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 Smart Materials and Structures

Smart Mater. Struct. 31 (2022) 125010 (19pp) https://doi.org/10.1088/1361-665X/ac9e2b

An impedance-based pole-zero method

for estimating complex material
parameters of piezoceramic plates
Shuai Cong1,2, Sau-Lon James Hu3,∗ and Hua-Jun Li4
1
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200040, People’s
Republic of China
2
Institute of Polar and Ocean Technology, Institute of Marine Equipment, Shanghai Jiao Tong University,
Shanghai 200040, People’s Republic of China
3
Department of Ocean Engineering, University of Rhode Island, Narragansett, RI 02882-1197, United
States of America
4
Shandong Provincial Key Lab of Ocean Engineering, Ocean University of China, Qingdao 266100,
People’s Republic of China

E-mail: jameshu@uri.edu

Received 3 May 2022, revised 20 August 2022

Accepted for publication 27 October 2022
Published 9 November 2022

Abstract
Precisely determining complex-valued elastic, piezoelectric, and dielectric parameters of
piezoceramic plates has been a challenging problem. Given measured impedance functions
(MIFs), this study develops a pole-zero finite element model updating (FEMU) method for
determining sensitive complex material parameters (CMPs) associated with k31 -mode and
k33 -mode piezoceramic plates. The proposed method includes two novel aspects: (a) extracting
complex-valued poles and zeros, which are related to the eigenvalues of short- and open-circuit
FE models, respectively, from MIFs, and (b) developing a sensitivity-based FEMU method to
update the CMPs based on the measured poles and zeros. In the numerical studies, both
computer simulations and lab experiments are carried out to demonstrate the excellent
performance of the developed method.
Keywords: complex material parameters, piezoceramic plates, finite element, model updating

(Some figures may appear in colour only in the online journal)

1. Introduction extracted from MIFs, this study develops an iterative finite

The elastic, dielectric and piezoelectric parameters of piezo-
ceramics have often been given as complex-valued material
parameters (CMPs), of which the real and imaginary parts
are the physical coefficients and loss factors, respectively [1].
Unfortunately, CMPs provided by the manufacturers have
usually been incomplete or inaccurate; thus, much effort has
been devoted to correcting these parameters by using meas-
ured impedance functions (MIFs). Based on poles and zeros
∗
Author to whom any correspondence should be addressed.
element model updating (FEMU) method to correct sensitive
CMPs of k31 -mode and k33 -mode plates.
Various methods developed for identifying CMPs can
be roughly classified into two categories: finite element-
based (FE-based) and non-FE-based methods. Whereas non-
FE-based methods often formulate analytical relationships
between CMPs and MIFs, FE-based methods must build an FE
model based on nominal material values initially, then update
them using measurements. An early non-FE-based method
can at least be traced back to [2] (1976). Since then, several
non-FE-based methods, based on different one-dimensional
vibration models, such as thickness extensional mode, length

1361-665X/22/125010+19$33.00 Printed in the UK 1 © 2022 IOP Publishing Ltd

Smart Mater. Struct. 31 (2022) 125010 S Cong et al

extensional mode, radial mode, etc have been developed 2.1. Constitutive equations of piezoceramics
for various piezoelectric transducers, including disks [3–11],
Using the IEEE notation convention, the constitutive equations
bars [12–16] and plates [17–23]. On the other hand, if the
of piezoelectric materials are expressed in the so-called e-form
geometry of a piezoelectric sample must consider the coup-
as [39]
ling among different vibration modes, a two-dimensional or
three-dimensional FE model has usually been employed to T = cE S − et E (1)
identify CMPs [11]. Among FE-based approaches for evalu-
ating the CMPs of piezoceramic disks, Lahmer [24] proposed
a method using both impedance and displacement measure- D = eS + εS E (2)
ments. Perez [25, 26] presented a two-step methodology that
involved a global optimization technique to obtain all CMPs where T ∈ R6×1 is a mechanical stress vector, S ∈ R6×1 strain
using a broadband impedance curve. Kiyono [27] presented a vector, E ∈ R3×1 electric field vector, D ∈ R3×1 electric dis-
method to find accurate CMPs by simultaneously adjusting the placement vector, cE ∈ R6×6 elastic stiffness matrix evaluated
real and imaginary parameters in a wide frequency range, with at constant electric field, e ∈ R3×6 piezoelectric stress matrix
a gradient-based optimization algorithm. Several articles also and εS ∈ R3×3 dielectric matrix evaluated at constant mech-
developed FE-based methods for a variety of piezoceramic anical strain. Throughout this paper, the superscript ‘t’ stands
transducers; however, they were constrained to updating real- for the transpose operation.
valued physical parameters [28–34]. Alternatively, the constitutive equations can also be written
To distinguish from a general FE-based method, an iter- in the so-called d-form:
ative FEMU method is strictly defined as an approach that S = sE T + d t E (3)
its iteration is to modify the system matrices directly based
on the updated parameters, instead of going through a tedi-
ous process of inputting them to rebuild an FE model. While D = dT + εT E (4)
many articles have developed iterative FEMU methods for
civil and mechanical systems [35], it seems that only one where sE ∈ R6×6 is elastic compliance matrix evaluated at con-
FEMU method, updating real-valued physical parameters, was stant electric field, d ∈ R3×6 piezoelectric strain matrix and
developed for piezoceramic transducers [36]. At present, there εT ∈ R3×3 dielectric matrix evaluated at constant stress.
is no FEMU method available for estimating CMPs of a piezo- Converting from the d-form to the e-form shows
ceramic transducer.
−1
While using the MIF of a k31 - or k33 -mode piezoelectric cE = sE (5)
plate, this paper develops an FEMU method for determin-


ing the sensitive CMPs of the plate. The proposed method e = d cE (6)
includes two major parts: (a) extracting a pair of pole and
zero associated with the plate from an MIF, which involves and
taking the inverse Fourier transform (IFT) of the MIF and its
reciprocal to get the corresponding signals, and carrying out εS = εT − edt . (7)
the Prony-SS method [37] to decompose these signals, and (b)
Note that both real-valued and CMPs satisfy the conversion in
employing a sensitivity-based model updating method [38] to
equations (5)–(7). As this paper considers the material para-
update the sensitive CMPs based on the extracted poles and
meters to be complex-valued, the d-form CMPs are commonly
zeros.
expressed as [1]
Both computer simulations and lab experiments, including
∗
both k31 - and k33 -mode piezoceramic plates, are employed to sE = sE (1 − j tan ϕ) (8)
test and verify the proposed method. While the computer sim-
ulation studies are for illustrating the detailed procedure and
demonstrating the effectiveness of the proposed method, the d∗ = d(1 − j tan θ) (9)
laboratory study is for evaluating the performance of the prac-
tical implementation of the proposed method. ∗
εT = εT (1 − j tan δ) (10)
√
where j = −1. In this paper, parameters with a superscript
2. Preliminaries ‘∗’ indicate they are complex-valued quantities.
For the polarized piezoceramic lead zirconate titanate
This section reviews background materials that are crucial to (PZT) material, which belongs to the 4 mm (C4V) crystal
this article, including constitutive equations of piezoceram- class, there are ten independent material parameters [40],
∗ ∗ ∗ ∗
ics, FE models of piezoceramic transducers, and poles/zeros including five elastic constants sE11 ∗ , sE12 , sE13 , sE33 , and sE44 ; two
∗ ∗
of transducers. Throughout the article, matrices and vectors dielectric permittivities εT11 and εT33 ; and three piezoelectric
are denoted by boldface letters. constants d∗31 , d∗33 , and d∗15 .

2
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

2.2. FE models of piezoceramic transducers In essence, getting equation (16) from equation (15) amounts
to performing a static condensation to eliminate the degree of
The equations of motion for a piezoceramic transducer built
freedom associated with Φi . The eigenvalue problem associ-
from an FE procedure can be written as [28]
ated with equation (16) is expressed as
    ∗ 
M 0 0 Ü KUU K∗UΦi K∗UΦp (K∗sh − λis M) φsi = 0 (18)
 0 0 0   Φ̈i  +  K∗Φ U K∗Φi Φi K∗Φi Φp 
i
0 0 0 Φ̈p K∗Φp U K∗Φp Φi K∗Φp Φp where λsi and φsi are the ith eigenvalue and eigenvector,
    respectively, of the short-circuit FE model.
U F
×  Φi  =  0  (11)
Φp Qp 2.2.3. Open-circuit model. By definition, an open-circuit
condition corresponds to zero charge, i.e. Qp = 0 [39]. Follow-
where U represents the displacement vector, Φi and Φp the ing a similar procedure, one can write the eigenvalue problem
electric potential associated with electroded (subscript ‘p’) and for an open-circuit model as
internal (subscript ‘i’) DOFs , M the mass matrix, K∗UU the dis-


placement stiffness matrix, K∗UΦi , K∗UΦp the piezoelectric ‘stiff- K∗op − λoi M φoi = 0 (19)
ness’ matrices, K∗Φi Φi , K∗Φi Φp , K∗Φp Φp the dielectric ‘stiffness’
matrices, F the mechanical loading vector, Qp the electric where
charge on the electrodes. Note that as no external charges can −1
be imposed on the internal nodes, their corresponding charges K∗op = K∗UU − K∗UΦ KΦΦ
∗
K∗ΦU (20)
are always zeros [41]; and the stiffness matrices formulated by
CMPs are complex-valued, denoted with the superscript ‘∗’. and λoi and φoi are the ith eigenvalue and eigenvector, respect-
ively, of the open-circuit FE model. Note that K∗op is a
condensed electro-elastic stiffness matrix that eliminates all
2.2.1. Hysteretic mechanical model. A pure mechanical degrees of freedom associated with Φ.
model is to remove the electrical DOFs. As a result,
equation (11) is reduced to
2.3. Poles and zeros of transducers
MÜ + K∗UU U =F (12) In this paper, functions depending on time t are in lower
cases, their Fourier transforms on ω denoted by the same cap-
and the corresponding eigenvalue problem is expressed as ital letters, and their Laplace transforms on s denoted by the
same lower case letters with a tilde. For example, X(ω) and
(K∗UU − λi M) φi = 0 (13)
x̃(s) denote the Fourier transform and Laplace transform of
where λi and φi are the ith eigenvalue and eigenvector, x(t), respectively. Let the admittance and impedance functions,
respectively. As K∗UU is a complex stiffness matrix, the system which are defined in the frequency domain, be denoted as Y(ω)
is a so-called hysteretically damped system. For an N-DOF and Z(ω), respectively. By definition,
system, there are N distinct complex eigenvalues λi and cor- V(ω) V(ω) 1
responding complex eigenvectors φi . The eigenvalue λi has Z(ω) = = and Y(ω) = (21)
I(ω) jωQ(ω) Z(ω)
been often expressed in terms of the natural frequency ω i and
hysteretic damping ratio η i as [42]: where V(ω), I(ω), and Q(ω) are the voltage, current, and
charge functions, respectively. Their corresponding counter-
λi = ωi2 (1 + jηi ). (14) parts ỹ(s) and z̃(s) are defined as:

2.2.2. Short-circuit model. The definition of a short-circuit ṽ(s) ṽ(s) 1

z̃(s) = = and ỹ(s) = . (22)
model is that the electrical potentials on the electrodes are ĩ(s) sq̃(s) z̃(s)
zero, i.e. Φp = 0. From equation (11), its equation of motion
becomes Note that Z(ω) = z̃(jω). The complex-valued poles and zeros
of a piezoelectric device is referring to ỹ(s), having its pole-
    ∗    
M 0 Ü KUU K∗UΦi U F zero form as
+ = .
0 0 Φ̈i K∗Φi U K∗Φi Φi Φi 0 Q(N−1)
(15) s (s − zn ) (s + zn )
ỹ(s) = k QnN=1 (23)
In turn, equation (15) is reduced to [43] n=1 (s − pn ) (s + pn )

MÜ + K∗sh U = F (16) where k is a constant. Note that the roots of the denominator of
ỹ(s) are poles pn , which correspond to ṽ(s) = 0, a short-circuit
where condition. Theoretically, pn is related to an eigenvalue λsn of
−1
the short-circuit model as p2n = −λsn . Likewise, the roots of the
K∗sh = K∗UU − K∗UΦi K∗Φi Φi K∗Φi U . (17) numerator of ỹ(s) are zeros zn , which correspond to ĩ(s) = 0,

3
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

an open-circuit condition, and zn is related to an eigenvalue

λon of the open-circuit model as z2n = −λon . For an undamped
system, poles and zeros become the resonant and anti-resonant
frequencies, respectively.

3. Extracting poles and zeros from impedance

functions

As the proposed method is to match the poles and zeros extrac-

ted from MIFs with their counterparts based on FE models,
an effective and accurate way to extract poles and zeros from
MIFs is necessary. Throughout this article, measured quantit-
ies are explicitly distinguished with a prime, such as an MIF
Z ′ (ω).

3.1. Extracting poles Figure 1. Extract poles µn = pn′ from a measured impedance
function Z ′ (ω).
′
A schematic flowchart of extracting poles from a Z (ω) is
shown in figure 1, which includes the following three sequen-
tial tasks: (1) taking the reciprocal of Z ′ (ω) to get Y ′ (ω), (2)
conducting the IFT of Y ′ (ω) to get the corresponding y ′ (t),
and (3) decomposing y ′ (t) into a complex exponential form
by using the Prony-SS method [37]

X
2N
y ′ (t) = cn exp (µn t) (24)
n=1

where N is the number of decomposition terms; cn and µn are

complex constants. In step (2), for getting a physically real-
izable real-valued signal y ′ (t), it requires Y ′ (−ω) be Ȳ ′ (ω)
where ‘¯’ denotes the complex conjugate operation [44]. Tak-
ing the Laplace transform of equation (24), one has the pole- Figure 2. Extract zeros νn = zn′ from a measured impedance
residue form of ỹ ′ (s) as function Z ′ (ω).

X
2N
cn where N is the number of decomposition terms; dn and ν n are
ỹ ′ (s) = . (25)
s − µn complex constants. In turn, the pole-residue form of z̃ ′ (s) is
n=1

Clearly, µn are the poles of ỹ ′ (s). In other words, µn are the X

2N
dn
extracted poles, i.e. µn = pn′ . z̃ ′ (s) = . (27)
s − νn
n=1

3.2. Extracting zeros

While ν n are the poles of z̃ ′ (s), they are also the extracted zeros
As shown in equation (23), zeros are the roots of the numerator of ỹ ′ (s), namely νn = zn′ .
of ỹ(s); thus, they are also the poles of z̃(s), the reciprocal of
ỹ(s). Indeed, extracting zeros of ỹ(s) can be proceeded simil-
arly as extracting the poles of z̃(s). A flowchart to extract zeros 4. Model updating of k31 -mode plates
from Z ′ (ω) is given in figure 2, which includes the following ∗

two sequential tasks: (a) conducting the IFT of Z ′ (ω) that has Although there are 10 CMPs for a PZT material, only sE11 , d∗31
∗

been imposed with Z ′ (−ω) = Z̄ ′ (ω) to get the corresponding and εT33 are sensitive to a k31 -mode plate (see figure 3) [45].
real-valued z ′ (t), and (b) decomposing z ′ (t) into a complex Actually, these three parameters define electromechanical
exponential form by using the Prony-SS method coupling coefficient k∗31 [39]

s
X
2N
d∗31
2

z ′ (t) = dn exp (νn t) (26) k∗31 = ∗ ∗ . (28)

n=1
sE11 εT33

4
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 3. k31 -mode piezoceramic plate.

∗
In parallel to equations (3) and (4), the reduced constitutive In the implementation of the proposed FEMU method, sE12 is
equations become treated as a known quantity; consequently, α is only affected
∗ ∗ ∗
   E∗   by sE11 . Conversely, if cE11 is given, sE11 can be computed, using
S1 s11 d∗31 T1 equation (30), as
= ∗ . (29)
D3 d∗31 εT33 E3 ∗ ∗ p ∗ ∗ ∗ ∗
E∗ 1 − cE11 sE12 + (3cE11 sE12 )2 + 2 cE11 sE12 + 1
s11 = ∗ . (34)
2 cE11
4.1. Assumptions of the d-form parameters for the FE model
∗
Besides the three sensitive parameters to be updated, the val- Given d∗15 = d∗33 = εT11 = 0, along with equation (32), from
∗
ues of the other seven parameters can be freely chosen as equations (6) and (7), one obtains e∗15 = εS11 = 0,
long as they do not violate physics. On its numerical imple- ∗ ∗ ∗
εS33 = εT33 − 2d∗31 cE11 (1 + α)
2

mentation, this study assumes the material to be isotropic as (35)

∗
the only elastic parameter required to be updated is sE11 , and
∗
d∗15 = d∗33 = εT11 = 0. As a result, the material properties of the ∗
e∗31 = d∗31 cE11 (1 + α) (36)
FE model are fully characterized by three sensitive paramet-
∗ ∗
ers, sE11 , d∗31 , and εT33 , together with an insensitive parameter and
∗
sE12 , which can be chosen based on the manufacturer’s sheet ∗

and treated as a known quantity. While the goal is to update e∗33 = 2d∗31 cE11 α (37)
these three d-form sensitive parameters by an FEMU method,
or
building an FE model always requires the stiffness matrices
(see equation (11)) be formulated in terms of e-form paramet- e∗33 = βe∗31 (38)
ers; thus, converting between d-form and e-form parameters is
necessary. Under the isotropic material assumption, the e-form where
∗ ∗ ∗ ∗
CMPs cE11 and cE12 can be expressed in terms of sE11 and sE12 as 2α
β= . (39)
(1 + α)
∗ ∗
∗ sE11 + sE12 ∗
cE11 = ∗ ∗ ∗ ∗ (30) Conversely, if e∗31 , cE11 and α are known, d∗31 can be obtained
(s11 − sE12 ) (sE11 + 2 sE12 )
E
from equation (36)
and e∗31
d∗31 = E∗ . (40)
∗ sE12
∗ c11 (1 + α)
cE12 = − E∗ ∗ ∗ ∗ (31)
(s11 − s12 ) (sE11 + 2 sE12 )
E
∗ ∗
4.2. Updating εT33 , sE11 and d∗31
or ∗ ∗
′
∗ ∗
Given the MIF Z31 (ω), the three sensitive parameters εT33 , sE11
cE12 = αcE11 (32) ∗
and d31 are updated through two stages: (a) the dielectric para-
∗
′
meter εT33 is estimated directly based on the value of Z31 (ω) at
where E∗
a low frequency, and (b) the elastic parameter s11 and piezo-
∗ electric parameter d∗31 are simultaneously updated through a
sE12
α=− ∗ ∗ . (33) newly proposed method, which employs the eigenvalues of
s11 + sE12
E
both short- and open-circuit models.

5
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

∗ ∗
4.2.1. Updating εT33 . Recalling equation (10) that εT33 = where the superscript ‘sh’ indicates a short-circuit model,
ε33 (1 − j tan δ33 ), for a k31 -mode plate, IEEE standard [40]
T
and the notation convention still follows that of K cEij . With
suggests εT33 be estimated as ∗
e∗15 = εS11 = 0, substituting equations (47), (49) and (50) into
equation (17) yields
d
εT33 = (41)
2πfL A|ZL | ∗
 ∗
−1
K∗sh = cE11 K ‡cE − e∗31 Ksh ∗ sh
e31 + e33 Ke33 εS33 Ksh
εS
11 33
where fL is a very low frequency in hertz near zero; ZL is the

sh t
measured impedance value at fL ; A is the area of electrode sur- × e∗31 Ksh ∗
e31 + e33 Ke33 . (51)
face; and d is the distance between two electrodes. The loss
factor tan δ33 is computed as [26] Recalling e∗33 = βe∗31 , equation (51) is simplified as
∗

tan δ33 =
Re(ZL )
. (42) K∗sh = cE11 K ‡cE + γ ∗ Ksh
γ (52)
|Im(ZL )|
11

where
∗ ∗
∗
4.2.2. Updating sE11
and d31 . To update d-form CMPs sE11
(e∗31 )
2
and d∗31 , the proposed FEMU procedure must go through the γ∗ = ∗ (53)
∗ ∗ ∗
e-form CMPs cE11 , cE12 , e∗31 and εS33 . As all elements are made εS33
of the same PZT materials, the displacement stiffness matrix
K∗UU is the sum of five submatrices: and

∗ ∗ ∗ ∗ ∗
 −1

sh t
K∗UU γ = − Ke31 + βKe33
Ksh sh sh
= cE11 KcE11 + cE12 KcE12 + cE13 KcE13 + cE33 KcE33 + cE44 K cE44 Ksh
εS Ksh
e31 + βKe33 . (54)
33
(43)
∗
Equation (52) shows K∗sh is fully characterized by cE11 and γ ∗ ,
where K cEij is the change of K∗UU
due to the unit change of cEij ; which are the two parameters to be updated intermediately in
the same submatrix notation convention throughout this article the proposed FEMU method. The update of K∗sh — throughout
applies to other material parameters as well. One can refer to this article an updated quantity is denoted with a hat ‘ˆ’ — from
[36] for how to extract those submatrices. For the isotropic equation (52) is expressed as
material, K∗UU is reduced to [36]
b ∗sh = K∗sh + δcE11∗ K ‡E + δγ ∗ Ksh
K γ (55)
∗ ∗ c
K∗UU = cE11 K †cE + cE12 K†cE
11
(44)
11 12
∗ ∗
where δcE11 and δγ ∗ denote the change of cE11 and γ ∗ , respect-
where ively. Following an iterative sensitivity-based method sum-
1 marized in appendix A, the eigenvalue sensitivities with
K †cE = KcE11 + KcE33 + K cE44 (45) ∗
respect to cE11 and γ ∗ associated with a short-circuit model are
11 2
and
(φs1 ) K ‡cE φs1
t
1 ∂λs1
K†cE = KcE12 + KcE13 − K cE44 .
11
(46) ∗ = t (56)
12 2 ∂cE11 (φs1 ) Mφs1
∗ ∗
Recalling cE12 = αcE11 (see equation (32)), equation (44) and
becomes
t
∗ ∂λs1 (φs1 ) Ksh s
γ φ1
K∗UU = cE11 K ‡cE (47) ∂γ ∗
= t (57)
11 (φs1 ) Mφs1
where where λs1 and φs1 are the eigenvalue and eigenvector of the
first length extensional mode of the short-circuit FE model,
K ‡cE = K †cE + αK†cE . (48)
11 11 12 respectively.
The same derivation for an open-circuit model follows
Note that α is treated as a known value, which is to be
exactly that for a short-circuit model. Similar to equation (52),
explained later. Similarly, for a short-circuit model, K∗UΦi and
the condensed stiffness matrix K∗op for an open-circuit model
K∗Φi Φi are formulated as
is expressed as
K∗UΦi = e∗15 Ksh ∗ sh ∗ sh
e15 + e31 Ke31 + e33 Ke33 (49) ∗
K∗op = cE11 K ‡cE + γ ∗ Kop
γ (58)
11

and
∗ ∗
where K opγ has a similar form as equation (54), but having
K∗Φi Φi = εS11 Ksh S sh
εS + ε33 KεS (50) the corresponding submatrices associated with an open-circuit
11 33

6
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 4. Flowchart of the proposed method for updating a k31 -mode plate.

∗
model. In turn, its eigenvalue sensitivities with respect to c E11 equation (61) based on one pair of measured pole and zero.
∗ ∗
and γ ∗ are Using the updated ĉE11 and a known sE12 , the d-form parameters
E∗
s11 is updated through equation (34). Meanwhile, based on
(φo1 ) K ‡cE φo1
t ∗
∂λo1 equation (33), one can also update α with the updated ŝE11 and
= 11
(59) E∗ T∗ E∗ ∗
∗
∂cE11 t
(φo1 ) Mφo1 the known s12 . At this stage, ε̂33 , ĉ11 , α̂ and γ̂ have been
updated; the next task is to update d∗31 by using equation (40),
and which requires ê∗31 be computed first. As ê∗31 must be a negative
quantity in physics, in accordance with equation (53) one has
t
∂λo1 (φo1 ) Kop
γ φ1
o
= (60)
∂γ ∗ o t
(φ1 ) Mφ1 o q
ê∗31 = −
∗
γ̂ ∗ ε̂S33 (62)
where λo1 and φo1are the eigenvalue and eigenvector of the
first length extensional mode of the open-circuit FE model,
respectively. When using the eigenvalues of both short- and where
∗
open-circuit models, δcE11 and δγ ∗ are evaluated by solving
 s  ∗ ∗
ε̂T33 ĉE11 (1 + α̂)
 ∂λE∗1 ∂λ∗1   E∗   s ′ 
s ∗
ε̂S33 = . (63)
∂ c11 ∂γ δc11 λ1 − λs1 E ∗
ĉ11 (1 + α̂) + 2 γ̂ ∗
= (61)
 ∂λE∗1 ∂λ∗1  δγ ∗ λo1 ′ − λo1
o o

∂ c11 ∂γ

Here, equation (63) has been derived based on equations (35),

in which the ‘measured’ eigenvalues are λs1 ′ = −p1′ and
2
(40) and (53). To facilitate the understanding of the conversion
λo1 ′ = −z1′ , respectively, where p1′ and z1′ are the measure pole
2
between d-form and e-form parameters, a flowchart, together
and zero. with essential equations, is given in figure 5. Like a typical iter-
∗ ∗ ∗
The proposed iterative method for updating εT33 , sE11 and d∗31 ative FEMU method, the ŝE11 and d̂∗31 from each iteration will
of a k31 -mode plate is schematically shown in figure 4. In each be used to revise stiffness matrices, and the same updating pro-
∗
iteration, the parameters cE11 and γ ∗ are updated after solving cedure will be repeated until these parameters have converged.

7
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 5. Flowchart of the conversion between d-form and e-form parameters for a k31 -mode plate.

5. Model updating of k33 -mode plates where

∗
For a k33 -mode plate whose poling, and dominant oscillation sE13
α=− ∗ ∗ . (68)
as well, direction is in the longitudinal direction (see figure 6), s33 + sE13
E
∗ ∗
the three sensitive d-form CMPs are sE33 , d∗33 , and εT33 [20]; ∗ ∗ ∗
they are often used to define the electromechanical coupling While treating sE13 as a known quantity, if cE33 is given, sE33 can
coefficient be formulated from equation (66) as
s q
E∗ E∗ ∗ ∗ 2 ∗ ∗
∗ d∗33
2
∗ 1 − c s
33 13 + (3cE33 sE13 ) + 2cE33 sE13 + 1
k33 = ∗ ∗ . (64) sE33 = ∗ . (69)
sE33 εT33 2cE33
∗
The corresponding constitutive equations reduced from As d∗33 and εT33 are the other two sensitive parameters, it
∗
equations (3) and (4) are written as is plausible to assume that d∗15 = d∗31 = εT11 = 0. Under these
∗
assumptions, one obtains e∗15 = εS11 = 0,
   ∗  
S3 sE33 d∗33 T3 ∗ ∗ ∗
= ∗ . (65) εS33 = εT33 − d∗33 cE33
2
D3 d∗33 εT33 E3 (70)

∗
e∗33 = d∗33 cE33 (71)
5.1. Assumptions of the d-form parameters for the FE model and
Similar to that of a k31 -mode plate, conducting the FEMU of
a k33 -mode plate can make the isotropic material assumption. e∗31 = αe∗33 . (72)
∗ ∗
The change is using sE33 as the sensitive parameter and sE13 as ∗
Conversely, if cE33 and e∗33 are known, d∗33 can be obtained from
an insensitive parameter. To avoid unnecessary repetition, the
equation (71)
following presentation will focus only on the differences from
the previous section. Based on the isotropic material assump- e∗33
∗ ∗
tion, the corresponding e-form CMPs cE33 and cE13 are d∗33 = ∗ . (73)
cE33
∗ ∗
∗ sE33 + sE13
cE33 = ∗ ∗ ∗ ∗ (66) 5.2. Updating sensitive parameters
(s33 − sE13 ) (sE33 + 2 sE13 )
E
∗
The updating of εT33 can follow the same way employed for a
and k31 -mode plate. However, it has been noted that due to the pos-
∗ ∗
sible significant electrical noise in the low-frequency region
cE13 = αcE33 (67) of the impedance function for a k33 -mode plate, measuring

8
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 6. k33 -mode piezoceramic plate.

∗ ∗
εT33 with a k31 -mode plate is preferred [21]. On updating sE33 This equation has been derived from equations (70), (73)
and d∗33 , one follows a similar procedure developed for a k31 - and (75). To summarize the conversion between d-form and e-
mode plate. For the short-circuit model of a k33 -mode plate, as form parameters for a k33 -mode plate, a flowchart, along with
e∗31 = αe∗33 (see equation (72)), one has the condensed stiffness essential equations, is given in figure 7.
matrix similar to equation (52) as
∗
K∗sh = cE33 K‡cE + κ∗ Ksh
κ (74) 6. Numerical Studies
33

The numerical studies include computer simulations and lab

where K‡cE is the counterpart of K ‡cE associated with the e- experiments for both k31 - and k33 -mode piezoceramic plates.
33 11
∗
form sensitive parameter cE33 , Throughout the numerical studies, all units follow MKS
(Meter-Kilogram-Second) system unless specified otherwise.
(e∗33 )
2
κ∗ = ∗ (75)
εS33 6.1. Computer simulations

and In the simulation studies, as the target values of the updat-

ing parameters are known, evaluating the accuracy of sens-

 −1

sh t
κ = − αKe31 + Ke33
Ksh sh sh
Ksh
εS αKsh
e31 + Ke33 . (76) itive parameters updated by the proposed method is possible.
33
Another advantage is to illustrate the detailed numerical pro-
Similarly, for an open-circuit model, the corresponding con- cedure and allow the reader to conduct an independent veri-
densed stiffness matrix is fication. The FE package ANSYS [46] has been utilized to
build the FE models for the k31 - and k33 -mode plates, hav-
∗
K∗op = cE33 K‡cE + κ∗ Kop
κ (77) ing the size 40 × 5 × 1 mm3 , which is identical to that in [19].
33
The ANSYS element type SOLID5, an 8-node coupled-field
where Kop sh solid element having both electrical and mechanical degrees of
κ is the counterpart of Kκ associated with an
open-circuit model. Based on equations (74) and (77), one freedom, is used to model these plates. Each plate is divided
can formulate simultaneous equations that are similar to into 600 elements; the only difference between the k31 - and
∗ k33 -mode plates is the poling direction and location of elec-
equation (61) to evaluate δcE33 and δκ∗ when one pair of pole
∗ ∗ trode surfaces (see figure 8). While both the baseline and target
and zero is measured. From the updated ĉE33 and a known sE13 ,
E∗ T∗ ∗ models are generated using the same mesh, they possess dif-
equation (69) is employed to update s33 . Since ε̂33 , κ̂ and
∗ ferent values for the sensitive CMPs. The interpretation is that
ĉE33 have been updated, one uses equation (73) to update d∗33 ,
which requires to compute ê∗33 first. In physics, ê∗33 must be a a baseline model has ‘wrong’ CMPs, and the task is to correct
positive quantity; thus, in accordance with equation (75) one these wrong parameters by using a MIF synthesized from the
has target model.
q
ê∗33 = κ̂∗ ε̂S33
∗
(78) 6.1.1. Model updating of k31 -mode plate. On simulating
∗ ∗
k31 -mode plates, the real and imaginary parts of εT33 , sE11 and
where d∗31 for both the baseline and target models, as well as their
∗ relative errors, are listed in table 1, in which the relative error
∗ ε̂T33
ε̂S33 = ∗ . (79) has been defined as the target value minus the baseline value,
1 + κ̂∗ /ĉE33 then normalized by the baseline value. Note that the values of

9
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 7. Flowchart of the conversion between d-form and e-form parameters for a k33 -mode plate.

Figure 8. Finite element models of the simulated piezoceramic plates: (a) k31 -mode plate; (b) k33 -mode plate.

Table 1. The baseline and target material parameters of the plotted in figure 9 are their counterparts generated from the
simulated k31 -mode plate, ε0 = 8.854187817 × 10−12 . baseline model. Clearly, the impedance function Z31 (f ) of the
′
Parameter Baseline value Target value Relative error baseline model is significantly different from Z31 (f ); the task
′
is to update the three sensitive CMPs through Z31 (f ) so that
sE11 14.4 × 10−12 15.84 × 10−12 10% the updated Ẑ31 (f ) becomes close to Z31 ′
(f ). This is the only
tan ϕ11 0 0.016 — way to evaluate the updating performance for the lab experi-
d31 −255 × 10−12 −293.25 × 10−12 15% ment study when the target values for the sensitive CMPs are
tan θ31 0 0.013 — not available.
εT33 3230ε0 2422.5ε0 −25%
The proposed method begins with the extraction of one pair
tan δ33 0 0.015 — ′
of measured pole and zero from Z31 (f ). On extracting pole,
one refers back to the flowchart in figure 1. After taking the
′ ′ ′
the baseline models throughout this article have followed the reciprocal of Z31 (f ) to get Y31 (f ) and assuming Y31 (−f ) =
′ ′
manufacturer’s specification sheet of TJ52-HD material [47]. Ȳ31 (f ), one conducts the IFT of Y31 (f ) to get the correspond-
′ ′
The ‘measured’ impedance function Z31 (f ) has been produced ing y31 (t) (see figure 10). While performing the Prony-SS
′
from the target model; the magnitude and phase angle of method on y31 (t) to get stable poles, a common practice is to
′
Z31 (f ) are plotted in figures 9(a) and (b), respectively. Also have a stabilization diagram (see figure 11), which was built

10
Smart Mater. Struct. 31 (2022) 125010
Figure 9. The baseline and target impedance functions of the simulated k31 -mode plate: (a) magnitude; (b) phase angle.
′
Figure 10. The time-domain signal y31 (t).
based on decomposing the signal with an increasing model
order N (see equation (24)). A dominant stable pole extrac-
ted is p1′ = −1.7726 × 103 + 2.2196 × 105 j. In turn, from
λs1 ′ = −p1′ , one calculates the measured eigenvalue of the
2
short-circuit model λs1 ′ = 4.9262 × 1010 + 7.8687 × 108 j.
′ 3230ε0 , implementing equations (30), (33), (35) and (36)
The way of extracting zero is similar, but working on Z31 (f )
directly (see figure 2), which includes conducting the IFT of
′
Z31 (f ) that was assumed to have Z31 ′ ′
(−f) = Z̄31 (f ) to get the
′ 1.1182/ε0 (see equation (53)). From the extracted eigenval-
corresponding z31 (t) (see figure 12), performing the Prony-
SS method on z31 ′
(t), and building a stabilization diagram
(see figure 13). The zero extracted is z1′ = −2.1307 × 103 +
2.4834 × 105 j, meaning the measured eigenvalue of the open-
circuit model λo1 ′ = −z1′ = 6.1668 × 1010 + 1.0583 × 109 j.
2
T∗
∗
The updating of ε33 is separated from that of sE11 and d∗31 .
From the reading of Z31 ′
(f ) at fL = 100 Hz, one has ZL′ =
5.5634 × 10 − 3.7092 × 105 j. In turn, using equations (41)
3 culate α̂ = 0.4228 + 0.0053j based on ŝE11 and sE12 . With
and (42), one obtains ε̂T33 = 2422.8ε0 and tan δ̂33 = 0.015,
respectively, where ε0 is the vacuum permittivity (ε0 =
8.854 187 817 × 10−12 ).
The proposed iterative method summarized in figure 4
∗
shows that updating sE11 and d∗31 simultaneously must go
11
S Cong et al
Figure 11. Stabilization diagram for extracting pole.
∗ ∗
through the e-form parameters cE11 , e∗31 and εS33 . To illus-
trate the proposed procedure, major operations and numer-
ical results in the first iteration are provided as follows.
∗
Given the baseline model’s d-form parameters: sE11 = 14.4 ×
∗
10−12 , sE12 = −4.5 × 10−12 , d31 ∗
= −255 × 10−12 and εT33 =
∗ ∗
yields the e-form parameters cE11 = 9.70002 × 1010 , εS33 =
1157.6ε0 , e∗31 = −35.9788, and the auxiliary parameter γ ∗ =
ues λs1 ′ = 4.9262 × 1010 + 7.8687 × 108 j and λo1 ′ = 6.1668 ×
1010 + 1.0583 × 109 j, equation (61) is utilized to update
∗
γ̂ ∗ = (3.7411 + 0.0986j)/ε0 and ĉE11 = 8.8176 × 1010 +
∗ ∗
1.4084 × 109 j. From this ĉE11 value and sE12 = −4.5 × 10−12 ,
∗
implementing equation (34) gives ŝE11 = 1.5143 × 10−11 −
1.3341 × 10−13 j. Meanwhile, equation (33) is used to cal-
∗ ∗
∗ ∗
the updated values of ε̂T33 , ĉE11 , α̂, and γ̂ ∗ , equations (62)
∗
and (63) are used to obtain ε̂S33 = (313.09 − 6.5079j)ε0 and
ê∗31 = −34.2338 − 0.0951j. The last step is using equation (40)
to get d̂∗31 = −2.7281 × 10−10 + 4.6159 × 10−12 j. The above
updated parameters serve as the baseline values in the next
Smart Mater. Struct. 31 (2022) 125010
′
Figure 12. The time-domain signal z31 (t).
Figure 13. Stabilization diagram for extracting zero.
iteration. Instead of rebuilding an FE model from scratch, the
baseline stiffness matrices K∗sh and K∗op (see equations (52)
and (58)) are updated through the α-dependent submatrices
K ‡cE , Ksh op
γ , and Kγ . As shown in figure 14, after 8 iter-
11
∗
ations, the converged values are ŝE11 = 1.5840 × 10−11 −
2.5347 × 10−13 j and d̂∗31 = −2.9327 × 10−10 + 3.8124 ×
10−12 j, which correspond to ŝE11 = 15.84 × 10−12 , tan ϕ̂11 =
0.016, d̂31 = −293.27 × 10−12 , and tan θ̂31 = 0.013. The tar-
get and updated values of the three sensitive d-form para-
meters are summarized in table 2; also included is the rel-
ative error defined as the updated value minus the target
value, then normalized by the target value. As all the relat-
ive errors are less than 0.02%, the impedance functions of
the updated and the target models are almost identical (see
figure 15).
12
S Cong et al
6.1.2. Model updating of k33 -mode plate. As the procedure
of updating a k33 -mode plate is the same as that of a k31 -mode
plate, the following presentation will avoid unnecessary repe-
titions, but highlight the differences and final results. The sens-
∗ ∗
itive parameters sE33 , d∗33 and εT33 for both the baseline and tar-
get models, as well as their relative errors, are listed in table 3.
Plotted in figures 16(a) and (b) are the magnitude and phase
angle of Z33 (f ), respectively, based on the target and baseline
models.
∗
It has been recommended to update εT33 through a k31 -mode
∗
plate. The focus here is to update sE33 and d∗33 , which must go
∗ ∗
through the e-form parameters cE33 , εS33 and e∗33 as summar-
∗
ized in figure 7. For the baseline model, from sE33 = 21.5 ×
∗
10−12 , sE13 = −4.5 × 10−12 , d∗33 = 580 × 10−12 , and εT33 =
∗
3230ε0 , one obtains the corresponding cE33 = 5.2308 × 1010 ,
∗
εS33 = 1242.6ε0 , e∗33 = 30.3385, and κ∗ = 0.7407/ε0 . After
′
extracting one pair of measured pole and zero from Z33 (f ),
one gets λ1 = 4.4571 × 10 + 4.7744 × 10 j and λo1 ′ =
s′ 10 8
8.3640 × 1010 + 1.9407 × 108 j, respectively. Using them, one
∗
obtains ŝE33 = 1.9350 × 10−11 − 2.2444 × 10−13 j and d̂∗33 =
4.6403 × 10−10 − 8.1669 × 10−12 j after 8 iterations. They
correspond to ŝE33 = 19.35 × 10−12 , tan ϕ̂33 = 0.0116, d̂33 =
464.03 × 10−12 , and tan θ̂33 = 0.0176. These updated values
are almost identical to their target counterparts (see table 4).
6.2. Laboratory experiments
Laboratory experiments were conducted to demonstrate the
applicability of the proposed method to both k31 - and k33 -mode
piezoceramic plates, having the size 23 × 7.5 × 1.6 mm3 (see
′
figure 17). The Z31 (f ) of the k31 -mode plate was measured by
an impedance analyzer; its magnitude and phase angle for the
frequency from 1 kHz to 100 kHz are plotted in figures 18(a)
and (b), respectively. For comparison, also plotted in figure 18
are their counterparts of the baseline model, which has been
built with the same material properties employed in the pre-
vious computer simulation studies. As the updating proced-
ure has been numerically detailed in the computer simula-
tion studies, only final numerical results are presented below.
Based on ZL′ = 8.5067 × 102 − 5.1301 × 104 j observed at
fL = 1000 Hz, it gives ε̂T33 = 3198.3ε0 and tan δ̂33 = 0.0166.
′
The measured eigenvalues extracted from Z31 (f ) for the
s′
short- and open-circuit models are λ1 = 1.4291 × 1011 +
2.0379 × 109 j and λo1 ′ = 1.5942 × 1011 + 1.9197 × 109 j,
respectively. The updating process required about 10 itera-
∗
tions to converge at ŝE11 = 1.6432 × 10−11 − 2.3758 × 10−13 j
and d̂∗31 = −2.5539 × 10−10 + 6.3148 × 10−12 j, which cor-
respond to ŝE11 = 16.432 × 10−12 , tan ϕ̂11 = 0.0145, d̂31 =
−255.39 × 10−12 , and tan θ̂31 = 0.0247. The updated values,
∗
along with their relative errors to the baseline values, of sE11 ,
∗
d∗31 , εT33 are listed in table 5. To evaluate the performance of
the updating results, the updated impedance function obtained
from the updated material parameters is compared to the meas-
′
ured Z31 (f ) in figure 19. Clearly, they are in excellent agree-
ment, an indication that the updating has been good.
A similar experiment was conducted for a k33 -mode
′
plate, of which the Z33 (f ) was measured and plot-
ted in figure 20; also plotted are their counterparts
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

∗
Figure 14. Iterations of real and imaginary parts of sE11 and d∗31 .

Table 2. The updated and target material parameters of the simulated k31 -mode plate.

Parameter Updated value Target value Relative error

sE11 15.84 × 10−12 15.84 × 10−12 0

tan ϕ11 0.016 0.016 0
d31 −293.27 × 10−12 −293.25 × 10−12 0.007%
tan θ31 0.013 0.013 0
εT33 2422.8ε0 2422.5ε0 0.012%
tan δ33 0.015 0.015 0

Figure 15. The updated and target impedance functions of the simulated k31 -mode plate: (a) magnitude; (b) phase angle.

Table 3. The baseline and target material parameters of the simulated k33 -mode plate.

Parameter Baseline value Target value Relative error

sE33 21.5 × 10−12 19.35 × 10−12 −10%

tan ϕ33 0 0.0116 —
d33 580 × 10−12 464 × 10−12 −20%
tan θ33 0 0.0176 —
εT33 3230ε0 2422.5ε0 −25%
tan δ33 0 0.0150 —

13
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 16. The baseline and target impedance functions of the simulated k33 -mode plate: (a) magnitude; (b) phase angle.

Table 4. The updated and target material parameters of the simulated k33 -mode plate.

Parameter Updated value Target value Relative error

sE33 19.35 × 10−12 19.35 × 10−12 0

tan ϕ33 0.0116 0.0116 0
d33 464.03 × 10−12 464 × 10−12 0.006%
tan θ33 0.0176 0.0176 0
εT33 2422.8ε0 2422.5ε0 0.012%
tan δ33 0.0150 0.0150 0

Figure 17. Experimental piezoceramic plates: (left) k31 -mode plate and (right) k33 -mode plate.

Figure 18. The baseline and measured impedance functions of the experimental k31 -mode plate: (a) magnitude; (b) phase angle.

14
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Table 5. The baseline and updated material parameters of the experimental k31 -mode plate.

Parameter Baseline value Updated value Relative error

sE11 14.4 × 10−12 16.432 × 10−12 14.11%

tan ϕ11 0 0.0145 —
d31 −255 × 10−12 −255.39 × 10−12 0.15%
tan θ31 0 0.0247 —
εT33 3230ε0 3198.3ε0 −0.98%
tan δ33 0 0.0166 —

Figure 19. The updated and measured impedance functions of the experimental k31 -mode plate: (a) magnitude; (b) phase angle.

Figure 20. The baseline and measured impedance functions of the experimental k33 -mode plate: (a) magnitude; (b) phase angle.

Table 6. The baseline and updated material parameters of the experimental k33 -mode plate.

Parameter Baseline value Updated value Relative error

−12 −12
sE33 21.5 × 10 18.846 × 10 −12.34%
tan ϕ33 0 0.0213 —
d33 580 × 10−12 545.46 × 10−12 −5.96%
tan θ33 0 0.0220 —

of the baseline model. The eigenvalues extracted from
′
Z33 (f ) are λs1 ′ = 1.3857 × 1011 + 2.7451 × 109 j and λo1 ′ =
2.7240 × 1011 + 1.9919 × 109 j, respectively. About 10 iter-
∗
ations are needed to get ŝE33 = 1.8846 × 10−11 − 4.0066 ×
10−13 j and d̂∗33 = 545.46 × 10−10 − 1.1987 × 10−11 j, which
correspond to ŝE33 = 18.846 × 10−12 , tan ϕ̂33 = 0.0213, d̂33 =
545.46 × 10−12 , and tan θ̂33 = 0.0220. Their relative errors are
very significant, as shown in table 6. In figure 21, the updated
Ẑ33 (f ) is compared to the measured Z33′
(f ). Overall, they are
in excellent agreement.

15
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

Figure 21. The updated and measured impedance functions of the experimental k33 -mode plate: (a) magnitude; (b) phase angle.

7. Conclusions mathematical relationship between the measured output and

the parameters to be updated is written as
This paper, replying only on MIFs, developed a pole-zero
FEMU method for determining sensitive CMPs associated δz = Sj δθ (80)
with k31 -mode and k33 -mode piezoceramic plates. The pro-
posed method contained two sequential parts: (a) extracting
complex-valued poles and zeros, which are related to the where δz = z ′ − zj is the error in the measured output and z ′
eigenvalues of short- and open-circuit FE models, respect- is the measured data vector; δθ = θ − θ j is the perturbation
ively, from the MIFs, and (b) employing a sensitivity-based in the updating parameters; and subscript ‘j’ indicates the jth
method to update the CMPs based on the measured poles and iteration. The parameter vector θ represents the ‘actual’ para-
zeros. On extracting poles and zeros, the developed proced- meters, although in iterative schemes it represents the refined
ure involved taking the IFT of the MIF, and its reciprocal as estimate after the current iteration, that is, θ j+1 . When the
well, to get the corresponding time-domain signal, then con- numbers of measurements and parameters are p and q, respect-
ducting the Prony-SS signal decomposition, which is equival- ively, the sensitivity matrix Sj is given as [38]
ent to a principal component method, to get its pole-residue
 ∂z 
form of the signal. On updating the three sensitive CMPs of a
∗ ∂θ
1 ∂ z1
∂θ2 ··· ∂ z1
∂θq
k31 -mode plate, the permittivity εT33 was updated by using the  ∂ z21 
 ∂ z2
··· ∂ z2 
complex value of the MIF at a low frequency; the paramet-  ∂θ1 ∂θ2 ∂θq 
∗
ers sE11 and d∗31 were updated simultaneously through a novel Sj = 
 .. .. .. .. 
 . (81)
 . . . . 
pole-zero sensitivity-based method. While updating the sens-  
∗ ∂ zp ∂ zp ∂ zp
itive parameters sE33 and d∗33 of a k33 -mode plate, a similar pro- ∂θ1 ∂θ2 ··· ∂θq θ=θ j
cedure was implemented. Both computer simulations and lab
experiments were carried out to demonstrate the excellent per-
In an overdetermined case, a least square technique can be
formance of the developed method.
employed to calculate δθ
Data availability statement

−1
δθ = Stj Sj Stj δz. (82)
The data that support the findings of this study are openly
available at the following URL/DOI: 10.6084/m9.figshare.
19697158. After δθ having been calculated, the refined estimate at
(j + 1)th iteration is
Acknowledgments
θ j+1 = θ j + δθ. (83)
The research was financially supported by the National Nat-
ural Science Foundation of China (Grant Nos. 52088102 and This iterative procedure continues until the two consecutive
51879250). estimates θ j+1 and θ j converge. Clearly, the success of this
sensitivity-based method depends on whether Sj can be com-
Appendix A. Sensitivity-based model updating puted properly.
method In this study, the specific FE model updating problem is
to update a few stiffness parameters θn related only to stiff-
An iterative sensitivity-based method is developed to update ness matrix K∗ when several eigenvalues are measured. Con-
CMPs of piezoceramic materials. At the jth iteration, the sequently, a direct usage of equation (80) gives

16
Smart Mater. Struct. 31 (2022) 125010 S Cong et al

X
Nk
∂λi Appendix B. Nomenclatures
δθn = λi′ − λi , i = 1, 2, ..., Ni (84)
∂θn
n=1
B.1. Vectors and matrices

where λi and λi′ are the analytical and measured eigenvalues

of the dynamic system; N k is the number of θn , and N i is the cE , sE elastic stiffness and compliance matrices,
number of measured eigenvalues λi′ . It is assumed that K∗ is respectively
b ∗ may
linearly related to θn ; thus, the updated stiffness matrix K D, E electric displacement and field vectors,
be written as: respectively
d, e piezoelectric strain and stress matrices,
respectively
X
Nk F, Q mechanical loading and electric charge
b ∗ = K∗ +
K δθn Kθn (85) vectors, respectively
n=1 K∗UU displacement stiffness matrix
K∗UΦ , K∗UΦi , K∗UΦp piezoelectric stiffness matrices
K∗ΦΦ , K∗Φi Φi , K∗Φi Φp dielectric stiffness matrices
where δθn is the change of θn ; and Kθn is the submatrix asso- K∗sh , K∗op condensed electro-elastic stiffness
ciated with θn . Mathematically, one has matrices associated withshort- and
open-circuit models, respectively
K cEij stiffness submatrices associated with
∂K∗
Kθ n = . (86) mechanical models
∂θn Ksh sh sh sh
eij , KεS , Kγ , Kκ stiffness submatrices associated with
ij
short-circuit models
Kop op op op
eij , KεS , Kγ , Kκ stiffness submatrices associated with
While implementing equation (84), the eigenvalue sensitivity ij
∂λi open-circuit models
term ∂θ needs to be derived.
n M mass matrix
The eigenvalue problem for a hysteretic system can be S, T strain and stress vectors
expressed as U displacement vector
εS , εT dielectric matrices evaluated at constant
strain and stress, respectively
(K∗ − λi M) φi = 0. (87) tan ϕ, tan θ, tan δ loss factors of d-form elastic,
piezoelectric, and dielectric
parameters,respectively
Taking the derivative of equation (87) with respect to θn , one Φ, Φi electric potential vectors
obtains: φi , φsi , φoi ith eigenvectors of mechanical, short- and
open-circuit models, respectively
 ∗ 
∗ ∂φi ∂K ∂M ∂λi
(K − λi M) =− − λi − M φi . (88) B.2. Scalars
∂θn ∂θn ∂θn ∂θn
∗ ∗ ∗ ∗ ∗ ∗
sE11 , sE12 , sE13 , sE33 , sE44 , sE66 d-form elastic parameters
∗ ∗ ∗ ∗ ∗
Pre-multiplying equation (88) by and noting φti , − φti (K∗ cE11 , cE12 , cE13 , cE33 , cE44 e-form elastic parameters
∗ ∗ ∗
λi M) = 0, which can be derived from taking the transpose of d15 , d31 , d33 d-form piezoelectric parameters
equation (87) with M and K∗ being symmetric, one shows e∗15 , e∗31 , e∗33 e-form piezoelectric parameters
∗ ∗
εT11 , εT33 d-form dielectric parameters
∗ ∗
  εS11 , εS33 e-form dielectric parameters
∂ K∗ k∗31 , k∗33
∂λi φti ∂θn − λi ∂θ
∂M
n
φi electromechanical coupling coefficients
= . (89) of k31 - and k33 -mode plates,respectively
∂θn φti Mφi α
∗ ∗
relationship between sE11 and sE12 , see
equation (33)
∂K ∂M β relationship between e∗31 and e∗33 , see
Since ∂θ n
= Kθn and M is unrelated to θn , i.e. ∂θn = 0, equation (39)
equation (89) becomes γ ∗ , κ∗ auxiliary parameters for updating
k31 - and k33 -mode plates,see
equations (53) and (75), respectively
∂λi φt Kθ φ λi , λsi , λoi
= it n i . (90) ith eigenvalues of mechanical, short-
∂θn φi Mφi and open-circuit models, respectively
ωi , η i ith natural frequency and hysteretic
damping ratio
∂λi
To summarize, after substituting ∂θ n
in equation (84) with µn , ν n poles and zeros extracted from signals
equation (90), one can update the stiffness parameters θ y’(t) and z’(t), respectively
iteratively. Φp electric potential on electrode

17
Smart Mater. Struct. 31 (2022) 125010
A area of electrode surface
cn , dn amplitudes of decomposed signals y’(t) and
z’(t), respectively
d distance between two electrodes
fL a low frequency in hertz near zero
I(ω), ĩ(s) current functions in frequency and Laplace
domains, respectively
√ [9] Amarande L 2014 Evaluation of the complex material
j imaginary unit, −1
KΦp Φp electroded dielectric stiffness parameter
N number of decomposition terms
pn , zn system poles and zeros, respectively
t, ω, s variables in the time, frequency and Laplace
domains, respectively
Q(ω), q̃(s) charge functions in frequency and Laplace
domains, respectively
V(ω),ṽ(s) voltage functions in frequency and Laplace
domains, respectively
y(t), Y(ω),ỹ(s) admittance functions in time, frequency and
Laplace domains, respectively
z(t), Z(ω),z̃(s) impedance functions in time, frequency and
Laplace domains, respectively
B.3. Other notations
t superscript used as transpose operator
∗ superscript used for complex-valued quantities
′ superscript used for measured quantities
ˆ superscript used for updated quantities
Re(·) real part operation
Im(·) imaginary part operation
ORCID iD
Sau-Lon James Hu  https://orcid.org/0000-0002-6695-
1461
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