Active Noise Control - home.agh.edu.plhome.agh.edu.pl/~drgania/archive/MARDIH_Kazimierz_2017.pdf · Jan Awrejcewicz Wiesław Ostachowicz Jerzy Bajkowski Marek Pawełczyk Stephen P

Conference Organizers

AGH University of Science and Technology

Faculty of Mechanical Engineering and Robotics

Department of Process Control

Committee on Machine Building

of the Polish Academy of Science

13th Conference on

Active Noise and Vibration

Control Methods

MARDiH

Proceedings

Krakow – Kazimierz Dolny, Poland

12-14 June 2017

This publication contains the abstracts of the papers selected by the Scientific Board of the

Conference on Active Noise and Vibration Control Methods Conference. Full papers, however,

will be published in indexed scientific journals, after positive review.

Editor: Marcin Apostoł - AGH University of Science and Technology

Publisher: Department of Process Control

AGH University of Science and Technology

Printed by:

DELTA Jarosław A. Jagła tel. +48 601 68 25 00

ISBN: 978-83-64755-08-8

Program committee:

Chairman:

Piotr Cupiał

Honorary chairman:

Janusz Kowal

Members

Jan Awrejcewicz Wiesław Ostachowicz

Jerzy Bajkowski Marek Pawełczyk

Stephen P. Banks Stanisław Pietrzko

Wojciech Batko Delf Sachau

Marian W. Dobry Bogdan Sapiński

Stefan Domek Andrzej Seweryn

Janusz Gołdasz Zbigniew Starczewski

Zdzisław Gosiewski Jacek Snamina

Colin Hansen Eugeniusz Świtoński

Jan Holnicki-Szulc Ryszard Tadeusiewicz

Krzysztof Kaliński Osman Tokhi

Marek Książek Jiri Tuma

Zi-Qiang Lang Andrzej Tylikowski

Lucyna Leniowska Tadeusz Uhl

Arkadiusz Mężyk Wiesław Wszołek

Józef Nizioł

Organizing committee:

Chairman:

Agata Nawrocka

Members:

Marcin Apostoł Roman Ornacki

Stanisław Flaga Marcin Węgrzynowski

Mateusz Kozioł Kamil Zając

Preface

Ladies and Gentlemen,

Following more than 20 years’ tradition, we are meeting again at the

Conference on Active Noise and Vibration Control Methods. Our aim is to

present the results of recent research work, to exchange ideas and to share

experience among the participants from research centres in Poland and abroad.

The control of low frequency noise and vibration has always been a

difficult task, and in many cases not feasible at all, due to the long acoustic

wavelength involved. If passive techniques only were considered, noise control

would require large mufflers (silencers) and heavy enclosures and very soft

(flexible) isolation systems. Also, e.g., extensive structural damping treatment

would be needed for vibration control. Active noise and vibration control

methods involve the use of active systems to reduce the transmission of

vibration from one plant or structure to another.

The Conference, organized by the Department of Process Control of the

AGH University of Science and Technology, is held every two years. The major

research areas include: active and semi-active methods of vibration control,

active noise control, applications of smart materials and structures, as well as the

modelling of active noise and vibration reduction systems.

The "School", held for the first time in 1993, was transformed into a

conference in 2003, and it was named the Conference on Active Noise and

Vibration Control Methods. The first School was held in Rabka - Zaryte. The

idea had been put forward in Janowice by Professors: Igor Ballo, Zbigniew

Engel and Józef Nizioł. Active vibration and noise control was already

developing rapidly in the world, and the academic community in Cracow were

the first to begin the research in this field in Poland. Although from the very

beginning the School has been organized as a local conference, the Program

Committee has always included academics from research centres abroad. This

year, the 13th Conference on Active Noise and Vibration Control Methods is

organized, offering scientific sessions with presentations of the accepted

submissions.

The material submitted by the participants will appear not only in the

conference materials, but the full papers will also be considered for publication

in acknowledged academic journals. Subject to the decision of the reviewers, the

papers will be published in the quarterlies "Mechanics and Control" and "Low

Frequency Noise, Vibration and Active Control".

These Proceedings contain the abstracts of the papers selected by the

Program Committee, which fall into one of the Conference’s topics:

Active, semi-active and passive vibration control

Active noise control

Smart materials and structures

Modelling and control of dynamical systems

Dynamics and control of biomechanical systems

We would like to thank the Program Committee for reviewing the papers

and the publishers who agreed to publish them. We would also like to express

our gratitude to research workers from the Department of Process Control, who

have shown a great sense of commitment.

As the Chairmen of the Scientific Committee let us express our hope that

the conference will be a good opportunity for the exchange of ideas and for the

presentation of the results of interesting research work. We hope that you will

find the topics most interesting, instructive and useful in practical applications.

Let us wish you, on behalf of the Organizing- and the Program Committee, a

pleasant sojourn in Kazimierz Dolny.

Chairman Honorary Chairman

of MARDIH’2017 of MARDiH’2017

Piotr Cupiał Janusz Kowal

BĄKOWSKI Andrzej, RADZISZEWSKI Leszek, DEKÝŠ Vladimir

COMPARATIVE ANALYSIS OF MEASUREMENT DATA RECORDED BY TWO TRAFFIC MONITORING STATIONS ____________________________________ 13

BIENIOSZEK Grzegorz, KCIUK Sławomir, DANEK Wojciech

STRUCTURAL MODIFICATION OF SPECIAL PURPOSE DESIGN SUBJECTED TO IMPACT FORCE ______________________________________________ 14

DOMINIK Ireneusz, LALIK Krzysztof, KORZENIOWSKI Waldemar, SKRZYPKOWSKI Krzysztof

LABORATORY RESEARCH ON NON-DESTRUCTIVE TESTING METHOD OF THE STRESS STATE OF THE EXPANSION ROCK BOLT SUPPORT _______ 15

DUDA Slawomir, GEMBALCZYK Grzegorz, KCIUK Slawomir

DESIGN OF A TREADMILL CONTROLLED BY PATIENT'S WALK _________ 16

GRZYBEK Dariusz, MICEK Piotr

EXPERIMENTAL INVESTIGATIONS ON ENERGY HARVESTING FROM THE MECHANICAL VIBRATIONS OF BUILDINGS USING MACRO FIBER COMPOSITE _____________________________________________________________________ 17

JURKIEWICZ Andrzej, KOWAL Janusz, ZAJĄC Kamil

MULTIBODY SIMULATION OF HYBRID CONTROLLED SEMI-ACTIVE TRACKED SUSPENSION SYSTEM _____________________________________________ 18

KOSZEWNIK Andrzej, GOSIEWSKI Zdzisław

INFLUENCE OF ORTHOGONAL METHODS ON DESIGN PROCESS OF ACTIVE VIBRATION CONTROL SYSTEM FOR CANTILEVER BEAM WITH NON-COLLOCATED PIEZO-ELEMENTS ______________________________________ 19

CONTENTS

KOT Andrzej, NAWROCKA Agata

HUMAN SWAY ON A BALANCE PLATFORM _________________________________ 20

KOZIEŃ Marek Stanisław, ŚCISŁO Łukasz

EXPERIMENTAL VERIFICATION OF APPLICATION OF THE STRAIN MEASUREMENT METHOD TO DETERMINATION OF BENDING MOMENT IN ACTIVE REDUCTION OF TRANSVERSAL VIBRATIONS OF BEAMS BY PIEZOELECTRIC ELEMENTS __________________________________________________ 21

KOZIOŁ Mateusz, CUPIAŁ Piotr

IDENTIFICATION OF ROTOR PARAMETERS USING PIEZOELECTRIC PATCHES BONDED TO THE SHAFT SURFACE ______________________________ 22

KRAUZE Piotr, KASPRZYK Jerzy, PRZYBYŁA Grzegorz

INFLUENCE OF ENGINE-INDUCED VIBRATION ON SEMI-ACTIVE SUSPENSION CONTROL SYSTEM IN AN ALL-TERRAIN VEHICLE WITH MAGNETORHEOLOGICAL DAMPERS ________________________________________ 23

KURCZYK Sebastian, MAZUR Krzysztof, WRONA Stanislaw, PAWELCZYK Marek

ACTIVE STRUCTURAL ACOUSTIC CONTROL WITH REAL DEVICE AND MFC SENSORS ___________________________________________________________________ 24

MAŚLANKA Marcin

CLIPPED STIFFNESS FORCE WITH VISCOUS DAMPING IN SEMI-ACTIVE TUNED MASS DAMPERS FOR REDUCTION OF HARMONIC VIBRATIONS ____________________________________________________________________________________ 25

MAZUR Krzysztof, WRONA Stanislaw, PAWELCZYK Marek

FEED-FORWARD ACTIVE NOISE CONTROL FOR A WASHING MACHINE CASING ___________________________________________________________________________ 26

MAZUR Michał, KALIŃSKI Krzysztof J

OPERATIONAL MODAL ANALYSIS OF THE LARGE STRUCTURE WORKPIECES ___________________________________________________________________ 27

OLEJNIK Paweł, AWREJCEWICZ Jan

CONTINUOUS MEASUREMENT OF FILLING IN A TWO-TANK LIQUID LEVEL CONTROL SYSTEM _____________________________________________________ 28

ORKISZ Paweł, SNAMINA Jacek

INFLUENCE OF SLIDING MODE CONTROL PARAMETERS ON THE EFFICIENCY OF A CAR SUSPENSION SYSTEM FOR THE REDUCTION OF VIBRATION ______________________________________________________________________ 29

RADKOWSKI Stanisław, SZULIM Przemysław

ANALYTICAL MODEL OF THE VIBRATIONS OF THE BLDC MOTOR WITH MECHANICAL FAULTS _________________________________________________________ 30

RADKOWSKI Stanisław, SEŃKO Jarosław, SŁOMCZYŃSKI Maciej

SIMULATION NONLINEAR BACKSTEPPING METHOD IN ACTIVE SUSPENSION CONTROL OF THE FOUR-WHEELED MOBILE PLATFORM 31

SIBIELAK Marek , KONIECZNY Jarosław , RĄCZKA Waldemar, KOWAL Janusz

ENERGETIC PROPERTIES OF AN ACTIVE SUV SUSPENSION CONTROLLED BY WEIGHTED MULTITONE OPTIMAL CONTROLLER __ 32

SIBIELAK Marek, KONIECZNY Jarosław, SMOTER Adam

INFLUENCE OF THE DAMPER CHARACTERISTIC SHAPING ON THE VEHICLE SUSPENSION PROPERTIES ________________________________________ 33

WRONA Stanislaw , MAZUR Krzysztof, PAWELCZYK Marek, KLAMKA Jerzy

OPTIMAL PLACEMENT OF ACTUATORS FOR ACTIVE CONTROL OF A WASHING MACHINE CASING _________________________________________________ 34

WSZOŁEK Wiesław, MALCZYK Grażyna

ELECTROACOUSTIC METHODS FOR DETECTING OF DEFORMED SPEECH PARAMETERS. __________________________________________________________________ 35

ZAWARTKA Magdalena, KONIECZNY Jarosław, SIBIELAK Marek, RĄCZKA Waldemar

SLIDING MODE AND LQR APPROACH TO CONTROL OF ACTIVE VEHICLE SUSPENSION ____________________________________________________________________ 36

AUTHORS’ INDEX ______________________________________________________________ 39

Abstracts

Active Noise and Vibration Control Methods Krakow – Kazimierz Dolny, Poland

12-14 June 2017 www.vibrationcontrol.pl

13

Comparative analysis of measurement data recorded by two traffic monitoring stations

BĄKOWSKI Andrzej1, a *, RADZISZEWSKI Leszek1,b, DEKÝŠ Vladimir2,c

1Kielce University of Technology, Faculty of Mechatronics and Mechanical Engineering, Aleja Tysiąclecia Państwa Polskiego 7, 25314 Kielce Poland

2University of Žilina, Univerzitná 8215/1, 010 26 Žilina, Slovakia

[email protected], [email protected], [email protected]

Keywords: traffic noise, noise measurements, urban traffic

Abstract. The Resolution of the European Committee on the requirement of developing,

making accessible and updating noise maps has again drawn the attention of communities to

environmental noise defined as a factor greatly affecting comfort of life. The paper reports the

results of a statistical analysis of the sound level measurements recorded by permanent automatic

sound and traffic volume monitoring stations in Kielce. The city of Kielce was selected as an

example of a medium-sized city located in the southern part of central Poland. One station is

located beside the national road (Krakowska Rd.), the other beside the provincial road

(Warszawska Rd.). The results under analysis included the equivalent sound levels recorded in

2013 but expressed in Pascal. The measurements were carried out 24 hours a day. The RMS

values of the A sound level were registered in the buffer every 1 s and the results were recorded

every 1 minute. The equivalent sound level was calculated on this basis for three time intervals,

i.e., from 6:00 to 18:00, from 18:00 to 22:00 and from 22:00 to 6:00. In this study, the authors

analysed the measurement data expressed in terms of Pa to be able to compare the fixed

components (the mean and the median) and variable components (deviation from the mean) of

the signals recorded. This paper reports the results recorded on arbitrarily chosen days of the

week (Mondays and Thursdays, and Sundays), split into three time sub-intervals (night time, day

time and evenings). The acoustic pressure variation was determined using the coefficient of

variation and quartile deviation. The analysis of acoustic pressure deviations from the mean was

used for analysing the variable components of the signal. The Shapiro-Wilk test and the Jarque-

Bera test provided sufficient evidence to reject the null hypothesis about normal distribution of

the data under analysis at the assumed significance level of 0.05. It follows from the tests that in

the case of the Krakowska Road site, parameter pA is substantially higher than that for the

Warszawska Road site. The analysis of the coefficient of variation did not allow defining clearly

the sub-interval for which the variable components of the signal referred to its mean value were

the lowest. The coefficient of variation is a parameter that satisfactorily describes a variable

component of an acoustic pressure signal. This coefficient is not suitable for analysing

deviations of the variable from its mean. The use of the median for determining coefficients of

variation seems to be an option worth considering. For analysis of acoustic pressure deviations

from the mean, the RMS value can be successfully used.

http://www.vibrationcontrol.pl/



14

Structural modification of special purpose design subjected to impact force

BIENIOSZEK Grzegorz1, a *, KCIUK Sławomir2,b and DANEK Wojciech3,c

1, 2, 3 Silesian University of Technology, Faculty of Mechanical Engineering, Stanisława Konarskiego 18A, 44-100 Gliwice, Poland

a*[email protected], [email protected], [email protected]

Keywords: shock acceleration reduction, spring-damper attenuation system, modelling of dynamical systems

Abstract. The paper presents a short review of commonly used measures of reducing

acceleration transferred to the passenger of a special vehicle during mine explosion. Few

different approaches for this problem solution were discussed and compared. The special

emphasis was put on importance of blast mitigation seats.

The analysis of the seat design was performed and the structural modification with the

usage of spring-damper shock attenuation system was proposed. Next the simplified

mathematical model of mine explosion, commonly used in industry, was adopted. The mutual

interactions between the special vehicle, the blast mitigation seat and a passenger were described

with the use of MATLAB/Simulink numerical model. Then, the assumptions concerning the

maximum stroke of the shock absorber and the allowable range of the seat cushion compression

were made. After that, the masses and inertia moments of particular elements were calculated

with the use of 3D CAD software.

Numerous simulations for a wide range of the shock attenuation system parameters were

conducted and the results were analysed and collected in the form of the three-dimensional

graphs. Finally, the passenger accelerations and dynamic response index values were compared.




15

Laboratory research on non-destructive testing method of the stress state of the expansion rock bolt support

DOMINIK Ireneusz1, a *, LALIK Krzysztof 2,b, KORZENIOWSKI Waldemar 3,c and SKRZYPKOWSKI Krzysztof4,d

1*, 2 AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Department of Process Control,

al. Mickiewicza 30, 30-059 Krakow, Poland

3*, 4 AGH University of Science and Technology, Faculty of Mining

and Geoengineering, Department of Underground Mining, al. Mickiewicza 30, 30-059 Krakow, Poland

[email protected], [email protected], [email protected], [email protected]

Keywords: rock bolt support, non-destructive testing method, self-excited system

Abstract. One of the most important issues of the mining industry is to provide the

highest level of security to the exploited excavations. The most common method of preventing

the roof from collapsing is the use of specially designed bolts. The rock bolt support is used in

the underground mining especially in the ore mines, but this way to strengthen the rock mass is

also more and more used in the coal mines. This paper presents an innovative application of the

Self-excited Acoustical System SAS for stress change measurement in rock bolts which are used

to secure roofs and walls in mines and tunnels. The method gives information on the change of

rock stress in the immediate area next to the bolt. It can be used also to determine the necessity

of the exploited bolt replacement. The laboratory research on different types of rock bolts under

pressure was investigated. The first rock bolt type was a standard expansion rock bolt made of

steel, the second one was type J64 made of polymer used in Wieliczka Salt Mine. During

laboratory tests four polymer and two steel rock bolts were examined. The laboratory stand for

testing the ultimate tensile strength of the rock bolt allows to test the rock bolts under various

loads. The monitoring stand consists of a measuring amplifier to which the strength (four strain

gauges) and displacement sensors (wire incremental encoder) are connected. The stress of the

tested bolt was also monitored with a third system. Self-oscillating Acoustical System for

monitoring the change of the deformation uses the acoustoelastic phenomena. The essence of the

SAS system is to use a vibration exciter and vibration receiver placed in a distance (or formed in

one head). The change of the speed of wave propagation, which is associated with the change of

the resonance frequency in the system is caused by the deformation of the examined material and

can be used to assess created stress level. The results proved the applicability of the proposed

SAS system which main advantage is to overcome a lack of access to a rock bolt from the side

and measurement based only on attachment to the front side of a bolt.




16

Design of a Treadmill Controlled by Patient's Walk

DUDA Slawomir 1, a *, GEMBALCZYK Grzegorz 1,b and KCIUK Slawomir 1,c

1 Faculty of Mechanical Engineering Silesian University of Technology Akademicka 2A, 44-100 Gliwice, Poland


Keywords: mechatronic device, rehabilitation, real-time operations.

Abstract. Strokes are one of the causes of long-term impairments. For the proper

functioning of a patient who suffered a stroke, it is significant to restore his or her ability to

move or keep his or her balance in a standing position. Various devices, characterized by

different technological advancement, are built to facilitate the work of physical therapists. A

“Mechatronic device for locomotor training”, used for training of walk in unloaded conditions

has been developed at the Department of Theoretical and Applied Mechanics within the project

financed by the National Centre for Research and Development. The models presented in the

work, constituting separate conceptual solutions, are a result of further studies regarding the

device. The device in concern is generally comprised of two systems – a mechanical system,

which is a commercial training treadmill, and an electronic system including a PC equipped with

a real time card and MATLAB software. The systems are coupled by means of signals sent by

sensors placed in insoles and by the treadmill belt speed regulation system (actuator) and thus

constitute a mechatronic system.

Idea behind the system’s operation

The control of the treadmill belt speed may be useful in the rehabilitation of persons

regaining their ability to walk. The speed of the belt shall be adjusted to the current abilities of

the patient through a full interaction with the behaviour of the exercising person. A separate task

that was addressed was the possibility to apply an adaptive algorithm that allows to “adjust” the

speed of the belt to the actual speed of the patient's walk.




17

Experimental investigations on energy harvesting from the mechanical vibrations of buildings

using Macro Fiber Composite

GRZYBEK Dariusz 1, a *, MICEK Piotr 2,b

1,* AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Krakow, Poland

2 AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Krakow, Poland

a [email protected], b [email protected]

Keywords: energy harvesting, piezoelectric composite, monitoring, vibrations

Abstract. A monitoring of the structure (e.g. building) enables a safety utilization of such

structure. The large number of sensors which measure selected parameters is often require in

applied monitoring system. Cables or batteries are used to power of such sensors. It lead to an

increase of utilization costs, because cables have to be spatial located in a monitored building

structure or batteries have to be changed in some time periods. An use of natural properties of

piezoelectric materials to a conversion of mechanical energy into an electric energy in places

where sensors are mounted is a promising field of wireless monitoring systems development. An

article presents the results of experimental study for the energy harvesting system using the

piezoelectric composite - P2-type Macro Fiber Composite (MFC). The device used for energy

harvesting had a beam structure which was achieved by gluing steel and MFC. The thickness,

length, and width of the base stainless steel beam were correspondingly the following 1.24 mm,

130 mm and 18 mm. The thickness, length, and width of the MFC were correspondingly the

following 0.3 mm, 85 mm and 14 mm. The subject of experimental research were the

determination of relationships between the values of vibrations amplitude and the amount of

generated energy. The increase of maximal value of vibration amplitude of the fixed end of

piezoelectric generator beam causes not only the nonlinear increase of maximal value of

vibration amplitude but also the expansion of the vibration frequency range in which generator

product the amount of electric power which is sufficient to the supply of wireless sensor. In the

laboratory experiments such amount of generated electric power was obtained for the vibration

amplitude of free end of generator beam which was bigger than 2 mm. On the basis of the

experimental research results the following main conclusions are established: the increase of

amplitude of the vibration of the fixed beam end causes the nonlinear increase of generated

electric power, the change of amplitude of the vibration of the fixed beam causes the change of

resonant frequency of piezoelectric beam generator. The maximum generated electric power is

obtained for this new resonant frequency, the increase of maximal value of the vibration

amplitude of the fixed end of piezoelectric generator beam causes the expansion of the vibration

frequency range in which the effective energy harvesting can be carried out.




18

Multibody simulation of hybrid controlled semi-active tracked suspension system

JURKIEWICZ Andrzej 1, a *, KOWAL Janusz 1, b and ZAJĄC Kamil 1, c

1 AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics, Al. A. Mickiewicza 30, 30-059 Krakow, Poland

a *[email protected], [email protected], [email protected]

Keywords: tracked platform, hybrid control, semi-active suspension, MSC Adams, MathWorks Matlab&Simulink, co-simulation.

Abstract. Described in this article simulation research are related to time domain analysis

of a tracked vehicle multibody model. The considered suspension system is based on real

construction of the 2S1 tracked vehicle suspension system. The multibody model has been

prepared in widely used MSC Adams environment. Due to research and development work, the

model has been enhanced with four magnetorheological dampers which have been placed in first

and last axles of the vehicle. Application of the damper caused the tested suspension system has

become a semi-active system. This kind of suspension provides the ability to generate variable

damping force and for this reason this system may be seen as a control system. During the

researches the hybrid control was considered as a proper way of vibration control. In case of

military vehicles or special purpose vehicles the ride comfort significantly affects the quality of

soldier’s work. The exposure of the human body to the vibrations could cause a muscular,

sensory, intellectual and emotional fatigue or even health problems. It follows that the ride

comfort is meaningful for the efficiency of operations on the battlefield. The choice of the hybrid

control stems from the fact that in the case of military vehicles in addition to the advantageous

conditions of work of vehicle crew also cornering stability and the possibility of sudden

acceleration or braking is also important. The hybrid control, which is combination of sky-hook

and ground-hook, allows to determine a compromise between ride comfort and stability of

tracked vehicle platform. The mentioned multibody model of the 2S1 tracked vehicle suspension

system consists inter alia of hull, rocker arms, track links, road, propulsion and idler wheels. Last

of these elements provides approximately constant tension of tracks while vehicle passes through

the obstacles. Track links are connected by so called rubber-bushings. Components which

introduce elastic potential energy are packages of spiral springs with logarithmic shape. It has

been noted, that the force generated by each package is non-proportional to its deflection. For

this reason, the nonlinear, identified equation of stiffness characteristic of package of spiral

springs with logarithmic shape has been applied in the multibody model. As mentioned before,

the multibody model consists four magnetorheological dampers also. Desired values of damping

forces are calculated by four independent programs. It means that adopted hybrid control forms

the control system wherein dampers are controlled independently. The control system has been

implemented in the MathWorks Matlab&Simulink environment. The co-simulation, using MSC

Adams environment also, has been developed to perform the time domain analysis. Passive and

semi-active systems have been compared due to ride comfort and stability of the 2S1 tracked

vehicle platform.




19

Influence of orthogonal methods on design process of active vibration control system for cantilever beam with non-collocated

piezo-elements

KOSZEWNIK Andrzeja , GOSIEWSKI Zdzisławb

Bialystok University of Technology , Faculty of Mechanical Engineering, Department on

Automatics and Robotics, Wiejska 45C, 15-351 Bialystok, Poland

a [email protected] , b [email protected]

Keywords: non-collocated beam, Schur decomposition, modal decomposition, piezo-element, root locus method

Abstract. To design vibration control system for flexible structures their mathematical

model should be reduced. In the paper we consider the influence of the model reduction on the

dynamics of the real closed-loop system. A simply cantilever beam with non-collocated piezo-

sensor and piezo-actuator was an object of consideration. The starting point of investigations

was determined mathematical model with using identification procedure. For such model and

also reduced order models obtained from using well-known orthogonal methods (modal

numerical, modal analytical and Schur decomposition) the boundary gain of feedback loop is

determined. The obtained models in order to design low-energy control law is transformed to the

partial-fraction form, where the calculated sum of residue has been indicator in process of design

control system. Tab.1 shown collected results obtained from identification and simulation.

Type of model Sum of residues Boundary gain of

feedback loop

Identification procedure -2.3882 35.2

Modal numerical

decomposition -3.3931e-4 46.5

Modal analytical

decomposition -0.0081 42.2

Schur decomposition -4e-4 49.76 Tab.1 The collected values of sum of residues and the boundary gain of feedback loop for consider

in the paper models.

Experimental investigations carried out on the lab stand proved that the best orthogonal

method is modal analytical method, because value of the sum of residues

(-0.0081) is the closest the sum of residues of model obtained from identification

(-2.3882). Also, the boundary gain of the feedback loop for this model (kp=42.2) is the most

convergence to the boundary gain implemented to the DSP controller (kp=36.1).


mailto:a*[email protected]

mailto:[email protected]



20

Human Sway on a Balance Platform

KOT Andrzej1, a *, NAWROCKA Agata1,b

1,* AGH University of Science and Technology

Faculty of Mechanical Engineering and Robotics

Department of Process Control

Mickiewicza Av. 30, Krakow, Poland

[email protected], [email protected]

Keywords: balance platform, vibration, low-frequency, dynamic properties.

Abstract. While many studies on the vibration effect influence on the human body noted

that in addition to the negative vibration impact at frequencies close to the human internal organs

natural frequency. This phenomenon has contributed to the development of the two main lines of

the research. In the first, the emphasis is set on the use of high frequency mechanical vibrations

in the training process. Vibrating platforms are used for this purpose. In the second case (i.e. the

balance platform which means controlled vibrating platform) low-frequency vibration (about

1Hz) is used, where appropriate vibration control allows you to maintain proper posture by

patient standing on the platform.

In the article mathematical model outline allowing for prediction of human behavior

during balancing at balance platform is presented. There are also presented results of tests for

human balancing at platform. Results were obtained by use of high speed camera for the various

set of the working conditions by means of the balance platform movement amplitude and

frequency.




21

Experimental Verification of Application of the Strain Measurement Method to Determination of Bending Moment

in Active Reduction of Transversal Vibrations of Beams by Piezoelectric Elements

KOZIEŃ Marek Stanisław1, a * and ŚCISŁO Łukasz2,b

1,* Cracow University of Technology, Faculty of Mechanical Engineering, Institute of Applied Mechanics, Al. Jana Pawła II 37, 31-864 Cracow, Poland

2Cracow University of Technology, Faculty of Electrical and Computer Engineering, Department of Automation and Information Technologies,

ul. Warszawska 24, 31-155 Cracow, Poland


Keywords: beam, piezoelectric elements, strain gauge.

Abstract. Piezoelectric elements can be applied reduce of transversal vibrations of

beams. For reduction can be applied the passive method (dedicated for single frequency, or set of

frequencies) or the active one [2]. The authors proposed the original method for choosing the

value of control voltage based on identification of the bending moment in place of the

piezoelectric positions [1]. The method makes possible reduction of vibrations independently to

the shape form of the beam. The method was verified by numerical simulations for the case of

identification of the bending moment, when second derivative of the displacement in the control

point was approximately estimated based on the transversal displacement in three points by

application of the finite difference scheme [1]. The alternate attempt to experimental

determination of bending moment is measurement of the longitudinal strain on the external

surface of the beam [1]. It can be done e.g. by usage of strain gauge. The aim of analysis are

experimentally investigation of the influence of the position and base length of stain gauges in

comparison with dimension of the piezoelectric actuators on effectiveness of vibration reduction.

The measurements of work-in-progress type, are performed for the fixed-free beam. The beam is

kinematic-type excited by electrodynamic shaker. The generated signal makes possible to excite

different form of bending vibrations, especially the multimodal ones. Identification of the

bending moment is done under assumption of the linearity of the model, according to procedure

described in [2], as proportional to on-line measured signal coming from strain gauge(s) glued to

external surface of beam in place of mounting of piezoelectric elements. The active control

algorithm is driven by computer package LabVIEW.

Bibliography

[1] Kozień M.S., Ścisło Ł., Simulation of Control Algorithm for Active Reduction of

Transversal Vibrations of Beams by Piezoelectric Elements Based on Identification of Bending

Moment, Acta Physica Polonica A, vol. 128, no. 1A, A56-A61, 2015.

[2] Moheimani S.O.R., Fleming A.J., Piezoelectric Transducers for Vibration Control

and Damping. Springer Science & Business Media, 2006.




22

Identification of Rotor Parameters Using Piezoelectric Patches Bonded to the Shaft Surface

KOZIOŁ Mateusz 1, a * and CUPIAŁ Piotr 1,b

1,* AGH University of Science and Technology, Faculty of Mechanical Engineering and Robotics,

Al. A. Mickiewicza 30, 30-059 Kraków, Poland


Keywords: rotor dynamics, smart structures, piezoelectricity, identification

Abstract. The work presents an attempt to identify parameters of a rotor system by using

piezoelectric elements bonded to the surface of the shaft. The structure being tested is similar to

the Jeffcott rotor, and it consists of a rotating beam with a disc placed in its middle. Besides the

basic quantities like unbalance, more complicated parameters are also considered. The authors

assess the magnitude of the shaft bow, angular position of the unbalance- and the bow plane (in

reference to a marker on the shaft), as well as the stiffness of the supports and the damping

parameters. The aim of these studies is to obtain the parameters used in the numerical analysis of

the smart rotor models, previously developed by the authors. This will allow, in the next step, for

an experimental verification of the simulation models, as well as the laboratory confirmation of

typical phenomena appearing in rotating systems, predicted by such models. Typically,

identification process, e.g., of unbalance, uses vibration data acquired from accelerometers. In

the present approach, the signals are received from piezoelectric sensors placed on the shaft

surface. It means that these signals are related to the rotating coordinate frame, and therefore

they must be treated differently. For example, the shaft deflection due to the unbalance measured

at the critical rotational speed is constant in a rotating frame, whereas it undergoes synchronous

vibration in the stationary frame. Special effort must therefore be taken in planning the tests, to

account for the reference frame being used. The justification for using piezoelectric patch

sensors is that the same elements will be applied together with piezoelectric patch actuators in

the active control of a smart rotor. The possibilities of several control algorithms to influence the

effective damping of a smart rotor have been studied numerically in the authors’ previous

papers.

Fig. The smart shaft with a piezoelectric sensor




23

Mechanical exciters and

experimental vehicle with MR dampers

Influence of Engine-Induced Vibration on Semi-Active Suspension Control System in an All-Terrain Vehicle

with Magnetorheological Dampers

KRAUZE Piotr 1,a*, KASPRZYK Jerzy 1,b and PRZYBYŁA Grzegorz 2,c

1Institute of Automatic Control, Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland

2Institute of Thermal Technology, Silesian University of Technology, Konarskiego 22, 44-100 Gliwice, Poland

a*[email protected], [email protected], [email protected]

Keywords:off-road vehicle, road-induced vibration, engine-induced disturbance, magnetorheological damper, semi-active feedback control, Skyhook control.

Experimental set-up.The paper presents a study

of a suspension control system influenced by an engine in

an experimental all-terrain vehicle. Four conventional

passive suspension dampers of the vehicle have been

replaced with Lord Corporation RD-8041-1

magnetorheological (MR) dampers. The vehicle is

equipped with numerous sensors including

accelerometers located in the vehicle body and in the

vicinity of wheels. The Skyhook control algorithm was

applied for vibration control including proportional

control of MR damper force using inverse tanh-based

model. The front wheels of the vehicle were subjected to

road-induced excitation at selected frequencies varying

from 1.5 Hz to 12 Hz generated by dedicated mechanical

exciters. Simultaneously the accelerometers were

influenced by vibration generated by the engine

operating at a speed equal to 2500 or 3000 revolutions per minute.

Experimental results and conclusions.The study was conducted for passive configuration of the

vehicle suspension as well asfor the Skyhook algorithm and for the vehicle engine on or off. Initial tuning

ofSkyhook algorithm parameters varying from 750 to 3500 indicated the best results for the control

parameter equal to 1500 and 2000. The quality of Skyhook control was assessed using transmissibility

characteristics evaluated for velocity estimated based on acceleration measurements for the front vehicle

body part. In the case of a working engine road-induced and engine-induced components of velocity were

separated in the frequency domain using high-order lowpass filter and further compared with results

obtained fora not-working engine. Experiments indicated that the engine-induced vibration has a clear

negative impact on the vehicle vibration control what is revealed in the increase of overtuned suspension

damping for lower excitation frequencies. It was shown that the observed effect is stronger for larger engine

speeds and higher power of engine-induced vibration.

Acknowledgement.This work has been partially supported by the Silesian University of

Technology from the statutory research sources of the Institute of Thermal Technology and the Institute of

Automatic Control. The partial financial support of this research by Polish Ministry of Science and Higher

Education is gratefully acknowledged.




24

Active Structural Acoustic Control with Real Device and MFC sensors

KURCZYK Sebastian1, a *, MAZUR Krzysztof1, b, WRONA Stanislaw1, c and PAWELCZYK Marek1, d

1, Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland

a*[email protected], [email protected], [email protected], [email protected]

Keywords: real device; active casing; active noise control; MFC.

Abstract. Exposure to excessive noise can be frustrating and harmful to the health or

human life. People are exposed to noise not only in the industrial environment but also in their

households. As a result, there is a need for noise reduction systems in household appliances.

Noise can be reduced with passive or active methods. In some cases, passive solutions lead to

unacceptable modifications to the equipment e.g.: increase of thermal insulation, exceed of the

permissible dimensions of the enclosure. An alternative is the use of active methods which are

particularly effective for low-frequency noise. For the construction of an active noise reduction

system vibration of the enclosure can be used. In the literature there are known solutions based

on the vibration control of the housing, to reduce the transmission of noise through the casing

wall. In this paper a real active structural acoustic control system is discussed. The system

utilizes piezoelectric sensors to collect data. Experimental data from a commercially available

washing machine are analysed and discussed.

Discussion. Three piezoceramic sensors were considered to be used for reference signal:

polyvinylidane difluoride (PVDF) and two types (namely P1, P2) of macro fibre composite

(MFC). Active device casing utilizes electrodynamic exciters mounted on each wall to produce

control signal. Error microphones located in front of each wall are used for the control purpose

and another five evaluation microphones are used for the system performance assessment.

Scope of the paper. This paper focuses on multi-channel feedforward active noise

control (ANC) system for a real machine, namely a market available washing machine. The use

of piezoelectric sensor as a reference source is considered.

Conclusions. The use of MFC in place of regular microphone allows smaller sensor to be

used in ANC system, thus reducing its mechanical size and complexity. However, MFC

placement must be carefully analysed in order to provide satisfactory sensor magnitude

characteristic.

The results obtained during the experiment indicates that MFC can be successfully used

in place of a regular microphone. The system performed a stable, global noise reduction. The

results were similar (2~dB worse) to those obtained with a reference microphone.




25

Clipped stiffness force with viscous damping in semi-active tuned mass dampers for reduction of harmonic vibrations

MAŚLANKA Marcin

AGH University of Science and Technology, Department of Process Control al. A. Mickiewicza 30, 30-059 Krakow, Poland

e-mail: [email protected]

Keywords: vibration, damping, semi-active, feedback, control, tuned mass damper, MR damper.

Abstract. Tuned mass dampers (TMDs) are common passive devices that are widely used

in vibration control of structures. Although many vibration problems are solved in a simple way

with traditional TMDs, there are well recognized limitations of TMDs which triggered the

development of controlled mass dampers. The variety of active tuned mass dampers (ATMDs)

and semi-active tuned mass dampers (STMDs) are reported to have significantly better

performance than TMDs. ATMDs use active actuators, like hydraulic cylinders, to both add and

dissipate energy from the structure. STMDs use controllable dampers that can only dissipate

energy thus the need for external power is significantly smaller when compared to ATMDs. In

recent years, STMDs with magnetorheological (MR) dampers are developed which consist of a

mass, a spring and a real-time controlled MR damper. This paper proposes a new control

algorithm for MR dampers in STMDs subjected to harmonic excitation. The proposed control

algorithm for MR dampers in STMDs is based on internal feedbacks from relative displacement

and relative velocity of STMD, and targets to achieve damping performance of STMD similar to

that of the TMD with three times larger mass. The paper first formulates an unclipped (active)

control force which is the combination of a frequency dependent negative or positive stiffness

force and a viscous damping force calibrated such that the unclipped control force is equivalent

to the well-known optimal acceleration feedback control. Then, a sub-optimal control approach

is introduced with clipped (semi-active) stiffness force with viscous damping. It is shown that

after clipping of active forces, which is required for semi-active realization of the control

approach, the resulting clipped control force significantly differs from its optimal active

counterpart. Analytical expressions for the equivalent positive or negative stiffness and the

equivalent damping resulting from the clipped stiffness force with viscous damping are derived

and used to explain the effect of clipping on the performance of STMD. Finally, the correction

factors are introduced to compensate, to some extend, for the effect of clipping. The

effectiveness of the proposed control approach for STMDs is numerically demonstrated with

comparison to the traditional TMD.




26

Feed-forward active noise control for a washing machine casing

MAZUR Krzysztof1, a *, WRONA Stanislaw1,b, PAWELCZYK Marek1,c

1 Institute of Automatic Control,

Silesian University of Technology, Akademicka 16, 44-100 Gliwice, Poland


Keywords: active noise control, adaptive control, active casing

Abstract. Noise generated by devices is a common problem in both industrial and home

environments. In some cases reduction of such noise is a difficult task. One of such cases is a

reduction of the low frequency noise. This kind of noise is very common in rotating machines

with low rotational speeds. For low frequency noise passive noise reduction methods have

limited performance due to low barrier width compared to the wavelength of sound. The actively

controlled thin barrier may provide better results. The performance of such active method has

been confirmed by the authors using a dedicated noise-canceling casing. In this paper the same

method is applied to an off-the-shelf washing machine. An adaptive FXLMS algorithm is

proposed for the active control of the casing to provide noise reduction. Commonly used feed-

forward structure is used, with a reference microphone located inside the washing machine. The

performance of the resulting control system is experimentally verified using a loudspeaker

placed inside the washing machine to provide reproducible noise, and obtained results are

reported.

Conclusions. The operation of active noise reduction system has been experimentally

verified on an unmodified, except for adding actuators, off-the-shelf waching machine. The

proposed feed-forward active control solution provides good global noise reduction, more than 7

dB on average at monitoring microphones located around the room, for the reproduced spinning

noise. This noise reduction is about 3 dB higher than in case of feedback approach, mostly due to

presence of non-tonal, hard to predict, components in the noise spectrum.

For pure tonal or multitone disturbances, where the signal can be easily predicted, a very

high noise reduction levels can be obtained, reaching more than 10 dB globally in the entire

room space.

Acknowledgements. The research reported in this paper has been supported by the

National Science Centre, decision no. DEC-2012/07/B/ST7/01408, and by the Ministry of

Science and Higher Education, Poland.




27

Operational Modal Analysis of the large structure workpieces

MAZUR Michał 1, a *, KALIŃSKI Krzysztof J. 2,b

1*,2 Gdańsk University of Technology, Poland

[email protected],[email protected]

Keywords: OMA, harmonics, finite element method

Abstract. The paper presents the application of the Operation Modal Analysis

identification techniques in the presence of harmonic excitations of the large structures’

workpieces. The main problem of Experimental Modal Analysis in the case of large workpieces

is an elastic fixture, which could not be neglected. Moreover the mass of the workpiece is huge

and damping through the complicated fixture could be significant too. Thus to obtain good

quality of measurement data the large excitations forces are required. By using big enough

modal hammers workpiece could be easily damaged and using modal exciters is not always

feasible or economically justified. Thus OMA technique may be applied here, but the presence

of the harmonic excitation during the manufacturing could be serious problem. The assumption

of the white noise excitation is not met in this case. There are techniques for identifying and

filtering modal harmonics (i.e. basing at the Empirical Mode Decomposition), but by applying

filters we are risking of loosing important data from measurement signals. The other approach is

to use modified techniques for modal parameters identifications which includes harmonic

functions. Such techniques could have serious advantages over the filtering and classical OMA:

ability of detecting weaker excited modes and detecting modes that are close to the harmonics.

Generally ability to observe real structure responses during the process of the manufacturing

could be considered as the main advantage of the Operational Deflection Shapes and OMA

techniques. However if we want to use such obtained data for the correlation with the Finite

Element Method model, there is a need to observe as much modes as it is possible. Moreover,

we are planning usage of further such obtained data for simulating the manufacturing process to

tune its parameters (like e.g. spindle speed). Modes neglected in one set of the manufacturing

parameters may become serious problem with another set of the manufacturing parameters. We

are discussing the result of the identifications performed by selected OMA techniques with and

without harmonic excitations, EMA results and FEM data.




28

Continuous measurement of filling in a two-tank liquid level control system

OLEJNIK Paweł 1,a* and AWREJCEWICZ Jan 1,b

1,* Lodz University of Technology, Department of Automation, Biomechanics and Mechatronics, 1/15 Stefanowski Str., 90-924 Lodz, Poland


Keywords: hydraulic systems, closed-loop control, data acquisition, embedded systems, programmable controller, mathematical modelling.

Abstract. In this work, a few mechatronic devices like a switch designated for continuous

measurements, the solenoid valve, a peristaltic pump and an universal programmable controller

are consolidated in a precise liquid level closed-loop control system. The digital programmable

controller embedded in the integrated system NI cRIO-9074 combines a real-time processor and

a re-configurable field-programmable gate array. Realization of various control tasks is preceded

by identification of system parameters. Then, a sequential closed-loop control system based on a

P/PD-correction is applied to: 1) maintain the desired set-point level at leakages – system

disturbances; 2) follow a prescribed series of time-varying reference levels. Mathematical

models of the two configurations of the investigated hydraulic control system are implemented

using LabVIEW virtual instruments. As a result, there are provided approximate characteristics

of identified system parameters as well as time histories of process variable converging to

reference set-points or following a path.

Fig. 1. An experimental liquid level control system.

Many liquid level control systems are

widely used in processing with food,

chemicals, and also in beverage, petroleum,

filtration, and others. Quality of these

systems affects the composition of products,

conditions of substrate mixing, and even

safety of equipment. This topic is not new,

but as the measurement hardware and micro-

computers evolve very rapidly, the problem

can be reconsidered to improve current

industrial processes. Application of a

programmable controller embedded in an

integrated system that combines a real-time

processor will be applied to realize the traditional as well more sophisticated control algorithm,

implementing a numerical model to compute the smooth actual system state.




29

Influence of sliding mode control parameters on the efficiency of a car suspension system for the reduction of vibration

ORKISZ Paweł b, SNAMINA Jacek a

Department of Process Control, AGH University of Science and Technology,

30-059, Cracow, Mickiewicza 30


Keywords: vibration reduction system, sliding mode control, active damping.

Abstract. With the development of the automotive industry, the engineers are creating more

and more perfect car suspensions. Active and semiactive elements are introduced with

appropriate control systems in place of traditional passive suspensions. The efficiency of the

modern vibration reduction systems is mainly dependent on the control algorithms and the

technical possibilities of their implementation. This paper presents the concept of introducing a vibration reduction system based on the

sliding control algorithm to Isuzu D-Max original suspension. In the calculations and in the

design of the laboratory stand a simple

model called the "quarter of the car" was

used. Taking into account the construction

presented schematically in Fig.1a, the

parameters of the model shown in Fig.1b

were determined. Using the principles of

dynamical similarity, a "quarter of the car"

laboratory model with active vibration

reduction system was built. A linear motor

was used as the actuator in active vibration

reduction system.

Practical use of the sliding control

algorithm requires estimation of the value of

its basic parameters. The first parameter

limits the maximum value of force disturbing the static equilibrium position of the

vibro-insulated subsystem. The second defines the inclination of the sliding surface in the state

space. The third determines the speed of reaching the sliding surface from any point of the state

space. A number of measurements were performed on the laboratory stand for various parameters

of the proposed algorithm. As a result, the best possible values were determined taking into

account the technical limitations of the laboratory model and the suspension of the Isuzu D-Max

car. In the simulations, the algorithm for generating road unevenness profiles was used according

to the classification given in the ISO 8608 standard.

This work was supported by National Centre for Research and Development of Poland (research

project No. PBS3/B6/27/2015).

F

B

A

C

D

E

z

x1

x2

m1

m2

b1

b2

k1

k2 S

Fig. 1

x1

x2

a) b)

z




30

Analytical model of the vibrations of the BLDC motor with mechanical faults

RADKOWSKI Stanisław 1 and SZULIM Przemysław 1*

1 Warsaw University of Technology, Faculty of Automotive, Narbutta 84, Waszawa

[email protected]

Keywords: vibration, BLDC motor modeling, diagnosis, fault analysis.

Abstract: In the paper Authors present a model connecting influence of typical mechanical

faults, like eccentricity, torque pulsation and demagnetization on vibrations spectrum of

brushless DC (BLDC) motor. Accurate process of modeling was presented. A 2D model of

motor was taking in consideration. Each of a characteristic section (i.e. rotor shaft, rotor core,

permanent magnet, air gap, stator core, and exterior region) was described by partial differential

equations. Each equation, together with boundary conditions, creates set of ten partial

differential equations describing distribution of magnetic potential and magnetic field. At this

stage chosen faults were modeled. Analytical model of unbalanced force and cogging torque as a

source of vibrations were calculated. In order to simulate behavior of working model of motor

Matlab software was used, where the model of electric commutator and the developed magnetic

model were joined together. Results were compared with real vibration signal acquired from the

test stand with BLDC motor.




31

Simulation nonlinear backstepping method in active suspension control of the four-wheeled mobile platform

RADKOWSKI Stanisław 1, a *, SEŃKO Jarosław 1,b and SŁOMCZYŃSKI Maciej 1,c

1 Narbutta 84, 02-524 Warsaw,Poland

a [email protected], b,* [email protected], c

[email protected]

Keywords: active suspension, backstepping controller, four-wheeled mobile platform.

Abstract. The paper presents design a semiactive controller for a vehicle suspension

system. The controller was developed for the laboratory model Semi Active Suspention System

which represents a quarter of four-wheeled mobile platform model.

Initially Semi Active Suspention system was modeled by the mathematical equations and

then the backstepping controller was designed to suppress the vibrations of the car body.

Backstepping is a design methodology of control laws for nonlinear systems. Backstepping is a

novel nonlinear control technique based on the Lyapunov function design approach, used when

higher derivatives of parameter estimation appear. The paper presents a new method of

performing integrator backstepping in systems that are discontinuous, either due to their inherent

structure or because of the applied control input A proposed nonlinear backstepping design

scheme, which is developed for the control of suspension systems to improve the ride quality

and suspension travel, is proposed in this paper. Since ride quality is dependent on a vertical

displacements of a vehicle body, the design of active suspensions must have the potential to

minimize heave and pitch movements in order to guarantee the ride comfort of passengers. The

other important factor to be emphasized in the design is the suspension travel which means the

space variation between the car body and the tires. In order to avoid damaging vehicle

components the active suspension controllers must be capable of preventing the suspension from

hitting its travel limits.

Our model presents a quarter of the car's suspension with a nonlinear spring or a linear

spring, and a silencer with magnetorheological fluid, by which the damping of the suspension is

being modified. The Simulation model of the Semi Active Suspention were designed and solved

in Matlab and ADAMS.




32

Energetic properties of an active SUV suspension controlled by weighted multitone optimal controller

SIBIELAK Marek 1,*, KONIECZNY Jarosław 2, RĄCZKA Waldemar 3

and KOWAL Janusz 4

1,2,3,4 AGH University of Science and Technology

av. Mickiewicza 30, 30-059 Krakow, Poland

1,*[email protected], [email protected], [email protected], [email protected]

Keywords: active vehicle suspension, optimal control, WMOC

Abstract: The most effective vibration reduction is obtained using active vibration

isolation systems. The fundamental problem that occurs during the design of this type of

suspensions is the need to obtain a compromise between the vibration reduction efficiency and

the energy demand. In such case an additional problem is the necessity of further increasing

vibration damping for specific frequencies [1]. This is related e.g. to the natural frequencies of

the driver's internal organs. The weighted multitone optimal controller (WMOC) is a method to

solve this problem. The controller is designed as a solution of the optimization task for the

weighted multitone quality factor. This factor enables the selection of weighting coefficients

independently for the various components of the sinusoidal control signal. Such solution allows

in the controller synthesis for incorporation energy constraints associated with each sinusoidal

components of the control signal. This paper presents the synthesis of the WMOC for the double

wishbone suspension (Figure 1) of the SUV body. For the active system damper has been

replaced by an electrohydraulic actuator. Synthesis of the controller was done for linearized

model of the suspension. Simulation tests of designed suspension controlled by the WMOC was

conducted. The vibration transfer function and the energy indicators for the active suspension

have been calculated, taking into account the nonlinearities presented in the real vehicle. At the

end the analysis of energy indicators (e.g. energy, max. power) depending on the level of

vibration reduction efficiency are presented.

Fig. 1. General view of tested suspension

Acknowledgment:

This work was supported by National Centre

for Research and Development of Poland (research

project No. PBS3/B6/27/2015).

References: [1] G.-Y. Tang and D.-X. Gao,

“Approximation design of optimal controllers for

nonlinear systems with sinusoidal disturbances,”

Nonlinear Anal. Theory, Methods Appl., vol. 66, no.

2, pp. 403–414, Jan. 2007.




33

Influence of the damper characteristic shaping on the vehicle suspension properties

SIBIELAK Marek1, a, KONIECZNY Jarosław2, b, SMOTER Adam3, c*

1, 2, 3* AGH University of Science and Technology

Al. Mickiewicza 30, 30-059 Kraków, Poland


Keywords: suspension, wheeled vehicle, nonlinear model, characteristic shaping, identification

Abstract. The paper focuses on the parametric identification of the nonlinear suspension

model of a wheeled vehicle. It is based on the laboratory tests of the passive, commercial quarter

car suspension of a SUV vehicle. The linear spring characteristic and nonlinear damper

characteristic were determined separately from the suspension system. The damper characteristic

was obtained by using isokinetic excitation. Such an approach allowed to determine the static

damper characteristic by averaging the appropriate intervals of recorded signals. The obtained

nonlinear characteristic of the damper was approximated by a piecewise linear function. The

suspension model is a 2DOF model with the piecewise linear shock absorber characteristic. The

paper presents the influence of static characteristic shaping of the damper on dynamic

characteristics of the suspension system. The displacement based transmissibility function, tire

deflection function and rattle space function were taken into consideration. Nine cases of the

modified damper characteristic were considered. For each case the comfort oriented and the

road-holding oriented performance index were computed. Changing the shape of the

characteristic consists in changing the slope coefficient of straight-line sections of the piecewise

linear function. The paper was justified the need to modify the characteristics of the damper in

such a way that it passes through the origin of the Cartesian coordinate system. It has been

assumed that the shock absorber can be represented as a parallel linear spring and nonlinear

damping element. The isokinetic excitation and proposed averaging procedure enable to obtain a

stiffness coefficient of a spring in order to eliminate its effect on the shock absorber

characteristic.

Acknowledgments. This paper was supported by National Centre for Research and Development

of Poland (research project No. PBS3/B6/27/2015). This paper was partially funded by a Dean's

grant from the Faculty of Mechanical Engineering and Robotics AGH University of Science and

Technology.




34

Optimal placement of actuators for active control of a washing machine casing

WRONA Stanislaw a*, MAZUR Krzysztof, PAWELCZYK Marek, and KLAMKA Jerzy

Institute of Automatic Control, Silesian University of Technology, Gliwice, Poland

a*[email protected]

Keywords: active casing; active noise control; optimization; inertial actuators; real device casing.

Abstract. An excessive noise generated by industrial devices or home appliances can

represent a significant threat to human health. In a working environment, high-level noise or

prolonged exposure can lead to hearing loss. On the other hand, household appliances can also

generate excessive noise, inducing stress, annoyance, and significantly obstructing work or

leisure. A common protection solution is to apply passive sound-insulating materials. However,

passive barriers are often ineffective, especially at low frequencies, or are inapplicable due to

increase in size and weight of the device, and its potential overheating. An alternative approach

is to use active control methods by applying a set of sensors and actuators, and running a control

algorithm. If the device generating excessive noise is surrounded by a thin-walled casing (or if it

can be enclosed in an additional casing), then control inputs can be applied directly to the

structure. Thus, the structure vibrates in a relevant manner, and as a whole it can be used as an

active barrier enhancing acoustic isolation of the device. When appropriately implemented, it

results in a global noise reduction instead of only local zones of quiet. Such approach is called

the active casing approach, and it was further developed by the authors and successfully applied

in previous research. Initially, a rigid casing has been examined, which limits the couplings

between walls mainly to the acoustic field. Then, a light-weight casing has been considered,

characterized by strong additional vibrational couplings. In this paper, as a natural continuation

towards commercial application, a real device casing is considered, namely, a market-available

and unmodified product – a washing machine. In the previous research it was observed that for

an effective active control it is important to mount sensors and actuators at appropriate locations

on the vibrating structure. The method developed previously for laboratory casings is now

applied and verified for a real device casing. An important complication with respect to the

previous research is that the real device casing is very irregular and inhomogeneous. Each of the

casing walls represent different features, i.e. bendings, embossments, etc., what makes the task

of mathematical modelling significantly more difficult. The vibration of an unloaded casing is

measured with a laser vibrometer and analysed. A mathematical model is adapted to the purpose

of actuator positioning on the casing. The optimization criterion used in this paper is based on a

measure of the controllability Gramian matrix.

Acknowledgement. The research reported in this paper has been supported by the

National Science Centre, Poland, decision no. DEC-2014/13/B/ST7/00755, and the Ministry for

Higher Education and Science.




35

Electroacoustic methods for detecting of deformed speech parameters.

WSZOŁEK Wiesław 1, a *, MALCZYK Grażyna 2,b

1,* AGH University of Science and Technology, Krakow, Poland

2Medical University of Gdańsk. Department of Neurology, Gdańsk, Poland


Keywords: vocal fold vibration speech signal, fundamental frequency.

Abstract. The emitted speech signal is a source of useful diagnostic and prognostic

information. Besides of the individual features of a speaker, the speech signal carries semantic

and emotional state information, and other kinds, enabling to determine speaker’s social status,

education, and overall health, for example stuttering. In this work particular attention is paid to

the defect of pronunciation of people stuttering. Stuttering is a disorder of fluency. This disorder

is caused by, among other things spasticity respiratory muscle movement, phonation and

articulation and the lack of proper coordination, or incoordination of the entire respiratory and

articulatory, producing, among others, muscle spasms of the larynx, leading to blocking,

jamming, repetition, prolonging phonation: individual sounds, syllables, words and whole

phrases. They are classified as clonic stuttering, or the repetition of these sounds, syllables,

words or phrases, or as a tonic blocking, which is the inability to notice the sound, desire, and at

the same time the impossibility of extraction speak. It is a aphonia lasting several or even several

seconds, lasts as long as the patient is struggling with muscle tensions. The study included 8

people who stutter: 3 women and 5 men aged 12 to 50 years, including a boy aged 12, a girl

under 14 years and other adults who themselves came to the therapy due to the lack of freedom

of speech and big problems with communication. Registration time acoustic signal waveform of

speech (the text read) and EGG1 signal was performed in an anechoic chamber Department of

Mechanics and Vibroacoustics, AGH University of Science and Technology. One of the

methods of testing which gives opportunities for a proper evaluation of the vocal folds in the

process of stuttering, and the diagnosis of these disorders and for monitoring the progress of

both, as well as the final effects of stuttering therapy is electroglottographic methods and

acoustic spectral analysis of speech. In this paper we present the results of the speech signal

stutterers. On the basis of these results, we developed a method of identifying types of stuttering.

1 EGG – Electroglottography - Is a non-invasive method of measuring the vibration of the vocal folds,

which consists in measuring the electrical impedance between two electrodes placed on the neck of the test

subject, at the level of the larynx




36

Sliding mode and LQR approach to control of active vehicle suspension

ZAWARTKA Magdalena 1, a *, KONIECZNY Jarosław2,b ,SIBIELAK Marek3,c ,RĄCZKA Waldemar4,d

1*,2,3,4 AGH University of Science and Technology al. A. Mickiewicza 30, 30-059 Kraków, Poland

a [email protected], b [email protected], c [email protected], [email protected]

Keywords: sliding mode control, active suspension, model reference control, LQR

Abstract. The purpose of an investigation a vibration reduction system controlled by

different algorithms is to find out their efficiency in extenuation of vibrations. In this paper three

different approaches are introduced: model reference sliding mode control (MRSMC) with sky-

hook reference model, MRSMC with ground-hook reference model and linear-quadratic

regulator (LQR). Each algorithm was tested in three criteria: displacement transmissibility

function criterion, tire deflection criterion and external energy consumption criterion.

Suspension analysis for the adopted indicators was performed for selected damping values

𝑐𝑠𝑘𝑦 , 𝑐𝑔𝑟𝑜𝑢𝑛𝑑. The influence of changes in suspension parameters on the used evaluation criteria

for all the regulators considered was compared. Realization of sliding mode control (SMC) with

a reference model allow to perform frequency characteristics of sky-hook or ground-hook by the

object which is vehicle suspension. What is more proposed control law resolve the value of the

force generated by the absorber in such a way that the object follows the state trajectory of the

reference model. Third method is adopting a LQR. The regulator was designated for a linearized

model and the tests were performed for a nonlinear model. The proposed quality indicator takes

into account both improved safety (road-holding) and comfort (displacement transmissibility

function). It also allows you to limit the power of the control signal. In addition all parameters of

quarter car vehicle suspension model used in laboratory tests are taken from real SUV Isuzu D-

MAX.

Acknowledgments. This paper was supported by National Centre for Research and

Development of Poland (research project No. PBS3/B6/27/2015). This paper was partially

funded by a Dean's grant from the Faculty of Mechanical Engineering and Robotics AGH

University of Science and Technology.


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39

AUTHORS’ INDEX

A

AWREJCEWICZ Jan ______________________ 28

B

BĄKOWSKI Andrzej _____________________ 13 BIENIOSZEK Grzegorz ___________________ 14

C

CUPIAŁ Piotr __________________________ 22

D

DANEK Wojciech _______________________ 14 DEKÝŠ Vladimir ________________________ 13 DOMINIK Ireneusz ______________________ 15 DUDA Slawomir ________________________ 16

G

GEMBALCZYK Grzegorz __________________ 16 GOSIEWSKI Zdzisław ____________________ 19 GRZYBEK Dariusz _______________________ 17

J

JURKIEWICZ Andrzej ____________________ 18

K

KALIŃSKI Krzysztof J. ____________________ 27 KASPRZYK Jerzy ________________________ 23 KCIUK Slawomir ________________________ 16 KCIUK Sławomir ________________________ 14 KLAMKA Jerzy _________________________ 34 KONIECZNY Jarosław ______________ 32, 33, 36 KORZENIOWSKI Waldemar _______________ 15

KOSZEWNIK Andrzej ____________________ 19 KOT Andrzej ___________________________ 20 KOWAL Janusz ______________________ 18, 32 KOZIEŃ Marek Stanisław _________________ 21 KOZIOŁ Mateusz _______________________ 22 KRAUZE Piotr __________________________ 23 KURCZYK Sebastian _____________________ 24

L

LALIK Krzysztof ________________________ 15

M

MALCFZYK Grażyna _____________________ 35 MAŚLANKA Marcin _____________________ 25 MAZUR Krzysztof _________________ 24, 26, 34 MAZUR Michał _________________________ 27 MICEK Piotr ___________________________ 17

N

NAWROCKA Agata ______________________ 20

O

OLEJNIK Paweł _________________________ 28 ORKISZ Paweł__________________________ 29

P

PAWELCZYK Marek _______________ 24, 26, 34 PRZYBYŁA Grzegorz _____________________ 23

R

RADKOWSKI Stanisław _______________ 30, 31 RADZISZEWSKI Leszek ___________________ 13 RĄCZKA Waldemar __________________ 32, 36

40

S

SEŃKO Jarosław ________________________ 31 SIBIELAK Marek __________________ 32, 33, 36 SKRZYPKOWSKI Krzysztof ________________ 15 SŁOMCZYŃSKI Maciej ___________________ 31 SMOTER Adam_________________________ 33 SNAMINA Jacek ________________________ 29 SZULIM Przemysław ____________________ 30

Ś

ŚCISŁO Łukasz _________________________ 21

W

WRONA Stanislaw ________________ 24, 26, 34 WSZOŁEK Wiesław _____________________ 35

Z

ZAJĄC Kamil ___________________________ 18 ZAWARTKA Magdalena __________________ 36

41

Documents

Active Noise Control - home.agh.edu.plhome.agh.edu.pl/~drgania/archive/MARDIH_Kazimierz_2017.pdf · Jan Awrejcewicz Wiesław Ostachowicz Jerzy Bajkowski Marek Pawełczyk Stephen P