ANALYSIS OF PROPERTIES OF ACTUATORS USED IN VIBRATION CONTROL SYSTEMS
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1 International Carpathian Control Conference ICCC 2002 MALENOVICE, CZECH REPUBLIC May 27-30, 2002 ANALYSIS OF PROPERTIES OF ACTUATORS USED IN VIBRATION CONTROL SYSTEMS Janusz KOWAL 1 and Roman ORNACKI 2 Department of Process Control University of Mining and Metallurgy Mickiewicz Av. 30, Cracow, Poland 1 jkowal@uci.agh.edu.pl, 2 rornacki@uci.agh.edu.pl Abstract: The paper is about selection of actuators used in vibration control systems. It reviews the properties of the actuators and presents the operation of actuators of various physical natures: electropneumatic, electrohydraulic, electrodynamic and other. The results may provide ground for efficiency assessment of an entire vibration control system. Key words: actuators, damper, suspension, servodrive, vibration control system. 1 Introduction In most cases vibration causes many undesirable effects like: distorted operation of machines, reduced lifetime of machines and equipment, noxious impact on humans. One way to protect oneself against vibration is to use special purpose systems called Vibration Control Systems (VCS), or vibroinsulation systems. The basic vibroinsulation method consists of interrupting the propagation of vibration on the route from source to the object. Methods relying on active vibration control systems [Kowal 1996] are much more effective in this respect than the traditionally used passive systems. The vibroinsulated object is fitted with an appropriately controlled actuator which exerts a force that counteracts the forces causing the vibration. This paper indicates certain areas where the cost efficiency of Vibration Control Systems may be improved; besides it provides a review of the actuator components used in the VCS s and shows some exemplary applications. 2 Active vibration control systems The operating principle of an active Vibration Control System is to generate a force or dislocation compensating for the impact of the dynamic and kinematic effects of the 791
2 substrate on the vibroinsulated object. In real systems total compensation is not possible, therefore the task of vibroinsulation is really the task of maintaining object output variables within a specific range. Therefore active systems may be considered to be similar to classical control systems. They have the following properties: their application solves the issue of contradictory demands for vibration reducing efficiency in low frequency ranges, stability and dynamic rigidity they have a wide frequency range of damped vibration when compared with passive systems, 3 Improved cost efficiency of VCS s The energy flow from an external source in a VCS depends on the mechanism of impacting the parameters and structure of the system. The control of the operation of a system relies on actuating elements. They impact directly the object controlled by generating a force (or dislocation), whose value is adjusted by the instrumentation and control system. These actuators are typically electropneumatic, electrohydraulic, electric, magnetoelectric or piezoelectric. The selection of actuator type depends on the technical specifications of the vibroinsulated system. A major drawback of most known VCS is high cost, mainly caused by the cost of actuators and the need to constantly supply energy to the system. In many instances it is a serious barrier preventing their widespread use. With the existing designs to date it is important to consider the following actuator selection criteria: operation efficiency, evaluated on the basis of the vibration transfer coefficient, economic criteria, i.e. the cost of the actuator, energy consumption etc., actuator control mode, durability of the subassemblies used. The economic aspects of application of active Vibration Control Systems were analysed by Ballo [1995]. The key issue is the relationship between the costs of implementation and the benefits realised. It turns out that the proper selection of controls, instrumentation and actuators, taking into account both the correct operation of a system and conformity with work safety standards may result in improved efficiency and reduced energy consumption of a system. Japanese researchers [Suda, Nakadai, Nakano 1998] point to the possibility to reuse the damped vibration energy (Figure 1). Part of the energy, after transformation, may be used to power the actuator, thereby reducing external energy demand. Performances obtained experimentally demonstrate that such self-powered Active Vibration Control Systems have better vibroinsulating properties than semiactive or passive systems. Figure 1. Self-powered vibration control system applied to heavy duty trucks 792
3 4 Review of applicable actuators 4.1 Electropneumatic actuators A pneumatic cylinder transforms the energy of the working medium (compressed air) 5 to mechanic linear or rotary movement. An example 4 of a system with a pneumatic actuator is shown in 1 figure 2. Its main components are: a pneumatic spring of the double balg actuator type 1, a control element (electohydraulic proportional valve) 2, air tank 3, 2 control system 4 and transducers 5. The proportional valve fitted with an integrated electronic control U system allows very accurate control of the actuating element. The proper selection of actuators and U proportional valves and the control algorithm applied PWM in the vibroinsulating system are of critical importance for their static and dynamic properties. 3 The system presented is of a simple design, is easy to Figure 2. Electropneumatic power and has a significant useful force and yet, with vibration isolation system good transducers, it is sufficiently accurate. 4.2 Electrohydraulic actuators Hydraulic actuators operate on the principle of transforming the energy accumulated in a liquid medium fed to the actuator into mechanical energy of the piston s to-and-fro motion. Energy may be imparted to the driven component via a plunger, piston rod or some other machine component. Figure 3 represents an electrohydraulic vibroinsulating system with a flow-through servovalve. This system is based upon the mating of the hydraulic drive, control systems and electronics. The static and dynamic parameters of the pulsator are determined mainly by two elements hydraulic servodrive SH and servovalve SV making the servohydraulic system. The hydraulic servodrive is a special part. It is a dual operation servodrive, with a bilateral piston rod and braking. So as to minimise the frictional resistance in its mobile parts, there are applied special joints sealing the piston and pilot sleeves; additionally, the cylinder bearing surface and piston rods were subject to a precise surface treatment. The main advantages of hydraulic actuators are: a compact design and light weight, a high degree of standardisation of component parts, little SH m PP1 PP2 B A SV T P Hydraulic Supply C S Figure 3. Electrohydraulic vibration isolation system u 793
4 compressibility of the working medium, little sensitivity to temperature changes, a potential for generating high forces and great accuracy. Because of these advantages, actuators of this type are frequently used in Vibration Control Systems. 4.3 Electric actuators Electrical actuators are divided into electrodynamic and electromagnetic actuators. The drive elements in the electrodynamic actuators are rotary electrical motors, typically induction type motors. They have high rotary speeds and low torque, therefore they require mechanical gearboxes. The drive elements in the electromagnetic actuators are electromagnets powered with variable voltage. These systems have a quick response time, may generate high forces, do not require high power supplies even at high frequencies, but their disadvantages include limited displacement amplitudes and heavy weight. The structure of an electromagnetic actuator is Figure 4. Schematic view of the electromagnetical actuator 4.4 Magnetorheological damper Magnetorheological (MR) fluids belong to the class of smart materials that have the unique ability to change properties when magnetic field is applied. High payoff may result by applying these materials in damper for stability augmentation of helicopter rotor systems, dampers for landing gear to enhance crashworthiness, and shock and vibration isolation mounts for avionics packages. A schematic of the MR damper is shown in figure 5. The hydraulic cylinder houses the damper piston, in which is mounted a magnetic circuit. At the base and inside the hydraulic cylinder is a nitrogen accumulator that is used to pressurize the approximately 50 ml of MR fluid to above atmospheric pressure. This is a standard technique to prevent cavitation on the low pressure side of the piston while it is in motion. The MR fluid flows through an annular orifice in the piston head, where it can be activated shown in figure 4. When a definite current flows through the solenoid winding, a force is generated which draws the core in and displaces it immediately. Figure 5. Schematic view of the MR damper by a current applied to the magnetic circuit. Characteristics of the magnetorheological actuator are: 1) electrically controllable and energy can be supplied externally without contact, 2) no mechanical sliders are used, and 3) no risk of leak of fluid is imposed. 794
5 4.5 Piezoelectric actuators In piezoelectric materials, such as lead zirconate titanate (PZT), the physical dimensions of the material change in the presence of an electric field. The material is a very stiff solid; consequently, it is used in high-stiffness actuators, which require low displacements and high forces. PZT actuators, which have very high capacitance, illustrate the importance of using a systems design approach [Benning et al. 1997]. Piezoelectric actuators are classified into the single-plate, bimorph, and stacked types. The features are: 1) Quick response, 2) Great output force per volume, 3) Ease of miniaturization because of simple structure, 4) Narrow displacement range for easier micro-displacement control, and 5) High efficiency of energy conversion. Piezoelectric actuators are used for the actuators for micromachines, such as ultrasonic motor, micro-displacement stage, fan, pump, and speaker. Applied examples are: electric tunneling microscopes, satellites tracking as well as cars and other transportation systems (vibration cancellation). 5 Examples of actuators application 5.1 Road vehicles Automobile suspension is a component which has a significant influence on minimising vibration caused by uneven road surfaces. It also has an effect on stable steering and, consequently, on safe driving. Active suspensions detect vehicle displacements (swing, sway) and generate forces which are opposite to the external forces in order to damp the vehicle s vibration. In practical designs such suspensions are built with hydraulic or pneumatic actuating components. 5.2 Vibroinsulation of operator seat Some heavy duty machines employ purpose built systems to secure appropriate operate comfort. Typically this is achieved by building seats with pneumatic suspension. Examples of such solutions developed by the ContiTech and Isringhausen companies are shown in figure 6. Figure 6. Vibroinsulation system of the operator seat 5.3 Vibration control of buildings Configuration of the semi-active damper system, as a practical means of performing structural control during large earthquakes, is shown in Figure 7. The system is applied to 795
6 an office building of five stories and a basement currently under construction in Shizuoka City, Japan. The advantages of the system are that it incorporates semi-active hydraulic dampers (SHDs) which need a small amount of electric power to operate; and that it ensures the effective structural control of large-scale constructions including civil engineering structures during a large earthquake. The controlling procedure consists of the following: (1) the sensors (i.e. velocity sensors for vibration control) installed on each story measure the response of the building; (2) based on the data detected by the sensors, the control computers (i.e. personal computers) in the control room at the first floor calculates a damping force that would minimize the response; and (3) according to the command sent Figure 7. Configuration of the SHDs system by the computer, the SHDs on each story generate damping forces. It should also be noted that (4) even in case of power failure, the system can still function with the uninterruptible power supply system provided. 6 Conclusion The work in this paper has described the characteristics of actuators which are representative of the technologies currently available for use in vibration control systems. For most applications, the actuator is the most critical element and the most difficult one to design. A poorly designed actuator will limit the magnitude of the vibration forces that can be canceled. Requirements of an actuator in terms of force, displacement, bandwidth and power, have to be specified before a choice of actuator can be made. References BALLO, I Reduction of Power Requirements of Active Vibroisolating System. In 5 th School on Active Noise and Vibration Control Methods. Zakopane, Poland 1995, pp BENNING, R. D., HODGINS, M. G., ZIPFEL, G. G Active Control of Mechanical Vibration. In Bell Labs Technical Journal, 1997, pp KOWAL, J Sterowanie drganiami. Krakow: Wyd. Gutenberg, 1996, 180 pp. ISBN SUDA, Y., NAKADAI, S., NAKANO, K Study on the self-powered active vibration control. Proc. of the 4th International Conference on Motion and Vibration Control. Zurich, Switzerland 1998, pp
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