M., Wu, Y.,
Bh tt h
Bhattacharya, B
B. andd Bhat,
Bh t M.S.
M S (1998)
(1998):
Vibration Suppression in Laminated Composite
B
Beams Using
U i E Embedded
b dd d MMagnetostrictive
t t i ti
Layers. Journal of the Institution of Engineers
(I di ) Vol
(India), V l 78,
78 38
38-44.
44

• Bhattacharya, B., Krishna Murty, A. V., Bhat, M.

S. and Anjanappa, M. (1996): Vibration
Suppression in Slender Composite Beams Using
Magneto-strictive Actuation, Journal of
Aeronautical Society of India, Vol.48, No. 2.
END OF LECTURE 34