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CHAPTER 7
Introduction
Model reduction
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Flexible structures can be modeled as bar, beam, plate, shell, and etc. Suspension heads in hard disk drives
1.Analytical model
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Bar Elements
d1 d2
Element
du EA 2 = 0 dx
u(x,t)
d1 d2 M d
n
E, , L
Procedure:
u4(t)
2
3
3 elements, 4 nodes
Divide (discretize) the structure into a number of small simple elements. The elements are connected to each others by nodes. All node displacement are chosen as DOFs, so called nodal DOF. Displacement function within the element are approximated by a linear combination of low-order polynomials. For vibration application, we construct the matrices K and M w.r.t. all nodal DOF using energy method.
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Consider any element, e.g., the 1st element. Assume a displacement function within the element as
u ( x, t ) = c 1 ( t ) x + c 2 ( t )
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B.C.s:
Strain energy:
u ( x, t ) d x 1 l V ( t ) = - EA x 2 0
or
x, u ( x, t ) = 1 -l
u(x,t) Shape functions 1 l x 1-x/l u2 l x x/l u1
x u 1 ( t ) = Nu ( t ) -l u2 ( t )
l T T 1 V ( t ) = -- EA [ u B Bu ] dx 2 0
T T 1 V ( t ) = 1 u ( t ) EA 1 1 u ( t ) = -- u ( t ) ku ( t ) ------2 2 l 1 1
1 1 EA k = -----l 1 1
Differentiate u w.r.t. x:
u ( x, t ) dN 1 = = u ( t ) --, x dx l
u1 ( t ) 1 = Bu ( t ) -l u2 ( t )
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Kinetic energy:
Kinetic energy of the bar element T(t) is
2
u ( x, t ) d x 1 l T ( t ) = - A( x) t 2 0
where ( x ) is the bar density. Since
u1(t)
u2(t)
u3(t)
u4(t)
u ( x, t ) u ( t ) = Nu (t) = N t t Therefore
l T T 1 N Nu ] dx T ( t ) = -- A( x)[u 2 0
or
T 1 T Al 2 1 1 ( t ) mu (t) u u ( t ) ( t ) = T ( t ) = ---u -------2 2 6 12
Strain energy:
1-st element:
u1 T V 1 ( t ) = 1 u ku = 3 EA ----------- 2 2 L u2
2-nd element:
1 1 u1 1 1 u2
21 Al m = -------6 12
u2 V ( t ) = 3 EA ---------- 2 L u3
2
1 1 u2 1 1 u3
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3-rd element:
u3 V ( t ) = 3 EA ---------- 2 L u4
3
1 1 u3 1 1 u4
u2 3 EA V ( t ) = ---------- u3 2L u4
2 1 0 u2 T 1 1 2 1 u 3 = -- u Ku 2 0 1 1 u4
V = V1 + V2 + V3
or
T
u1 u2 V ( t ) = 3 EA ---------2 L u3 u4 1 1 0 0 1 2 1 0 0 1 2 1 0 0 1 1
With boundary conditions; u ( 0, t ) = u 1 ( t ) = 0 , then
u1 u2 u3 u4
0 u2 V ( t ) = 3 EA ---------2 L u3 u4 1 1 0 0
1 2 1 0
0 1 2 1
0 0 0 u2 1 u3 1 u4
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21 Al 2 1 AL m = -------= ---------18 1 2 6 12
u 1 2 AL u T = ---------3 36 u u 4
2 1 0 0
1 4 1 0
0 1 4 1
0 0 1 2
u 1 u 2 u 3 u 4
Kinetic energy:
1-st element:
T
u T mu = AL 1 T (t) = 1u ----------2 2 36 u
1
1 21 u 2 12 u
2-nd element:
0 2 AL u T = ---------3 36 u u 4
2 1 0 0
1 4 1 0
0 1 4 1
0 0 2 0 u 3 1 u 2 u 4
u T ( t ) = AL 2 ---------3 36 u
2
2 21 u 12 u 3
3-rd element:
u T ( t ) = AL 3 ---------4 36 u
3
3 21 u 4 12 u
u 2 AL T = ---------3 - u 36 u 4
T (t) = T 1 + T 2 + T 3
or
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Notes:
To analyze vibration of the structure, we use the global mass matrix M and global stiffness matrix K to construct the matrix equation
( t ) + Ku ( t ) = 0 Mu
Questions:
For L = 1m, = 2700 kg/m3, and E = 7 10 N/m2. n from FEM %difference Exact n
1-element model:
10.3%
3-element model:
1.18%
10.3%
20.3%
Rule of thumb: At least twice as many elements must be used than number of accurate frequencies required.
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Beam Elements
From solid mechanics, static displacement of the beam is governed by
2 d w d EI = 0 2 2 dx dx 2
B.C.s:
x = 0 , w ( 0, t ) = w 1 ( t ) and w ( 0, t ) = 1 ( t ) x
w(x,t) x EA, , I, L
x = l , w ( l, t ) = w 2 ( t ) and w ( l, t ) = 2 ( t ) x
Hence
1 c 1 ( t ) = -- [ 2 ( w1 w2 ) + l ( 1 + 2 ) ] l3
1 c 2 ( t ) = -- [ 3 ( w2 w1 ) l ( 2 1 + 2 ) ] l2 c 3 ( t ) = 1 ( t ) and c 4 ( t ) = w 1 ( t )
1(t)
2(t)
w 1 ( t ) and w 2 ( t ) are nodal linear displacement. 1 ( t ) and 2 ( t ) are nodal angular displacement.
w ( x, t ) = N 1 N 2 N 3 N 4
w1 ( t ) 1 ( t ) = Nd ( t ) w2 ( t ) 2 ( t )
Shape functions
w ( x, t ) = c 1 ( t ) x 3 + c 2 ( t ) x 2 + c 3 ( t ) x + c 4 ( t )
where
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Strain energy
x x + ---N 4 ( x ) = ---l l2
w ( x, t ) d x 1 1 l V ( t ) = - = - EI 2 2 2 0 x
1 0.8
N1(x) N3(x)
0.6 0.4 0.2 0 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
0.8
0.9
x/l
T 1 V ( t ) = -- d ( t ) kd ( t ) 2
0 -0.05 -0.1 -0.15 -0.2 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
12 6 l 12 6 l
N4(x)
x/l
6 l 4 l 6 l 2 l EI k = ----3 l 12 6 l 12 6 l
6 l 2 l 6 l 4 l
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Kinetic energy
Kinetic energy of the beam element T(t) is
l w ( x, t ) 1 T ( t ) = -dx - A( x) t 2 0 2
w2(t)
w3(t)
2(t)
3(t)
w ( x, t ) d ( t ) = Nd ( t ) = N t t Therefore
l 1 T N T Nd ] dx T ( t ) = -- A( x)[d 2 0
12 6 l 12 6 l
or
6 l 4 l 6 l 2 l EI k = ----3 l 12 6 l 12 6 l 2 2 6 l 2 l 6 l 4 l
( t ) T ( t ) md 1 T ( t ) = --d 2
where m is a local mass matrix dened as
156 22 l
54 13 l
22 l 4 l 13 l 3 l Al m = -------420 54 13 l 156 22 l
13 l 3 l 22 l 4 l
156 22 l
2
54 13 l
2
22 l 4 l 13 l 3 l m = Al -------420 54 13 l 156 22 l 13 l 3 l 22 l 4 l
2 2
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3L
12
3L
2-nd element:
11 L L 6.5 L
2
6.5 L
T 1 1 V 2 ( t ) = -- - d 2 kd 2 = -2 2
w2 2 w3 3
w2 k 2 w3 3
Strain energy
1-st element:
T
1 T V 1 ( t ) = -d 1 kd 1 = 2 w1 1 w2 2
w1 k 1 w2 2
w1 1 w2 2 w3 3
w ( 0, t ) = w 1 ( t ) = 0 and
w ( 0, t ) = ( t ) = 0 , 1 x V(t) is then
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0 0 w2 1 V ( t ) = -2 2 w3 3 k k
V(t) can be reduced to
w2 ( 12 + 12 ) ( 3 L + 3 L ) 12 ( 3 L + 3 L ) ( L + L ) 3 L 0.5 L 12 3 L 12 3 L w3 3 = 1 -- d Kd 2
T 2 2 2 T
0 0 w2 2 w3 3
Kinetic energy
1-st element:
T 1 T 1 ( t ) = -1 md 1 = -d 2
2-nd element:
w2 2
w 1 w 1 m 1 w 2 2
1 w 2 2
3L
3 L
1 T T 2 ( t ) = -d md 2 2 = 2
2
2 w 2 w m 2 w 3 3
2 w 3 3
24
2
12
3L
T = T1 + T2
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w 1 1 m 2 w 3 3 w T (t) = 1 2 -2 2 w 3 3 m
With xed-free B.C.s,
w 1 1 w 2
( 156 + 156 ) ( 11 L + 11 L ) 54
6.5 L
w 2
( 11 L + 11 L ) 54
(L + L ) 6.5 L
w 3
T Md = -1 -d 2
6.5 L
0.75 L
11 L
312 AL M = ---------840
54
6.5 L
0 54
2L 6.5 L
6.5 L 0.75 L 11 L
0 0 w 2 m 2 w 3 3
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Lumped-Mass Matrices
M constructed from kinetic energy are called consistent-mass matrix and they are a full matrix.
It is difcult to calculate M matrix. of the full An alternative method is to construct M as a lumped-mass matrix.
1
Truss Structure
U2
1
U1 l 1 l 2
3
1
2
U6
u1 l
U5
U6
u2
U4
U5
U3 u3
u4
u3
m = AL
U4
, A, L
m/2 m/2 Consider a beam element:
10 AL M = ---------2 01
U3
u 3 ( t ) = U 3 cos + U 4 sin
u 4 ( t ) = U 5 cos + U 6 sin
m = AL
1 0 0 0 L- 0 0 0 ---- AL M = ---------- 12 2 0 0 1 0
2
, A, L
m/2 m/2
2
u3 ( t ) = u4 ( t ) L0 0 0 ----12
2
1 m L - --- -I = -- 3 2 2
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u2 ( t ) = U2 ( t )
where:
T
Element 1:
1
u = u3 u4
2
T 1 V ( t ) = -- U1 K(1) U1 2
element 2,
where:
T
U2 = U 3 U 4 U 5 U 6
coordinates of element 2.
is the global
U1 = U 1 U 2 U 5 U 6
is the global
coordinates of element 1,
K
Element 2:
T T T T 1 V ( t ) = 1 u K u = 1 U K U = -e 2 e 2 2 2 --- U2 K(2) U2 2 2 2 2
in global coordinates
Assembly:
V (t ) = V 1(t ) + V 2(t )
T 1 T 1 1 T V ( t ) = -U U 1 K ( 1 ) U 1 + -2 K ( 2 ) U 2 = -- U KU 2 2 2
where:
U = U1 U2 U3 U4 U5 U6
is the full
or
( cos ) K( 2 )
2
global coordinates,
sin cos ( sin )
2
( cos )
( cos )
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in global coordinates
CHAPTER 8
VIBRATION TESTING
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