Self-Introduction

Kimihiko Nakano
Institute of Industrial Science
also belong to Interfaculty Initiative in Infromation Studies.

“Lectures on Active vibration control” for mechanical engineering course.

“Design Methodology for Active Vibration Controller” for Interdisciplinary Information Studies.

Lecture plan (Contents may vary)

(1) Introduction of Active vibration control SEP/26
(2) Classic control (skyhook control) OCT/3
(3) Optimal control OCT/10
(4) Linear quadratic Gaussian control OCT/17
(5) Frequency shaped LQG control OCT/24
(6) Observer OCT/31
(7) Kalman filter NOV/14
(8) H2 Control I NOV/28
(9) H2 Control II DEC/5
(10) H infinity control I DEC/12
(11) H infinity control II DEC/19
(12) H infinity control III DEC/26
(13) Recent topic in active control JAN/10

Evaluation
Scores of mini tests carried out at every lecture. One homewok, No final exam.
Lecture notes and tests will be distributed after the class through ITC-Learning Management System (LMS)
Reference
Kemin Zbou, John C. Doyle, Keith Glover, Robust and Optimal Control, Prentice Hall
野波健三，西村秀和，平田光男，MATLAB による制御系設計，東京電機大学出版, in Japanese
1. Introduction of active vibration control

What is active vibration control?

Active vibration control=control to suppress vibration.

1.1 Passive control:

Method to control vibration with passive elements such as a spring and a damper.
 Suspensions of a typical automobile are passive control.

Term
damper Element producing damping force.
dashpot A damper whose damping force is proportional to its velocity
viscous damper =dashpot

Example: One degree of freedom system

x
m

x0
k

Equation of motion
𝑚𝑚𝑥𝑥̈ = −𝑘𝑘(𝑥𝑥 − 𝑥𝑥0 )
Then
𝑚𝑚𝑥𝑥̈ + 𝑘𝑘𝑘𝑘 = 𝑘𝑘𝑥𝑥0
When
x0 = A sin ωt ,
the equation is
𝑚𝑚𝑥𝑥̈ + 𝑘𝑘𝑘𝑘 = 𝑘𝑘𝑘𝑘sin𝜔𝜔𝜔𝜔. (1)
When the particular solution is given in the form of
𝑥𝑥 = 𝐵𝐵sin𝜔𝜔𝜔𝜔. (2)
Substitute (2) into (1),
(−𝑚𝑚𝜔𝜔2 + 𝑘𝑘)𝐵𝐵sin𝜔𝜔𝜔𝜔 = 𝑘𝑘𝑘𝑘sin𝜔𝜔𝜔𝜔.
 is obtained. Then
𝑘𝑘
𝐵𝐵 = 𝐴𝐴
𝑘𝑘−𝑚𝑚𝜔𝜔2
Absolute value of the ratio of the amplitude of output to input is called Gain
B k
Gain = =
A k − mω 2

ゲインと角周波数の関係は以下の通り。
Relationship between gain and angular frequency:

Gain

1
ω

(k/m)0.5

1.2 How to select spring constant

It is better to choose a spring that makes the natural frequency lower than the input vibration.
However,
When frequency of input vibration = Natural frequency of spring-mass system, resonance occurs, which the
amplitude of the output goes to infinity.

1.3 How to select dampers.

One degree of freedom system with damping

 x
m
c

k x0

Equation of motion is expressed as:

𝑚𝑚𝑥𝑥̈ + 𝑐𝑐(𝑥𝑥̇ − 𝑥𝑥̇ 0 ) + 𝑘𝑘(𝑥𝑥 − 𝑥𝑥0 ) = 0.
Laplace transform:
(ms 2
)
+ cs + k x(s ) = (cs + k )x0 (s )
Transfer function, T(s), from the input x0(s) to x (s) is
x( s ) cs + k
T (s ) = = 2
(
x0 ( s ) ms + cs + k )
Gain, which is the ratio of the amplitudes of the output to the input is obtained by

Gain = T ( jω )
j ωc + k
=
(k − mω 2 + jωc )
 
( jωc + k ) k − mω =  − jωc
2

=    .
[( )
k − mω + jωc k − mω 2 − jωc
2
][( ) ]

=
( )
k k − mω 2 + (cω ) − jcω 3m
2

(k − mω ) + (cω ) 2 2 2

=
[k (k − mω ) + (cω ) ] + (cω m)
2 2 2 3 2

(k − mω ) + (cω ) 2 2 2

c
The gain plot, where ς = , is shown as
2 mk
 1
10

=0.1

=0.3

=0.5

=0.7

0
10
0
/x
1
Gain x

-1
10

-2
10
-1 0 1
10 10 10

/p

Bode_1dof.m

When a damper is installed, the gain near the resonance becomes small, while the gain in the range where frequency of
the input vibration is greater than the natural frequency becomes larger.
As the damping coefficient is larger, this tendency becomes obvious.
It is important to consider the trade-off when we choose a damper. The passive system is bound by this trade-off.

Phase difference are obtained by

 Im(T ( jω )) 
φ (ω ) = arctan 
 Re(T ( jω )) 
The phase plot is shown as
 0

=0.1

=0.3
-20 =0.5

=0.7

-40

-60

-80
Phase difference

-100

-120

-140

-160
-1 0 1
10 10 10

/p

1.4 Active control

The method using a device producing force to the system such as an actuator.

Active vibration control is the method where the controller calculates desirable control input based on the state
variables measured by sensors and an actuator produces force acting on the system to suppress the vibration or isolate
from the ambient vibration.

状態量
系
State variables
System

計測器 アクチュエータ
Sensor Actuator

制御器 入力指令値
観測量 Controller Command signal
Observed data

As active controller can modify dynamical properties of the system freely, it achieves better performance than passive
control systems.
1.5 Application of active controller
1.5.1 Active suspension of automobiles.
1.5.2 Active suspension of Railway vehicles.
1.5.3 Anti-rolling system for ships.
1.5.4 Active vibration control for high story buildings.