D. W. Wang H. S.

Tzou
Department of Mechanical Engineering, StrucTronics Lab., University of Kentucky, Lexington, KY 40506-0503

Control of Nonlinear Electro/Elastic Beam and Plate Systems (Finite Element Formulation and Analysis)
Adaptive structures involving large imposed deformation often go beyond the boundary of linear theory and they should be treated as nonlinear structures. A generic nonlinear nite element formulation for vibration sensing and control analysis of laminated electro/ elastic nonlinear shell structures is derived based on the virtual work principle. A generic curved triangular piezoelectric shell element is proposed based on the layerwise constant shear angle theory. The dynamic system equations, equations of electric potential output and feedback control force dened in a matrix form are derived. The modied NewtonRaphson method is adopted for nonlinear dynamic analysis of large and complex piezoelectric/elastic/control structures. A nite element code for vibration sensing and control analysis of nonlinear active piezoelectric structronic systems is developed. The developed piezoelectric shell element and nite element code are validated and then applied to control analysis of exible electro-elastic (piezoelectric/elastic) structural systems. Vibration control of constant-curvature electro/elastic beam and plate systems are studied. Time-history responses of free and controlled nonlinear electro/elastic beam and plate systems are presented and nonlinear effects discussed. DOI: 10.1115/1.1640357

H.-J. Lee
Structures and Acoustics Division, NASA Glenn Research Center, Cleveland, OH 44135-3191

Introduction
Utilizing active electromechanical materials e.g., piezoelectrics, electrostrictive materials, electromagnetostrictive materials, shape-memory alloys, electro- and magneto-rheological materials, etc. in new smart structures and structronic systems transforms conventional passive elastic systems to active and adaptive smart systems, capable of self-sensing, diagnosis, control, damage compensation/repair, precision actuation, etc. This structronics technology can be applied to small-scale microelectromechanical systems, as well as to large-scale aircrafts and aerospace systems 1,2. Among the electro-active materials, piezoelectric materials are probably the most popular active material used in both sensor and actuator applications. Classical distributed sensing and control characteristics of shells and plates using segmented or spatially shaped sensors/actuators have been investigated 3. Adaptive structures with controllable shapes or surfaces often involve large deformations and, thus, the geometric nonlinearity should be considered in the design and analysis. A nonlinear theory and governing equations of piezothermoelastic shells was recently proposed 4. Based on analytical procedures and closedform solutions, static, dynamic, and control analysis of nonlinear plates and shallow spherical shells using piezoelectric actuators were recently investigated 5 8. Finite element FE development and analyses of linear piezoelectric and piezoelastic coupled electro/elastic structures have been carried out over the years 915. This study focuses on development of a new FE technique and design tool for static, dynamic, and control analyses of nonlinear piezoelectric/elastic coupled nonlinear electro/elastic structures. FE modeling and active vibration control of nonlinear electro/elastic piezoelectric laminated plates and beams based on a new generic curved triangular piezoelectric shell element are investigated. Dynamic system and control equations are derived and
Contributed by the Technical Committee on Vibration and Sound for publication in the JOURNAL OF VIBRATION AND ACOUSTICS. Manuscript received May 2002; Revised May 2003. Associate Editor: J. A. Wickert.

solution procedures discussed. Static, dynamic, and control analyses of electro/elastic piezoelastic beams and plates subjected to nonlinear deformation are studied.

Total Lagrangian Virtual Work Equations

In this study, it is assumed that the nonlinear piezoelectric/ elastic or piezoelastic laminates are exposed to a displacement eld and an electric eld induced control action. To assure high accuracy and stability of FE solutions of geometrically nonlinear structures, the incremental analysis method is adopt in the analysis 16, which is to determine the static and kinematic variables, such as stresses, strains, displacement and velocity, in the equilibrium equations in a series of discrete time 0, t ,2 t , . . . This method assumes that the solutions in the congurations from the initial conguration 0 Z at the initial time to the conguration t Z at time t are known. And the values in an unknown neighboring conguration t t Z at a later time ( t t ) are then determined from these known solutions 17. For structural problems with both geometric and material nonlinearity, the total Lagrangian and the updated Lagrangian formulations are used to derive the governing equations. In practice, numerical effectiveness determines the choice of either the total Lagrangian formulation or the updated Lagrangian formulation 17. For largely deformed structures with small strains, the total Lagrangian formulation is adopted in this study. On the other hand, for structures with both geometric and material nonlinearities, the updated Lagrangian formulation can be utilized 16. FE formulations of geometrically nonlinear piezoelastic structures can be derived based on the virtual work principle discussed next. Let t u i , t , t t u i , and t t be the displacements and electric potential of any point respectively corresponding to the congurations t Z and t t Z at time t and ( t t ). Then, the incremental displacement u i from the previous conguration t Z to the current conguration t t Z can be written as u i t t u i t u i . The virtual work functional in the displacement and electric eld can be written as JANUARY 2004, Vol. 126 63

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tt

T i j t t S i j t t dV t t W u , D i t t E i t t dV t t W ,

(1)

tt

V tt

tt

Q ds ,

(10)

SD

(2)

where t t T i j , t t S i j , t t D i , and t t E i ( i , j 1,2,3) are the stress, strain, electric displacement and electric eld, respectively; tt W u and t t W are the virtual work of external mechanical load and electric load, respectively; V is the volume of the piezoelectric continuum. The linear piezoelectricity theory is adopted in this study and the piezoelectric material is assumed class mm2 3,18. Note that the left superscript denotes in which conguration these variables are. In this case, for example, the variables above are in the current conguration t t Z . The increments in stresses T i j , electric displacements D i , strains S i j , and electric elds E i from the previous conguration t Z to the current conguration t t Z are dened as T i j ttT i j tT i j , D i Si j
tt tt

where u k ( k 1,2,3) and are the variation of the current displacement component t t u k and electric potential t t ; tt f k and t t f bk are the surface force component and the body force component, respectively; t t u k are the components of acceleration, respectively; t t Q is the surface charge; is the material mass density; and S T and S D are the boundary surfaces specied by the surface force t t f k and charge t t Q . Note that the subscripts T and D denote the specied elastic force and charge, respectively. Finite element formulations of nonlinear piezoelectric shell structures and control can be derived based on the virtual work functional in Eqs. 7 and 8, and they are presented in the next section.

Piezoelectric Finite Element Formulations

The general procedures of the FE method need to divide a continuum into a number of nite elements using imaginary lines or surfaces and to choose a set of functions dening the eld variables within each nite element via nodal variables. Assuming that within every element the displacement vector t u and the electric potential t in the conguration t Z can be written as
t

(3a) (3b) (3c) (3d)

D i D i ,
t

Si j Si j ,
t

E i ttE i tE i .

The incremental strains comprise of linear and nonlinear components S ij and S inj which can be written in term of the incremental displacements u i as 1 S ij u i , j u j , i t u k , i u k , j t u k , j u k , i , 2 1 S inj u k , i u k , j . 2
t

u Nu t U, u Nu U,

(11a) (11b) (11c) (11d)

(4a) (4b)

N t , N ,

Note that the right superscript and n denote linear and nonlinear components, respectively. Substituting Eqs. 3a, 3b, 3c, 3d and 4a, 4b, one can rewrite Eqs. 1 and 2 as

T i j S i j dV

T i j S inj dV t t W u

D i E i dV t t W

T i j S ij dV , (5) (6)

D i E i dV .

Note that the nonlinear equilibrium Eqs. 5 and 6, when employed in dynamic analysis, would be very time consuming, if not computationally infeasible. Using the approximations T i j c i jkl S kl e i jm E m , D i e i jk S jk i j E j , and S i j S ij , one can obtain as approximate nonlinear equilibrium Eqs. 5 and 6

where u and are incremental displacement vector and incremental electric potential; t U and t are nodal displacement vector and nodal electric potential in the conguration t Z ; U and are incremental displacement vector and incremental nodal electric potential, respectively; Nu and N are the matrices of displacement and electric potential interpolation function. Note that the stress, strain, electric displacement and electric eld in Eqs. 3a, 3b, 3c, 3d can be further expressed in terms of the nodal displacement and electric potential in Eqs. 11a, 11b, 11c, 11d. Then the virtual work Eqs. 7 and 8 can be discretized in terms of nodal displacement and electric potential accordingly. If only one element is concerned, for simplication, one can write the element virtual work functional in matrix notation by substituting Eqs. 11a, 11b, 11c, 11d into Eqs. 7 and 8.
t n t tt t K Muu t t U Fu t Fu , uu Kuu U Ku t t tt K F t F , uU K

(12) (13)

c i jkl S kl S ij dV

ttW u

i j E j E i dV

e i jm E m S ij dV

T i j S inj dV (7)

T i j S ij dV ,

tt e i jk S W jk E i dV

D i E i dV , (8)

where c i jkl , e i jm , and i j ( i , j , k , l , m 1,2,3) are the elastic moduli, piezoelectric coefcients, and dielectric coefcients, respectively. The virtual work of the elastic force and electric force can be further expressed as
tt

W u

tt

f k u k ds

ST

k u k dV , t t f bk t t u (9)

are the incremental nodal displacement and accelwhere U and U eration vectors, respectively; is incremental nodal electric po tential; t Kxy where x & y u , and denotes or n which represents the linear term and the nonlinear term, respectively are the stiffness matrices dened for the displacement and electric eld; Muu is the mass matrix; t t Fu and t Fu are the external mechanical excitation vectors; t t F and t F are the electric ext n t tt citation vectors; Muu , t K Fu , t Fu are obuu , Kuu , Ku , tt u k u k dV , V c i jkl S kl S i j dV , V t T i j S inj dV , tained from V V e i jm E m S i j dV , S T t t f k u k ds V t t f bk u k dV , t t tt V T i j S i j dV , respectively; and t K F , t F are u , K , tt derived from V e i jk S jk E i dV , V i j E j E i dV , S D Q ds , V t D i E i dV , respectively. Detailed denitions of the element matrices are presented in the next section. If damping is considered, one can write a Rayleigh damping approximation as Cuu Muu 0 K uu , (14)

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i i U i N u U , i i i N ,

(16a) (16b)

where U and are the displacement vector and electric po ( i ) and ( i ) are the displacetential of any node on the i -th layer; U ment and electric potential of the i -th and ( i 1)-th interfaces along the curvilinear coordinate axes; is a transverse coordinate dened for the i -th layer. The surface-parallel displacement and electric potential can be expressed as
(i) (i)

i Nu 1 , 2 U i , U i N 1 , 2 i ,
(i) (i)

(17a) (17b)

Fig. 1 A laminated piezoelectric shell element

where U and are the nodal displacement and nodal electric potential of the element; Nu and N are the quadratic shape functions dened by coordinates 1 and 2 . Element Stiffness Matrices and Balanced Force Vector From Eq. 3, the incremental strains and electric eld can be written in a vector form as S t t S t S, E
tt

where and are the coefcients of proportionality for the mass and elastic stiffness matrices, respectively. Note that the damping ratios can be exactly determined if two modes e.g., modes m and n are specied. The damping ratios in the unspecied modes can be calculated based on modes m and n. A least square solution can be used to calculate these two coefcients if damping ratios are specied in more than two modes 19,20. Assembling all the element matrices, one can write the system equations in a compact matrix form

(18a) (18b)

E E,
t

Muu 0

0 0

Cuu U tt 0
t

tt

0 0
Ku t K

where S, E are incremental strain and electric eld vector, respectively; t S, t t S, t E and t t E are strain and electric eld vectors at time t and ( t t ), respectively. Substituting Eqs. 16a, 16b and 17a, 17b into Eq. 18a, 18b, one can write the incremental strains of the i -th layer in terms of nodal variables of the element in a matrix form as S Bu U, E B (19a) (19b)
T T

t n K uu Kuu t K u

U tt

tt

tt

Fu t Fu tt F t F . (15)

where S S 11 , S 22 , S 33 , S 12 , S 13 , S 23 , E E 1 , E 2 , E 3 ; Bu and B are the generalized strain shape function; U, are the same as dened previously. Since the strains have the linear and nonlinear components, correspondingly, Bu can also be expressed as
0 1 n Bu B u Bu Bu ,

Piezoelectric Shell Element

A general curved triangular laminated nonlinear piezoelastic shell element using the layerwise constant shear angle theory is derived, which is used for modeling and analysis of piezoelastic structures with geometrical nonlinearity. The new nite element is a 12-node piezoelectric shell element with triangular geometry shown in Fig. 1. Six nodes are located on the three lines of the upper surface and the other six nodes are located on the three lines of the lower surface of the triangular element. Its nodal arrangements are illustrated in Fig. 1. Each node is associated with four degrees of freedom DOF. The four DOFs are: u 1 -the displacement component in the 1 -direction, u 2 -the displacement component in the 2 -direction, u 3 -the displacement component in the 3 -direction, and -the electric potential. Contrary to the degenerated shell elements, the general material laws are used; the kinetic and geometric variables are easily interpolated for this shell element; no transition elements are needed when the structure including both solid and thin-walled regions; and the complication on handling nite rotational increments can be avoided 21. However, it should be pointed out this element suffers from not only shear and membrane locking which bother the degenerated shell elements, but also dilatational, trapezoidal, and thickness locking 22,23. Various compensations were proposed to avoid these locking and systematic development of locking-free shell element formulations for linear and nonlinear analyses is well addressed 24 26. Also note that without the electric potential degree of freedom, this element is similar to the 12-noded wedge element which has difculties in modeling rigid body modes 27. Under the assumption of the layerwise constant shear angle theory, for an arbitrary layer i, the displacements and electric potential can be written as Journal of Vibration and Acoustics

(20)

0 where B u is the strain shape function of ( u i , j u j , i )/2 which re1 lates to the linear strain components independent to time; B u is t t the strain shape function of 1/2( u k , i u k , j u k , j u k , i ) which relates to the linear strain components depending on time; Bn u is the strain shape function of S inj which relates to the nonlinear strain components. Note that right superscript 0 and 1 denote the usual small strain part and the linear strain part related to the conguration t Z . It is obvious that B 0 is conguration-independent, while B 1 is dependent on the conguration t Z . Thus, t K uu can be divided into two parts: t t 0 t 1 K uu Kuu Kuu ,

(21)

the usual small displacement or incremental stiffness matrix, 1 K uu is the initial displacement matrix, since it is induced by the initial displacement t u i . The initial stress or the geometric stiffness matrix t Kn uu is
t

0T t 0 t 0 where Kuu V t B u c Bu dV, T 1 t 1T t 1 t 0 V t B u c Bu dV V Bu c Bu dV.

0T t 1 t 1 Kuu V t B u c Bu dV 0 It is known that t K uu is

Kn uu

t t n Bn u T Bu dV,

(22)

where t T is the second Piola-Kirchhoff stress matrix which can be written as

t

t t

T 11 T 12 0

t t

T 12 T 22 0
t

0 0 T 33

(23)

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 Other stiffness matrices related to the electric eld are t Ku T T t t t t t t V t B u e B dV and K V B B dV, and K u Ku . The balanced mechanical force can be expressed as t

Fu

0 t 0 t t B u Bu TdV ,

(24)

is the second Piola-Kirchhoff stress vector dened in where t T conguration t Z . Note that the forgoing element matrices are easily calculated provided that the strain shape functions Bx ( x u , ) and material coefcient matrices c, e, and are obtained.

Fig. 2 A cantilever single-layered beam

Nonlinear Solution Algorithm

The dynamic equilibrium equation for a piezoelectric system in Eq. 15 can be simplied into a standard form C ttU t K t Kn U t t P t F, Mt t U
tt

tromechanics, piezoelectricity, geometric nonlinearity, control, etc. and the nonlinear solution algorithms is developed and applications are presented in case studies.

Case Studies
To validate the new FE code and its multi-eld coupling/control capability, conventional static and dynamic analyses of nonlinear elastic beams and plates are compared with published data, followed by control of nonlinear piezoelastic beams and plates with distributed piezoelectric actuators. Case 1-Cantilever Single-layered and Piezoelastic Beam. Two cantilever beams, i.e., a single-layered beam and a laminated piezoelectric beam, as shown in Figs. 2 and 3, are studied in this case. Static analysis and comparison are carried out rst, followed by dynamic analysis and control of large deections by piezoelectric actuator layers. Geometry and material properties are outlined in Table 1. Note that the polyvinylidene uoride PVDF lm is thin and exible and its effects to static deections and dynamic/ control analyses are considered. Static Analysis. A uniformly distributed surface load is applied to the top surface of the beam. Figure 4 shows the tip static deections of the beam at different load levels. Note that nondimensional load coefcient F 0 FL 3 / Y I is used, where I is area moment of inertia of beam cross-section, F is the load, and L and Y are previously dened in Table 1. The deection ratio U 3 / L is used and U 3 is the transverse deection. Present nonlinear FEM solutions are compared with published nonlinear and linear results 29 and favorable comparison with the published nonlinear data is observed. The nonlinearity effect stiffens the beam, as also observed. For comparison, the static deection with data of the piezoelectricelastic beam Fig. 3 marked * is also provided

(25)

and t t U where U is the incremental displacement vector; U t t n are the velocity and acceleration vectors; K and K are the linear and nonlinear stiffness matrices; M is the mass matrix; C is the damping matrix; t t P and t F are the external load vector and the balanced force vector, respectively. Accuracy with the incremental solution procedure requires the use of a small time step since the nonlinear stiffness changes over the time increment are ignored. Improved accuracy can be achieved by modifying Eq. 25 to calculate the iterative displacement U( k ) . One iterative solution methodology is the modied Newton-Raphson iteration, i.e., k C ttU k t K t Kn U k t t P t t F k , M ttU (26) where k is the iteration number. Note that t K and t Kn are constant during the time iteration calculation. The incremental/iterative displacements and balanced force vectors are updated as
tt

U k t t U k 1 U k t U U k , U 0 0, F t t F k 1 F k t F F k ,
tt 0

(27) (28) (29) (30)

tt k

F F,
t

where is iterative change. The acceleration and velocity used in the Newmarks temporal discretization for the modied NewtonRaphson iteration are 28
tt

k U

1 tt k t 1 t 1 t 1 , U U U U 2 t t 2 (31a)

tt

k U

tt k t t t t 1 . U U 1 U U t 2
(31b)

Substituting Eq. 31a, 31b into Eq. 26 gives

t

KU k t t P t t F k ,

(32)
Fig. 3 A cantilever laminated piezoelastic beam Table 1 Geometry and material properties Properties Length L m Width b m Height h , h s m Youngs modulus Y Pa Poissons ratio Piezoelectric constant d 31 C/N Electric permittivity F/m Elastic Material 0.1 0.01 0.01 1.2 108 0.2 PVDF 0.1 0.01 9.0 10 6 2.0 109 0.29 2.2 10 11 1.062 10 10

1 M where K C t K t Kn , t2 t t 1 t 1 1 t tt tt tt k P P M U U 1 U 2 U t t 2
t

t t t t . C 1 U U t t U k 1 U t 2

The convergence of the iteration scheme of Eq. 26 could follow the out-of-balance load criterion and incremental internal energy criterion 17. A new FE code incorporating the coupling of elec66 Vol. 126, JANUARY 2004

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Fig. 4 Tip static deections of single-layeredlaminated piezoelastic beams

Fig. 6 Controlled transient response of the piezoelastic beam Load 2 Nm2

in Fig. 4. The reduced deection of the laminated piezoelastic beam is introduced by a higher stiffness due to the added piezoelectric layers see Table 1. Dynamic and Control Analyses. To better illustrate the control effect, a new cantilever piezoelectric laminated beam is studied to investigate the dynamic and control behaviors. Geometry and material properties are provided in Table 2. It is assumed that the structure is undamped. A uniform surface step-load with a magnitude of 45 N/m2 is applied on the top surface of the beam. Time step is set to be 2.0 10 3 second. Figure 5 shows the linear/ nonlinear transient responses and the nonlinear effect is to reduce

the oscillation magnitude and period, due to the stiffening effect. Vibration control induced by the piezoelectric layer is evaluated next. Following the procedures, three other surface step-loads with magnitudes 2 N/m2, 10 N/m2 and 20 N/m2, are applied to generate low, median, and high nonlinearities of the piezoelastic beam. The negative velocity proportional control method is used in vibration control and the control gain is set to be 3.0. Figure 6, 7 and 8 show the controlled transient responses of the three load levels and the control effects are signicantly different for these three load cases. Under the same control condition except the load level, the control effect reduces at increased load level, since the beam stiffens due to the increased nonlinearity. Case 2-Simply Supported Laminated Piezoelastic Plate. Linear dynamic response analysis of a simply supported rectangular single-layered elastic plate has been studied 30,31. Figure 9 illustrates the simply supported rectangular plate with piezoelectric control layers. Note that only the elastic plate is analyzed in Dynamic Analysis and the piezoelastic plate in Control Analysis in this section. Geometry and material properties of this elastic plate are provided in Table 3 and the structure is assumed undamped. A step-function load with a magnitude of 44.54 N is applied to the plate center and a 1/4 of the plate is modeled by (6 4) meshes. Note that each mesh includes two triangular el-

Table 2 Geometry and material properties Properties Length L m Width b m Height h , h s m Youngs modulus Y Pa Poissons ratio Mass density kg/m3 Piezoelectric constant d 31 C/N Electric permittivity F/m Elastic Material 0.2 0.02 2.0 10 3 2.0955 108 0.25 3.21005 103 PVDF 0.2 0.02 9.0 10 6 2.0 109 0.29 1.8 103 2.2 10 11 1.062 10 10

Fig. 5 Linearnonlinear transient responses of the cantilever beam

Fig. 7 Controlled transient response of the piezoelastic beam Load 10 Nm2

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Fig. 8 Controlled transient response of the piezoelastic beam Load 20 Nm2

Fig. 10 Linear transient center displacement responses of single layer plate

ements and one quarter of the plate is modeled in the FE analysis due to the symmetry of geometry, boundary condition and loading. For direct time integration, the trapezoidal scheme was employed and the time step size was 0.002 sec in previous beam analyses. In present study, the Newmark method is used and the same time step 0.002 sec is adopted. Dynamic Analysis. The linear transient center displacement response of the plate, based on the new FE code, is compared with published data as shown in Fig. 10; the nonlinear transient response is investigated and compared with the linear response as shown in Fig. 11. The nonlinear effect stiffens the structure and,

thus, it reduces the oscillation magnitude and period. Note that the difference between the linear and nonlinear responses is not signicant as compared with the case provided by 31. This may be due to different FE formulations, stress and strain denitions, FE mesh, etc. This case is then extended to control analysis of a multi-layered piezoelastic plate presented next. Control Analysis. Dynamic response and vibration control of the simply supported plate laminated with piezoelectric PVDF sensor and actuator layers are studied. Nonlinear transient response is compared with linear response as shown in Fig. 12. The nonlinear effect is to decrease the vibration magnitude and period. The magnitudes and periods of linear and nonlinear responses of the piezoelastic plate are smaller than those of the single-layered elastic plate, since PVDF stiffens the structure due to its higher Youngs modulus. Next, vibration signals generated on the sensor layer laminated on the bottom surface of the plate is amplied and injected to the actuator layer laminated on the top surface in the proportional feedback vibration control. In control analysis, different load levels are employed in order to investigate the control effects for different levels of geometric nonlinearity. The load levels are chosen to be 10N, 25N, and 44.54N respectively and the negative velocity control gain is set to be 2.0. The controlled nonlinear transient responses with different loads are plotted in Figs. 1315. With higher loads applying on the structure, relatively higher geometric nonlinearity is

Fig. 9 A simply supported rectangular plate with piezoelectric control layers Table 3 Geometry and material properties Properties Length L m Width b m Height h , h s m Youngs modulus Y Pa Poissons ratio Mass density kg/m3 Piezoelectric constant d 31 C/N Electric permittivity F/m Elastic Material 1.524 1.016 2.54 10 2 2.0955 108 0.25 3.2105 103 PVDF 1.524 1.016 2.5 10 5 2.0 109 0.29 1.8 103 2.2 10 11 1.062 10 10

Fig. 11 Linearnonlinear transient responses of the elastic plate

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Fig. 12 Linearnonlinear transient responses of the piezoelastic plate

Fig. 15 Nonlinear controlled transient response of piezoelastic plate load 44.54 N

introduced, and, thus, the structure becomes stiffer. Since the rst frequency dominates, it increases as the applied load increased. Furthermore, since the rst two frequencies come closer as the load increased, the beat phenomenon appears in the responses,

Figs. 14 15, and the beat phenomenon becomes more signicant at a higher load, Fig. 15, due to increased geometric nonlinearity.

Summary and Conclusion

High-performance adaptive structures and structronic systems capable of shape adaptation often involve large deformations beyond the boundary of linear theory, which should be classied as geometrically nonlinear structures. This study is to address 1 development of a new FE design tool, 2 validation of the FE tool, and 3 static, dynamic, and control analyses of nonlinear piezoelectric laminated structuresthe electro/elastic structronic systems. A new generic nonlinear FE formulation for vibration sensing and control analysis of laminated electro/elastic nonlinear shell structures was derived based on the virtual work principle, followed by formulation of a new generic curved triangular piezoelectric shell element and the dynamic system matrix equations encompassing the multi-eld coupling of geometric nonlinearity, structural elasticity, mechanical inputs, electric potentials, distributed sensing, feedback control forces, control algorithms, etc. Nonlinear dynamic analysis and control of large and complex piezoelectric/elastic/control structures was carried out using the modied Newton-Raphson method. The newly developed piezoelectric shell element and nonlinear FE analysis/design code were validated and compared favorably with available static/dynamic solutions. Then, static and dynamic responses of nonlinear electro/elastic piezoelectric structures were analyzed and compared with the original nonlinear elastic structures. The geometrical nonlinearity induced stiffening effect clearly shows in these static and dynamic responses. Furthermore, control of exible electro-elastic piezoelectric/elastic structural systems beams and plates subjected three levels i.e., low, median, and high of nonlinearity was evaluated. The control effects are signicantly different for these three load cases, due to their respectively induced nonlinearity. Under the same control condition except the load level, the control effect reduces at increased load level, since the beam/plate stiffens due to the increased nonlinearity.

Fig. 13 Nonlinear controlled transient response of piezoelastic plate load 10 N

Acknowledgment
This research is supported, in part, by a grant F49620-98-10467 from the Air Force Ofce of Scientic Research Project Manager: Brian Sanders and, in part, by a NASA fellowship. These supports are gratefully acknowledged. JANUARY 2004, Vol. 126 69

Fig. 14 Nonlinear controlled transient response of piezoelastic plate load 25 N

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