Documente Academic
Documente Profesional
Documente Cultură
DYNAMICS ANALYSIS
BASIC DYNAMICS
REVIEW OF FUNDAMENTALS
BASIC DYNAMICS
TABLE OF CONTENTS
Page
SINGLE DOF SYSTEM
1-3
1-5
1-8
1-12
1-18
1-25
1-30
1-34
1-44
BASIC DYNAMICS
BASIC DYNAMICS
BASIC DYNAMICS
BASIC DYNAMICS
BASIC DYNAMICS
BASIC DYNAMICS
BASIC DYNAMICS
BASIC DYNAMICS
10
BASIC DYNAMICS
11
BASIC DYNAMICS
12
BASIC DYNAMICS
13
BASIC DYNAMICS
14
k
= 100
m
k
= 10 rad/s
n =
m
f = n / 2 = 1.59 Hz
BASIC DYNAMICS
15
BASIC DYNAMICS
16
BASIC DYNAMICS
17
BASIC DYNAMICS
18
BASIC DYNAMICS
19
BASIC DYNAMICS
20
BASIC DYNAMICS
21
m = mass (inertia)
u(t)
u = displacement of mass
22
mu&&(t ) + bu& (t ) + ku (t ) = p (t )
Inertia Force
Stiffness Force
Applied Force
Damping Force
BASIC DYNAMICS
23
mu&&(t ) + ku (t ) = 0
Assume a solution of the form:
u (t ) = A sin nt + B cos nt
This form defines the response as being HARMONIC,
combinations of sine and cosine shape responses with a
resonant frequency of:
BASIC DYNAMICS
24
k
n =
m
BASIC DYNAMICS
25
The response of the Spring will be harmonic, but the actual form of the
response through time will be affected by the initial conditions:
If u ( 0) = 0 and u& ( 0)
or velocity
If
=0
u&0
Ifu ( 0)
If
26
The graph is from a transient analysis of a spring mass system with Initial
velocity conditions only
k = 100
m=1
T
Amp
u&0 = 1
k
= 10 rad/s
m
f = n / 2 = 1.59 Hz
n
Time (Seconds)
BASIC DYNAMICS
27
The results we saw from NEi Nastran had the correct frequency, but how do we
get the displacement value?
u&0
u0
BASIC DYNAMICS
28
BASIC DYNAMICS
29
mu&&(t ) + bu& (t ) + ku (t ) = 0
There are 3 types of solution to this, defined as:
Critically Damped
Overdamped
Underdamped
BASIC DYNAMICS
30
u (t ) = ( A + Bt )e bt / 2 m
The damping in this case is defined as:
b = bcr = 2 km = 2m n
A system is overdamped when b > bcr
We are generally only interested in the final case - underdamped
BASIC DYNAMICS
31
For the underdamped case b < bcr and the solution is the form:
u (t ) = e bt / 2 m ( A sin d t + B cos d t )
d
d = n 1 2
b
=
bcr
In most analyses
d n
32
The graph is from a transient analysis of the previous spring mass system with
damping applied
Frequency and
period as before
Amplitude is a
function of damping
Disp.
5% Damping
2%
Damping
Time
BASIC DYNAMICS
33
p sin t
u (t ) = p / k
sin(t + )
(1
) 2 + (2 / n ) 2
34
u (t ) = p / k
sin(t + )
(1
) 2 + (2 / n ) 2
= tan
2 / n
BASIC DYNAMICS
36
<< 1
n
Magnification factor
Phase angle
For
>> 1
n
Magnification factor
Phase angle
For
1 (static solution)
360 (response is in phase with the force)
0 (no response)
180 (response has opposite sign of force)
1
n
Magnification factor
Phase angle
1/2
270
BASIC DYNAMICS
37
38
Frequency
BASIC DYNAMICS(Hz)
39
BASIC DYNAMICS
40
We now try a Transient analysis with a unit force applied to the spring at 1.59
Hz
Again damping of 1% Critical is applied
The result is shown on the next page:
The response takes around 32 seconds to reach a steady-state solution
After this time the displacement response magnitude stays constant at .45
units
The theoretical value of .5 is not reached due to numerical inaccuracy (see
later) and the difficulty of hitting the sharp peak
BASIC DYNAMICS
41
Displacement
Time
BASIC DYNAMICS
42
If we plot input and output at the steady-state period, we can see that the input signal is
not very accurate hence our problem finding the exact magnification factor
We can also see the phasing between input and output is around 90 degrees as expected
at resonance
output
input
Lead = 0.18 sec (approx)
=103 degrees (approx 90)
BASIC DYNAMICS
43
1.
2.
3.
4.
5.
6.
7.
8.
9.
10.
11.
12.
13.
44
BASIC DYNAMICS
45
TABLE OF CONTENTS
Page
2 DOF EQUATIONS OF MOTION
1-47
1-73
LANCZOS METHOD
1-83
MASS REPRESENTATION
1-84
1-86
1-87
1-89
1-101
BASIC DYNAMICS
46
DOF: 1
2M
3
K
4
K = 1000 lbf/in
M = 20 lb
BASIC DYNAMICS
47
OVERVIEW
48
x2
k
2M
k(x2-x1)
k(x2-x1)
2M
m&x&1
kx2
m&x&2
M&x&1 = kx1 + k ( x2 x1 )
2 M&x&2 = k ( x1 x2 ) kx2
49
&x&1 = 2 A1 sin t
&x&2 = 2 A2 sin t
Then putting the harmonic terms into the free body equations.
For the 1st mass:
So
so
kA1 + 2k 2 M 2 A2 = 0
BASIC DYNAMICS
50
A1 0
=
(2k 2 M ) A2 0
BASIC DYNAMICS
51
k
1 = 1 = 0.634
m
2
2 = 2
k
= 2.366
m
BASIC DYNAMICS
52
A1
= 0.731
A2
A1
= 2.73
A2
53
A1 2.73
=
A
1
.
00
A1 0.731
=
A
1
.
000
2
0.731
1.000
-2.731
Mode 1
1.000
Mode 2
BASIC DYNAMICS
54
BASIC DYNAMICS
55
DOF: 1
2M
[K ] = [K ] = [K ] = k
1
BASIC DYNAMICS
56
1 1 + 1 1
[K ] = k
1 1 + 1 1
1
1
1
2
and
1 0
[M ] = m
0 2
BASIC DYNAMICS
57
[M ]{&x&} + [K ]{x} = 0
If we substitute in
{x} = { }e
{&x&} = { }e
[M ]{ } + [K ]{ } = 0
i t
And
Then
So
it
([K ] [M ]){ } = 0
2
2 1
0
2 1
k
1 2 m 0 2 { } = 0
BASIC DYNAMICS
58
For each of these sets, the inertia terms balance the elastic
terms and this is the definition of resonance.
BASIC DYNAMICS
59
So at
k
m
0.731
{1} =
1
.
000
BASIC DYNAMICS
60
Then
k
1 = 0.634 = 5.629 rads s = 0.896 Hz
m
k
2 = 2.366 = 10.875 rads s = 1.731Hz
m
f
2
BASIC DYNAMICS
61
in our case
{x (t )} = 11 (t ) + 2 2 (t )
{x(t )} =
1.000
1(t)
BASIC DYNAMICS
-2.731
1.000
2(t)
62
DOF: 1
2M
3
K
4
K = 1000 lbf/in
M = 20 lb
BASIC DYNAMICS
63
BASIC DYNAMICS
64
BASIC DYNAMICS
65
BASIC DYNAMICS
66
BASIC DYNAMICS
67
k
= 5.629rad / s = 0.896 Hz
m
2 = 1.538
k
= 10.875rad / s = 1.731Hz
m
BASIC DYNAMICS
68
BASIC DYNAMICS
69
2.731
{2 } =
1
.
000
.07268
This emphasizes that all we know about the e-vectors in a Normal
Modes analysis is their relative values we know the shape, but
not the amplitude.
The commonly used normalization method called Mass
normalization is discussed over page.
BASIC DYNAMICS
70
{i }T [M ]{i } = 1.0
{MODEL1}T [M ]{MODEL 2 }
{MODEL }T [M ]{TEST }
BASIC DYNAMICS
71
{i }T [M ]{i } = mi
{i }T [M ]{ j }= 0.0
{i }T [K ]{i } = ki
{i }T [K ]{ j }= 0.0
BASIC DYNAMICS
72
BASIC DYNAMICS
73
BASIC DYNAMICS
74
BASIC DYNAMICS
75
Frequency
Description
166.75
xz plane bend 1
409.17
xy plane bend 1
454.60
xz plane bend 2
878.67
xz plane bend 3
1033.28
xy plane bend 2
1427.49
xz plane bend 4
1842.85
xy plane bend 3
2089.58
xz plane bend 5
2761.51
axial
10
2764.00
xy plane bend 4
BASIC DYNAMICS
76
XY plane Modes
BASIC DYNAMICS
77
XZ Plane Modes
BASIC DYNAMICS
78
Axial Mode
BASIC DYNAMICS
79
{x(t )} = { }
i =1 to n
{x(t )} = 11 + 2 2
BASIC DYNAMICS
80
BASIC DYNAMICS
81
Mode
1
2
3
4
5
6
7
8
9
10
BASIC DYNAMICS
82
LANCZOS METHOD
BASIC DYNAMICS
83
MASS REPRESENTATION
BASIC DYNAMICS
84
MASS REPRESENTATION
BASIC DYNAMICS
85
86
87
BASIC DYNAMICS
88
BASIC DYNAMICS
89
MESH DENSITY
Mesh Density
The mesh must be fine enough to permit a representation of the of the
highest mode considered
In the case of the beam, we assumed the second order mode was
sufficient. The mesh is adequate for this.
However, if the higher order mode shown is required, then the mesh is
inadequate.
BASIC DYNAMICS
90
133.1
Mesh 1a (10 x 4)
Description
Mode
120.1
348.7
821.4
2043
Mesh 1b (2 x 1)
Description
Mode
133.6
395.7
689.6
624.5
832.8
1003.
2133.
2278.
2144.
2332.
2358.
8722.
2358.
3705.
9988.
4051.
4344.
16667
4552.
4763.
20793
5633.
10
5569.
10
22799
10
6433.
BASIC DYNAMICS
91
ELEMENT TYPE
Element Type
The type of element chosen is very important in dynamic
analysis, in that it can control the stiffness representation
and to a lesser extent the mass distribution of the structure.
Examples of poor choices are:
Using TET4 elements to model solid structures. If they are used
in relatively thin regions that have plate or shell the results can
be very poor. TET10 or preferably HEXA are a better choice.
If RBE2 is used instead of an RBE3 on a flexible structure such
as a satellite platform then it may over stiffen the structure and
influence the frequencies badly.
BASIC DYNAMICS
92
Bracket Example
Bath Tub Fitting ( Tension to Shear Load transfer )
The geometry is found in the Femap examples folder.
Constrain as shown
Apply Material as shown
Mesh with TET10s; fine, coarse TET4s; fine , coarse
BASIC DYNAMICS
93
Bracket Example
Bath Tub Fitting ( Tension to Shear Load transfer )
Fine mesh TET10 model is assumed as baseline.
A very coarse TET10 mesh has maximum errors of 15.8%
A very coarse TET4 mesh has maximum errors of 135%
A fine mesh TET4 has maximum errors of 7.7%
TET10
fine
Mode
coarse
TET4
v coarse
fine
coarse
v coarse
10046
10250
2.03
11294
12.43
10679
BASIC DYNAMICS
6.30
14778
47.10
20044
99.53
94
BASIC DYNAMICS
95
MASS DISTRIBUTION
Mass Distribution
A poor stiffness representation can influence a structure
badly and a poor mass representation can also have the
same effect.
The mass values may be wrong due to user error. The
values can be checked in the Nastran output file
There are two forms of mass representation in Nastran
lumped and coupled. Differences may occur in the analysis
depending on which is selected.
BASIC DYNAMICS
96
DETAIL OF JOINTS
Detail of Joints:
Is the joint flexibility correct?
For example a corner of a formed sheet structure will have an
internal radius which increases its torsional stiffness. It may be
important in this case to include the torsional stiffness via ROD
element.
CQUAD4
CROD
CQUAD4
BASIC DYNAMICS
97
DETAIL OF CONSTRAINTS
Detail of Constraints
When we idealize a structure we always make assumptions about
the connection to an adjacent structure or to ground.
Hence if a panel is surrounded on all sides by reinforcing structure, do
we represent that as fully built in, simply supported, or model an
equivalent edge stiffness using CELAS or CBUSH elements?
BASIC DYNAMICS
98
Tower Leg
RBE2
BASIC DYNAMICS
99
HAND CALCULATIONS
Hand Calculations
Manual checking of the frequencies in an analysis to make
sure answers are in the right ballpark can involve:
Using simple analogies of the structure to match standard
solutions in Roark or Blevins
Applying a 1g load in relevant directions and using the resultant
displacement at the cg. to calculate an equivalent SDOF
frequency.
Using idealization techniques to create simple FE models to
verify important modes of a complex model.
BASIC DYNAMICS
100
101