Course syllabus
Course-PM
TME146 TME146 Structural dynamics control lp2 HT21 (7.5 hp)
Course is offered by the department of Mechanics and Maritime Sciences
Contact details
Håkan Johansson, Bitr. Professor – Course responsible, Examiner, Lectures, Exercises
E-mail: hakan.johansson@chalmers.se, Phone: 031-772 8575
Saptarshi Sarkar, PhD – Instructor, Computer Assignments, Labprojects
E-mail: saptarshi.sarkar@chalmers.se
Hans Lindell, Lic. Eng., RISE – Guest lectures, Labprojects
E-mail: hans.lindell@ri.se
Email is generally the best contact to teachers. Håkan Johansson and Saptarshi Sarkar have office on floor 3 in M-building.
Course purpose
The course aims at providing knowledge on modern methods and concepts of passive, semi-active and active vibration control, to cross the bridge between the structural dynamics and control engineering, while providing an overview of the potential of smart materials, (magnetorheological fluids, magnetostrictive materials, and piezoceramics), for sensing and actuating purposes in active vibration control. Vibration control applications appear in vehicle engineering, high precision machines and mechanisms, robotics, biomechanics and civil engineering. The focus of the project part of the course is on experimental validation of practical methods, i.e., methods that were found to actually work efficiently for passive and/or active vibration control. The course prepares students to use industry-leading data acquisition hardware and software tools for measurement, signal processing and vibration control.
Schedule
In brief: (see detailed schedule in calendar)
Mondays 13:15-17:00: Lectures 2h, followed by 2h computer class
Thursdays 8:00-11:45: Lectures 4h (some computer class)
Fridays 15:15-17:00: Problem solving or supervision of own work (physical/online)
Self-studies from Dec 20.
Course literature
eBook "Structural Dynamics and Control" by V. Berbyuk will be available to download for registered students at Canvas.
Limited number of printed version of the textbook "Structural Dynamics and Control" by V. Berbyuk will be available at course start (pending on printing service).
Hands-On for Computer Assignments and lab projects, Department of Mechanics and Maritime Sciences, Chalmers University of Technology, 2021.
Introduction to LabVIEW and Computer-Based Measurements, National Instruments.
Course design
Course will comprise the following parts.
Introduction: Supplementary mathematics and mechanics for structural dynamics control. Vibration dynamics modelling and analysis. State space approach. Smart structures and active control of structural dynamics.
Passive control in structural dynamics: Vibration control by parameter optimization. Tuned mass damper technology. Vibration isolation. Dynamic vibration absorbers.
Feedback control and stability of structural dynamics: Review of different control strategies. Lyapunov stability of dynamical systems. Lyapunov equation. Routh-Hurwitz criterion.
Semi-active control in structural dynamics: Controllable stiffness/damping based semi-active vibration control. Continuous and on-off skyhook control strategies for semi-active structural control. Smart materials technology for active structures. Magneto-rheological fluid technology for semi-active structural dynamics control.
Active control in structural dynamics: The LQR optimization and active vibration control. The variational calculus for optimal structural dynamics control. The first integrals method and active vibration control. The Pontryagin maximum principle for optimal structural dynamics control.
Useful vibration: Magnetostrictive and piezoelectric materials technologies for vibration to electrical energy conversion (power harvesting from vibration). Models, simulations, experimental validation.
Applications: Vibration control in automotive engineering (vehicle suspensions, engine mounting systems, driveline vibration, vehicle comfort, motion stability and safety); Wind turbine drive train structural dynamics; Vibration control in rotor systems; Vibration control in high speed trains (primary and secondary car-body suspensions); Magnetostrictive sensors, actuators and electric generators for active structures, self-powered structural health monitoring systems, others.
Computer assignments and lab project: The topics will be closed related to the course lectures as well as to the ongoing research projects at the Division of Dynamics with industrial partners.
The course comprises the following type of activities:
- Lectures sessions (2+4 hours weekly)
- Matlab computer assignments (2 hours weekly)
- Exercise - mostly own work (2 hours weekly)
- Lab projects on validation of vibration control methods (lab schedule)
- Reporting on computer assignments and lab projects
- Written exam
The sessions on Mondays and Thursdays will be held physically in room, with combination of blackboard and computer presentations. These sessions will be monitored by a Zoom meeting for students to listen (for instance to stay at home in case of infection). The Zoom arrangement is a support, not the primary delivery method of the teaching for those sessions, and might be closed if there are no participants.
If the sessions are marked as digital events, then the teacher and all participants are on Zoom (mostly on Fridays).
During the course teaching and for communication between teaches and students the following digital tools will be used for: Canvas, ZOOM and e-mail.
Changes made since the last occasion
A new course team, which will mainly affect the execution of the course rather than it's content. Paper review peoject (was not compulsary) is removed. Fewer aids on exam.
Learning objectives and syllabus
Learning objectives:
-Derive the equations and solve vibration dynamics problems for controlled multibody systems with springs, dampers and bushings;
-Create mathematical and computational models suitable for structural dynamics control applications;
-Analyze vibration dynamics, dynamic responses of structural systems for different damping concepts and external control;
-Explain in detail the basic principles on which the structural dynamics control methods rely and choose appropriate control strategy for particular applications;
-Formulate and solve passive, semi-active as well as active structural dynamics control problems for vibrating mechanical systems;
-Evaluate vibration control solutions experimentally by test rigs with modern data acquisition hardware (CompactDAQ, CompactRIO) and software (LabVIEW, Matlab/Simulink);
-Understand, explain and apply the physics behind semi-active and active structural dynamics control solutions based on smart materials sensor and actuator technologies (magnetorheological fluids, magnetostrictive and piezoelectric materials);
-Carry out structural dynamics analysis and design vibration control strategies for vibrating systems having applications in automotive industry (chassis and powertrain suspensions), railway industry (high speed train bogie and car-body suspensions), wind power industry (turbine drive train systems), civil engineering;
-Understand that vibrations can be also used for advantage in some applications. Know the basic principles and the state of the art on vibration to electrical energy conversion by using smart materials (power harvesting technology);
-Show ability to work in project team and collaborate in groups with different compositions.
Link to the syllabus on Studieportalen.
Examination form
Approved Computer Assignments and Lab projects work will give 3,0 hec. The written exam (4,5 hec) consists of four problems of the type solved on the problem solving sessions and during the lectures. Each problem on the exam can give maximum 5 points. The total course mark will be based on results of the reporting of Computer Assignments & lab projects work and the results of written exam. The grades are: 9-13 points give “3”, 14-17 points give “4”, and 18 or more points give “5”.
Aids during the examination
Students can bring to the exam the textbook “Structural Dynamics Control” by Viktor Berbyuk, Math tables (e.g. standard math, Beta; ask examiner before exam if unsure if a certain book is permissible) and Chalmers approved calculator.
Course summary:
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