It is possible to model smart structures with piezoelectric materials using the product
ANSYS/Multiphysics. In this study, the integration of control actions into the ANSYS
solution is realized. First, the procedure is tested on the active vibration control problem
with a two-degrees of freedom system. The analytical results obtained by the Laplace
transform method and by ANSYS are compared. Then, the smart structures are studied by
ANSYS. The input reference value is taken as zero in the closed loop vibration control. The
instantaneous value of the strain at the sensor location at a time step is subtracted from
zero to find the error signal value. The error value is multiplied by the control gain to
calculate the voltage value which is used as the input to the actuator nodes.
The process is continued with the selected time step until the steady-state value
is approximately reached. The results are obtained for the structures analyzed
in other studies. The active vibration control of a circular disc is also studied.
In this study, a two-link manipulator with flexible members is considered. The end point vibration signals are simulated by developing a MatLAB code based on the finite element theory and Newmark solution. Experimental results are also presented and compared with simulation results. The mass and stiffness matrices are time dependent because the angular positions of the links change during the motion. Trapezoidal velocity profiles for the actuating motors are used. The time dependent inertia forces are calculated by using the rigid body dynamics. The inertia forces are due to the motors, end point payload mass and distributed masses of the links. The acceleration, constant velocity and deceleration time intervals of the trapezoidal velocity profile are selected by considering the lowest natural frequency of the manipulator structure at the stopping position. Various starting and stopping positions are considered. The root mean square (RMS) acceleration values of the vibration signals after stopping are calculated. It is observed that the residual vibration is sensitive to the deceleration time. The RMS values are lowest if the inverse of the deceleration time equals to the first natural frequency. It is highest if the inverse of the deceleration time equals to the half of the first natural frequency. It is observed that simulation and experimental results are in good agreement.
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