Noise and Vibration Control

9. ACTIVE NOISE AND VIBRATION CONTROL

Additional References: 1. Active Noise Control Primer, Scott. D. Snyder, Springer Verlag, 2000 2. Active Control of Vibrations, C.C. Fuller, S. J. Elliott, P.A. Nelson , Academic Press, 1997

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ACTIVE VIBRATION CONTROL

Passive control of vibration: Relatively simple & straightforward Robust, reliable & economical LIMITATIONS: Control force generated depends on natural dynamics Impossible to adjust the control forces No power supply from external source Incomplete control- Not always possible to directly target the control action at particular responses (in complex & higher order systems)
Active control: System responses directly sensed using sensor-transducer devices control action of specified values are applied to desired locations of system.

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objective of active vibration control - to reduce the vibration of a mechanical system by automatic modification of the system's structural response. components of a system: 1. sensor (to detect the vibration), 2. electronic controller (to suitably manipulate the signal from the detector) 3. actuator (which influences the mechanical response of the system). types of actuator - fully-active - semi-active

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Noise and Vibration Control Fully-active actuators are able to supply mechanical power to the system. Examples : electromagnetic shakers, piezoelectric ceramics and films, magnetostrictive and electrohydraulic devices. Actuators -used to generate a secondary vibrational response in a linear mechanical system, - reduce the overall response by destructive interference with the original response of the system, Semi-active actuators behave as passive elements they can only store or dissipate energy. Their passive mechanical properties can be adjusted by the application of a control signal - called 'adaptive systems'. Semi-active actuators can be constructed using electrorheological fluids or shape memory alloys Indian Institute of Technology Roorkee
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Only active vibration control systems which employ fullyactive actuators have been discussed. Feedback control systems control signal obtained from the sensor is affected by both the primary source and the secondary actuator over which we have control, and this is fed back directly to the actuator.

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Fig. 1 A system for active control of vibration Plant & Controller- 2 essential components of Control system Plant must be monitored ; its response measured using Sensors, for feedback into the Controller. Controller compares the sensed signal with a desired response & uses the error to generate a proper control signal- Feedback control

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Single-channel feedback control systems

Fig. 2 The components of a feedback control system [ C.C. Fuller, S. J. Elliott, P.A. Nelson , Active Control of Vibrations]

Transfer function of the feedback controller, H(s):ratio of the Laplace transform of the secondary excitation to the system,Fs(s ), to the Laplace transform of its response, W(s), Indian Institute of Technology Roorkee
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Fig.3 Equivalent electrical block diagram of a feedback control system [ C.C. Fuller, S. J. Elliott, P.A. Nelson , Active Control of Vibrations] Laplace transform of the secondary excitation: Fs(s ) = H(s)W(s). Combining these equations we obtain W(s) = G(s)[Fp(s)- H(s)W(s)]. transfer function of the mechanical system with feedback control can be written as

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Noise and Vibration Control Transforming the above transfer function into a frequency response by substituting s=j, the frequency response of closed loop system is:

For the open loop frequency response, G(j)H(j), to have little phase shift in the frequency range of interest but simultaneously to have a gain of much greater than unity, then we can write for in the working range

1 + G ( j )H ( j ) >>1
So that

The response of the mechanical system is thus significantly reduced in this frequency region by the action of the feedback controller.

W ( j ) << G ( j ) F p ( j )

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Noise and Vibration Control

Example of an idealised single-channel feedback control system

Fig. 4 Feedback controller applied to a lumped mass-springdamper system [ C.C. Fuller, S. J. Elliott, P.A. Nelson , Active Control of Vibrations]

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Noise and Vibration Control Prior to active control, - the control signal driving the secondary actuator will be zero and so the secondary force will also be zero. the dynamic response of the SDOF system can be deduced from its differential equation, which can be written in terms of the time histories of the primary force, fp(t), and the displacement of the mass, w(t), as

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Noise and Vibration Control use of velocity and displacement feedback in the active control of the vibrations of a circular saw

Fig. 5 The mechanical arrangement of the feedback control system used for the active control of circular saw vibrations. [ C.C. Fuller, S. J. Elliott, P.A. Nelson , Active Control of Vibrations]

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Fig. 6 The electrical block diagram of the feedback control system used for the active control of circular saw vibrations. [ C.C. Fuller, S. J. Elliott, P.A. Nelson , Active Control of Vibrations]

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Noise and Vibration Control The state variable approach Instead of directly transforming the differential equations which describe a dynamic system into the Laplace domain, an alternative approach is to recast the time domain equations into a standard form; in terms of the internal state variables of the system. then manipulate this state variable representation, using well established matrix methods.
Consider the differential equation describing the SDOF system

rewriting

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Noise and Vibration Control Define two variables which completely define the internal state of the system. state variables x1(t) and x2(t). suitable state variables : displacement and velocity of the mass: & xl (t) = w(t ) , x2(t) = w(t )
state variables are related by the first-order differential equation

& x 2 ( t ) = x 1 (t )
rewriting the differential equation of the SDOF system in state variable form

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Noise and Vibration Control

From above:

where

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Fig. 7 State variable representation of a dynamic system transient response of the SDOF system : The unforced solution to the state variable equations for the ith state variable can be written as

where the constants eil, ei2, etc., depend on the initial conditions of the internal states and 1, 2, etc. are the eigenvalues of the A matrix.

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Noise and Vibration Control For the SDOF system, there are: two state variables -> two eigenvalues for the associated A matrix, and two terms in the transient response, the free response of a system described in state variable form will decay to zero provided the real parts of all the eigenvalues of the A matrix have negative real parts The eigenvalues of A -solutions of the characteristic equation resulting from setting the determinant of 1- A to zero, - can be written as

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Noise and Vibration Control

The characteristic equation is thus

which has the solutions

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Noise and Vibration Control

Feedforward Control

system under control is linear and the secondary actuator is fully active superposition : secondary disturbance can be generated which destructively interferes with that due to primary source prior knowledge of excitation due to primary source can be obtained Two examples: 1) where the disturbance is deterministic. future behaviour can be predicted from its previous behaviour. For example, disturbances caused by reciprocating machines such as internal combustion engines, a tachometer signal related to the crankshaft rotation is often used to generate a reference signal. Indian Institute of Technology Roorkee
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Noise and Vibration Control 2) when the vibrational disturbance is propagating through a mechanical structure, and a sensor is used to detect this disturbance. The frequency response of the electrical controller may be adjusted or 'tuned' in response to the output of this sensor in order to make the feedforward control system adaptive.

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Noise and Vibration Control

Single-channel feedforward control

Fig 8. Components of a feedforward control system. The electrical controller, H, is driven by an estimate of original excitation of mechanical system due to primary source x. signal proportional to the response of mechanical system e, plays no direct part in the control path, but could be used to adapt the response of the controller. Indian Institute of Technology Roorkee
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Noise and Vibration Control The original excitation influences the mechanical system via the primary force, fp, which is related to the original excitation via the primary transmission path P. The net excitation of the mechanical system is proportional to the difference between the primary and secondary forces (fp-fs), and the response of the system is related to this excitation via the response of the mechanical system, G.

Fig. 9. Equivalent block diagram of a feedforward control system.

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Noise and Vibration Control The signals are all represented by their Laplace transforms, and responses of various components by their transfer functions. One potentially complicating feature of feedforward control systems: which is often present when the excitation is random and a detection sensor is used to obtain estimate of original excitation, is feedback from the secondary input back to the detection sensor. This feedback path is generally due to mechanical disturbances, caused by the secondary force, finding their way back to the detection sensor through the primary path.

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Noise and Vibration Control A more complete block diagram should include this feedback path, and also include measurement noise signals in the outputs from the detection and response.

The effect of measurement noise

Redrawing the block diagram of the feedforward controller. The transfer functions of the controller and mechanical systems have been replaced by their frequency responses, and the spectra of the various signals are shown rather than their Laplace transform. Indian Institute of Technology Roorkee
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Fig. 10a Alternative block diagram of the feedforward control system.

U(j) and E(j)- electrical voltages applied to the secondary actuator and measured at the response sensor, respectively.

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Fig. 10b Alternative block diagram of the feedforward control system. Spectrum of the filtered excitation signal is defined as

R(j) = G(j)X(j). block diagram of Fig. 9(b) is exactly equivalent to that shown in Fig. 9(a), provided the controller and mechanical system are linear and time-invariant. The spectrum of the net disturbance will be E(j) = D(j)- H(j)R(j). Indian Institute of Technology Roorkee
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Noise and Vibration Control

Active noise control (ANC)

Technique which aims to cancel unwanted noise by introducing an additional, electronically generated, sound field. Practically all noise control involves Passive control techniques. Reasons for not using active noise control: 1) ANC only useful for certain type of problems - Low frequency problems, usually tonal 2) ANC more complicated than passive NC, since it involves the integration of electronics, transducers (loudspeakers, microphones, etc.)

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Noise and Vibration Control

Passive noise control: Aims to reduce acoustic levels by altering the acoustic environment in which the sound source operates, by adding enclosures or barriers in the case of free space radiation.

Transmission loss is inversely proportional to fraction of energy transmitted T.L. = Noise inside noise outside

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Figure 11 Maximum possible acoustic power attenuation for two small sound sources [Ref: Active Noise Control Primer, S.D. Snyder]

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Fig 12.The principle of active sound control was first introduced by Lueg (1936) in a patent for the single channel feed-forward control of tonal disturbances propagating in a one-dimensional acoustic waveguide. [Sound and Structural Vibration, F. J. Fahy & P.Gardonio, Elsevier Publishers, 2007] Indian Institute of Technology Roorkee 31/45

Noise and Vibration Control Feed-Forward Control The waveform of the primary wave described by the solid line S1 is detected by a microphone M and used to drive the control loudspeaker L via the electronic controller V . The loudspeaker generates a secondary acoustic wave, whose waveform is defined by the dotted line S2. The control system V is set to manipulate the detected signal from the microphone in such a way that the secondary waveform destructively interferes with the primary wave. Thus, the secondary wave is generated to have the same frequency and amplitude but opposite phase to the primary wave.

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Noise and Vibration Control Adaptive Feedforward Active Noise Control

Fig 13. Main components in a typical adaptive feedforward active noise control system [Ref: Active Noise Control Primer, S.D. Snyder]

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Noise and Vibration Control Adaptive Feedforward Active Noise Control Reference microphone- provides the measurement (reference signal) of the impending noise some time before it arrives at the controller. Control system- responsible for taking the reference signal measurement of the impending noise and calculating what is required to cancel it. Control source- used to generate the canceling sound field. Error microphone- used to sample what noise actually remains after cancelling operation (error signal) Adaptive controller- able to adjust its calculation procedure (adaptive algorithm) to suit the current environment in which it is operating (ensures complete cancellation at the error microphone). Indian Institute of Technology Roorkee
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Noise and Vibration Control Physical mechanisms: Destructive Interference The control system creates an inverse or anti-noise field that cancels the disturbance sound field (the matching must occur in both space and time) Impedance Coupling The control changes the way the system looks at the disturbance, i.e., changes its input impedance (example: spring-loaded door, with two persons on either side of the door pushing at the same time; the door does not actually open or anti-open, it remains closed, but its impedance is changed) Acoustic Energy Absorption Active control can actually absorb acoustic energy from a system; however, the amount of energy absorbed by the system is usually tiny compared to mechanical losses or other losses in the system. Indian Institute of Technology Roorkee

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Noise and Vibration Control The two main mechanisms for sound cancellation, i.e. destructive interference and impedance coupling, may occur together or separately. The difference is related to whether the acoustic waves decay with distance traveled: If an actuator is close to the disturbance source, destructive interference and impedance coupling can both occur when the actuator is far from the disturbance, so that any wave it creates decays completely before reaching the disturbance, there can still be destructive interference near the actuator, even though the actuator cannot affect the impedance seen by the disturbance (example: the tiny speaker in an active control headphone will not affect the impedance seen by a cannon firing a mile away, but it can create destructive interference within the headphone) Indian Institute of Technology Roorkee

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Noise and Vibration Control Physical understanding of Active Noise Control Noise control- by either reducing or redirecting acoustic energy flow Redirecting acoustic energy flow- how? Consider two sound sources operating in free space and producing a series of sound waves At some points in space the waves cancel (50% shading) At some points in space they add (Dark and light portions) Local areas of attenuation are provided at the expense of other areas of increased sound level.
Implication: On an average, the sound levels have increased, not decreased

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Fig 14. Interference pattern between two coherent sound sources [Ref: Active Noise Control Primer, S.D. Snyder]

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Noise and Vibration Control How to achieve global sound attenuation using ANC techniques? Only possible way Reduce the total energy flow The introduction of second loud speaker must do the following: 1. cause a reduction in the acoustic power output of both sound sources, such that the total is less than the power output of original source 2. One of the sound sources must absorb power (energy flow into the loudspeaker, not out of it), while the energy flow from other source stays roughly the same or reduces.

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Noise and Vibration Control Acoustic impedance = pressure/ flow Important factors for ANC: 1. Separation distance between the sound sources must be small. 2. Sound sources must be coherent. 3. Sound sources must be roughly of same size.

Fig. 15. The sound fields of two sources quickly differ as the separation distance moves from small (less than 1/5 wavelength) to one full wavelength. [Ref: Active Noise Control Primer, S.D. Snyder]

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Fig. 16. Maximum possible acoustic power attenuation for two small sound sources, plotted as a function of separation distance between them [Ref: Active Noise Control Primer, S.D. Snyder] Note: 1. At 0.5 wave-length separation, no reduction in sound power is possible. 2. The separation distance should be less than one-tenth of wavelength to achieve 10 dB power attenuation.

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Implementation difficulties

Acoustic feedback from the control source to the noise detecting microphone may cause controller instability Turbulent pressure fluctuations (traveling at flow speed) contaminate the microphone signals and may cause the controller to generate false acoustic canceling signals (traveling at sound speed) Loudspeakers have poor frequency response at low frequency and usually do not have uniform response at higher frequencies either Reflections from the loudspeakers, duct bends and duct ends also complicate the control problem

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Contaminated flows cause problems to microphones and loudspeakers The lifespan of loudspeakers is short (1-3 years) because of the large cone excursions that are found to be necessary Duct wall vibrations may also radiate sound and affect the error sensor output Numerical issues related to digital implementation (sampling, delays, quantization, finite precision arithmetic's)

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Noise and Vibration Control General applications Automotive systems Electronic mufflers for exhaust systems, noise attenuation in passenger compartment, etc. Household appliances Noise attenuation in air conditioning ducts, air conditioners, refrigerators, washing machines, lawn mowers, vacuum cleaners, room isolation, etc. Industrial equipment Fans, air ducts, chimneys, transformers, blowers, compressors, pumps, chain saws, wind tunnels, noisy plants, etc. Transportation equipment Airplanes, ships, boats, helicopters, motorcycles, diesel locomotives, etc. Other applications Office cubicle partitions, public phone booths, ear protectors, headphones, etc. Indian Institute of Technology Roorkee
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THANK YOU

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