MT Lectures 1-10

Modal Testing
(Lecture 1)
Dr. Hamid Ahmadian

School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Overview
Introduction to Modal Testing
Applications of Modal Testing
Philosophy of Modal Testing
Summary of Theory
Summary of Measurement Methods
Summary of Modal Analysis Processes
Review of Test Procedures and Levels
Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian
Introduction to Modal Testing
Experimental Structural Dynamics
To understand and to control the many vibration
phenomenon in practice
Structural integrity (Turbine blades- Suspension Bridges)
Performance ( malfunction, disturbance, discomfort)

Introduction to Modal Testing (continued)
Necessities for experimental

observations
Nature and extend of vibration in operation
Verifying theoretical models
Material properties under dynamic loading
(damping capacity, friction,)

Test types corresponding to objectives:

Operational Force/Response measurements
Response measurement of PZL Mielec Skytruck Mode
Shapes (3.17 Hz, 1.62 %), (8.39 Hz, 1.93 %)

Modal Testing in a
controlled environment/
Resonance Testing/
Mechanical Impedance
Method
Testing a component or
a structure with the
objective of obtaining
mathematical model of
dynamical/vibration
behavior
Structural Analysis of
ULTRA Mirror

Milestones in the development:

Kennedy and Pancu (1947)
Natural frequencies and damping of aircrafts
Bishop and Gladwell (1962)
Theory of resonance testing
ISMA (bi-annual since 1975)
IMAC (annual since 1982)

Applications of Modal Testing
Model Validation/Correlation:
Producing major test modes validates the model
Natural frequencies
Mode shapes
Damping information are not available in FE models

Applications of Modal Testing (continued)
Model Updating
Correlation of experimental/analytical
model
Adjust/correct the analytical model
Optimization procedures are used for
updating.

Component Model
Identification
Substructure process
The component model
is incorporated into the
structural assembly

Force Determination
Knowledge of dynamic force is required
Direct force measurement is not possible
Measurement of response + Analytical Model
results the external force
([K ] [M ]){x} = { f }
2

Philosophy of Modal Testing
Integration of three components:
Theory of vibration
Accurate vibration measurement
Realistic and detailed data analysis
Examples:
Quality and suitability of data for process
Excitation type
Understanding of forms and trends of plots
Choice of curve fitting
Averaging

Summary of Theory (SDOF)

Summary of Theory (MDOF)

Summary of Theory
Definition of FRF:
H ( ) = ([K ] 2 [M ] + i[D ])
1
x j ( ) N jrkr
h jk ( ) = = 2 .
f k ( ) r =1 r 2
Curve-fitting the
measured FRF:
Modal Model is obtained
Spatial Model is obtained
Summary of Measurement
Methods
Basic measurement system:
Single point excitation

Summary of Modal Analysis
Processes
Analysis of measured FRF data
Appropriate type of model (SDOF,MDOF,)
Appropriate parameters for chosen model

Review of Test Procedures
and Levels
The procedure consists of:
FRF measurement
Curve-Fitting
Construct the required model
Different level of details and accuracy in
above procedure is required depending
on the application.

Review of Test Procedures
and Levels
Levels according to Dynamic Testing Agency:
Natural Damping Usable for Out of range
Level Freq ratio
Mode Shapes
validation residues
Updating
1 Only in few
points
2

Text Books
Ewins, D.J. , 2000, Modal Testing; theory,
practice and application, 2nd edition,
Research studies press Ltd.
McConnell, K.G., 1995, Vibration testing;
theory and practice, John Wiley & Sons.
Maia, et. al. , 1997, Theoretical and
Experimental Modal Analysis, Research
studies press Ltd.

Evaluation Scheme
Home Works (20%)
Mid-term Exam (20%)
Course Project (30%)
Final Exam (30%)

Modal Testing
(Lecture 10)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Theoretical Basis
Analysis of weakly nonlinear structures
Approximate analysis of nonlinear
structures
Cubic stiffness nonlinearity
Coulomb friction nonlinearity
Other nonlinearities and other
descriptions
Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian
Analysis of weakly nonlinear
structures
The whole bases of modal testing assumes
linearity:
Response linearly related to the excitation
Response to simultaneous application of several
forces can be obtained by superposition of
responses to individual forces
An introduction to characteristics of weakly
nonlinear systems is given to detect if any
nonlinearity is involved during modal test.

m&x& + cx& + kx + k3 x 3 = F sin(t )
x(t ) = X sin(t )
m 2 X sin(t ) + cX cos(t ) + kX sin(t ) + k3 X 3 sin 3 (t )
= F sin(t )
m 2 X sin(t ) + cX cos(t ) + kX sin(t ) +
3 1
k3 X sin(t ) sin(3t ) = F sin(t )
3
4 4

m X sin(t ) + cX cos(t ) + kX sin(t ) +
2
3 1
k3 X sin(t ) sin(3t ) =
3
4 4
F sin(t ) cos( ) F cos(t ) sin( )
3
m X + kX + k3 X = F cos( )
2 3
4
cX = F sin( )
X 1
=
F
2
2
m + k + k3 X + (c )
2 3 2
4
3
keq = k + k3 X 2
4
Softening effect Hardening effect

Softening-stiffness effect




x& (t )
f d (t ) = cx& (t ) + cF
x& (t )
E
4cF
E = 4cF X ceq = 2 / =
( ) X

2
&
x t dt
0
X 1
=
F 4c F
k m + i c +
2

X
X 1
=
F 4c F
k m + i c +
2

X
X increasing

Other nonlinearities and other
descriptions
Backlash
Bilinear Stiffness
Microslip friction damping
Quadratic (and other power law
damping)
..

Modal Testing
(Lecture 2)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
MODAL ANALYSIS THEORY
Understanding of how the structural
parameters of mass, damping, and stiffness
relate to
the impulse response function (time domain),
the frequency response function (Fourier, or
frequency domain), and
the transfer function (Laplace domain)
for single and multiple degree of freedom
systems.
Theoretical Basis
SDOF system
Time Domain: Impulse Response Function
Presentation of FRF
Properties of FRF
Undamped MDOF system
MDOF system with proportional
damping

SDOF System
Three classes of system:
Undamped
Viscously-damped

Structurally Damped
1
Response Models:
k m 2
X ( )
1
H ( ) = =
F ( ) k m + ic
2
1
k m 2 + id
Time Domain: Impulse
Response Function

Frequency Domain:
Frequency Response Function

Alternative Forms of FRF
Receptance X ( )
Inverse is Dynamic F ( )
Stiffness
Mobility V ( ) X ( )
Inverse is Dynamic = i

Impedance
F ( ) F ( )
Inertance A( ) 2 X ( )
Inverse is Apparent =

F ( ) F ( )
mass

Graphical Display of FRF

Graphical Display of FRF
The magnitude of the three mobility functions

(accelerance, mobility and compliance)
Stiffness and Mass Lines

Reciprocal Plots
The inverse or F ( )
Re( ) = k m 2
reciprocal plots X ( )
F ( )
Real part Im( ) = c
Imaginary part
X ( )

Nyquist Plot
For viscous damping the Mobility plot is a
circle.
For structural damping the Receptance and

Inertance plots are circles.
3D FRF Plot (SDOF)

Properties of SDOF FRF Plots
Nyquist Mobility for viscose damping
i
Y ( ) =
k m 2 + ic
c 2 ( k m 2 )
Re(Y ) = Im(Y ) =
( k m 2 ) 2 + ( c ) 2 ( k m 2 ) 2 + ( c ) 2
1
U = Re(Y ) , V = Im(Y )
2c
U 2 +V 2 =
((k m ) + (c ) )
2 2 2 2
1
=
2
4c (( k m ) + ( c ) )
2 2 2 2 2
2c

Properties of SDOF FRF Plots
Nyquist Receptance for structural damping
H ( ) =
1
=
(k m 2 ) id
k + id m 2
(k m ) + d 2
2 2
U=
(k m ) 2
, V =
d
(k m ) + d 2 2 2
(k m ) 2 2
+ d2
2 2
1 1
U + V +
2
=
2d 2d
A Demo
Basic Assumptions
The structure is assumed to
be linear
The structure is time invariant
The structure obeys Maxwells
reciprocity
The structure is observable
loose components, or degrees-of-
freedom of motion that are not
measured, are not completely
observable.

Modal Testing
(Lecture 3)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Theoretical Basis
Undamped MDOF Systems
MDOF Systems with Proportional
Damping
MDOF Systems with General Structural
Damping
General Force Vector
Undamped Normal Mode
The equation of motion:
[M ]{&x&(t )}+ [K ]{x(t )} = { f (t )}
The modal model: [ ], = diag (12 , 22 ,K, N2 )
The orthogonality:
[ ] [M ][ ] = [I ], [ ] [K ][ ] = [].
T T
Forced response solution:

([K ] 2 [M ]){X }eit = {F }eit
{X } = ([K ] [M ]) {F } {X } = [ ( )]{F }
2 1

(continued)
Response Model
([K ] [M ]) = [ ( )]
2 1
[ ] ([K ] [M ])[ ] = [ ] [ ( )] [ ]
T 2 T 1
([] [I ]) = [ ] [ ( )] [ ]
2 T 1
[ ( )] = [ ] ([] [I ])[ ]
1 T 2 1
[ ( )] = [ ]([] [I ]) [ ] 2 1 T

(continued)
The receptance matrix is symmetric.

Single Input
Xj Xk
jk = = kj = , Modal Constant/
Fk Fj Modal Residue
jrkr
N N
r A jk
jk ( ) = 2 = 2
r =1 r r =1 r
2 2

Example:
1 1.2 0.8
[M ] = [K ] =
kg MN / m
1 0.8 1.2
4e5 1 1 1
[ ]
r =
2
[ ] =
2 e 6 2 1 1
0.5 05 1.2e6 2
11 ( ) = + = .
4e5 2
2 e6 2
8e11 2.4e6 +
2 4

Example (continued) :
Zero
0.5 05 1.2e6 2
11 ( ) = + = .
4e5 2
2 e6 2
8e11 2.4e6 +
2 4
Poles
Example (continued) :
0.5 05 8e4
12 ( ) = = .
4e5 2
2 e6 2
8e11 2.4e6 +
2 4

MDOF Systems with
Proportional Damping
A proportionally damped matrix is
diagonalized by normal modes of the
corresponding undamped system
[ ] [D ][ ] = diag (d1, d 2 ,L, d N )
T
Special cases:
[D ] = [K ],
[D ] = [M ],
[D ] = [K ] + [M ].
MDOF Systems with Structurally
Response Model
([K ] + i[D] 2 [M ]) = [ ( )]1
[ ]T ([K ] + i[D ] 2 [M ])[ ] = [ ]T [ ( )]1[ ]
([r2 (1 + ir2 )] 2 [I ]) = [ ]T [ ( )]1[ ]
[ ( )]1 = [ ]T ([ r2 (1 + ir2 )] 2 [I ])[ ]1
[ ( )] = [ ]([ r (1 + ir )] [I ]) [ ]T
2 2 2 1
N
jrkr Real Residue
jk ( ) = 2
r =1 r (1 + i 2
r ) 2
Complex Pole
MDOF Systems with Viscously
Response Model
([K ] + i [C ] [M ]) = [ ( )]
2 1
[ ] ([K ] + i [C ] [M ])[ ] = [ ] [ ( )] [ ]
T 2 T 1
([ ]+ i [2 ] [I ]) = [ ] [ ( )] [ ]
2
r r r
2 T 1
[ ( )] = [ ] ([ ] + i [2 ] [I ])[ ]
1 T 2
r r r
2 1
[ ( )] = [ ]([ ] + i [2 ] [I ]) [ ]
2
r r r
2 1 T
N
jrkr
jk ( ) = 2
r =1 r 2
+ 2 r r
MDOF Systems with General
Structural Damping
The equation of motion:
[M ]{&x&(t )}+ ([K ] + i[D ]){x(t )} = { f (t )}
The orthogonality:
[ ] [M ][ ] = [I ], [ ] [K + iD ][ ] = [].
T T
Complex Mode Shapes

Forced response solution: Complex Eigen-values
([K ] + i[D] 2 [M ]){X }eit = {F }eit

{X } = ([K ] + i[D ] [M ]) {F } {X } = [ ( )]{F }
2 1

Example:
Model 1
m1 = 0.5kg , m2 = 1kg , m3 = 1.5kg
k j = 1e3N / m, j = 1,...,6
Undamped
950 0.464 0.218 1.318
= 3352 , [ ] = 0.536 0.782 0.318

6698 0.635 0.493 0.142
Example:
Pr oportional
[D ] = 0.05[K ]
950 0.464 0.218 1.318
= (1 + i 0.05) 3352 , [ ] = 0.536 0.782 0.318

6698 0.635 0.493 0.142
Non Pr oportional
d1 = 0.3k1 , d j = 0.0, j = 2,...,6
957(1 + i 0.067)
= 3354(1 + i 0.042) ,

6690(1 + i 0.078)
Almost real modes
0.463( 5.5 ) 0.217(173 ) 1.318(181 )
o o o
[ ] = 0.537(0.0o ) 0.784(181o ) 0.318( 6.7o )

0.636(1.0o ) 0.492( 1.3o ) 0.142( 3.1o )

Example:
Model 2
m1 = 1kg , m2 = 0.95kg , m3 = 1.05kg
k j = 1e3N / m, j = 1,...,6
Undamped
999 0.577 0.602 0.552
= 3892 , [ ] = 0.567 0.215 0.827

4124 0.587 0.752 0.207
Pr oportional
[D ] = 0.05[K ],
999 0.577 0.602 0.552
= (1 + i 0.05) 3892 , [ ] = 0.567 0.215 0.827

4124 0.587 0.752 0.207
Example:
Non Pr oportional
d1 = 0.3k1 , d j = 0.0, j = 2,...,6
1006(1 + i 0.1)
= 3942(1 + i 0.031) ,

4067(1 + i 0.019)
0.578( 4o ) 0.851(162o ) 0.685( 40o )
[ ] = 0.569(2o ) 0.570(101o ) 1.019(176o )
0.588( 2o ) 0.848(12o ) 0.560( 50o )

Heavily complex modes

MDOF Systems with General
Structural Damping
([K ] + i[D] [M ]) = [ ( )]
2 1
[ ] ([K ] + i[D ] [M ])[ ] = [ ] [ ( )] [ ]

T 2 T 1
([ (1 + i )] [I ]) = [ ] [ ( )] [ ]
2
r
2
r
2 T 1
[ ( )] = [ ] ([ (1 + i )] [I ])[ ]
1 T 2
r
2
r
2 1
[ ( )] = [ ]([ (1 + i )] [I ]) [ ]
2
r
2
r
2 1 T
N
jrkr Complex Residues
jk ( ) = 2
r =1 r (1 + i 2
r ) 2
Complex Poles
In many situations
the system is
excited at several
points.

General Force Vector (continued)
The response is governed by:

([K + iD] [M ]){X }e
2 it
{ }
= Fe it
The solution:
{X } =
N
{ } {F }{ }r
T
r
r =1 (1 + i )
2
r
2
r
2
All forces have the same frequency but

may vary in magnitude and phase.
The response vector is referred to:

Forced Vibration Mode
or Operating Deflection Shape (ODS)
When the excitation frequency is close
to the natural frequency:
ODS reflects the shape of nearby mode
But not identical due to contributions of
other modes.
Damped system normal mode:

By carefully tuning the force vector the
response can be controlled by a single
mode.
The is attained if r {F }s = rs
{ }T

Depending upon damping condition the

force vector entries may well be complex
(they have different phases)

Special Case of interest:
Harmonic excitation of mono-phased forces
Same frequency
Same phase
Magnitudes may vary
Is it possible to obtain mono-phased
response?

(continued)
The real force response amplitudes:

{ f (t )} = F e
{}
it
([ ] [ ]){ }e it = {F }e it
{} + 2
K iD M X
{x(t )} = X ei (t )
Real and imaginary parts:
(([K ] [M ])cos + [D]sin ){X }= {F }
2
(([K ] [M ])sin + [D]cos ){X }= {0}

2
The 2nd equation is an eigen-value problem;

its solutions leads to real {F }
Theoretical Basis N solutions IUST ,Modal Testing Lab ,Dr H Ahmadian
(continued)
At a frequency that the phase lag

between all forces and all responses is
90 degree then
(([K ] 2 [M ])sin + [D]cos ){X }= {0}
Results
Undamped normal modes
Natural frequencies of undamped system

(continued)
The base for multi-

shaker test procedures.
Modal Analysis of Large
Structures: Multiple
Exciter Systems By: M.
Phil. K. Zaveri

Modal Testing
(Lecture 4)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Theoretical Basis
MDOF System with General Viscous
Damping
Force Response Solution/ General
Viscous Damping

In many situations
the system is
excited at several
points.

Otherwise you end up
damaging the structure!!!!

The response is governed by:

([K + iD] [M ]){X }e
2
= {F }eit it
All forces have the same frequency but

may vary in magnitude and phase.
The solution:
{ }r {F }{ }r
T
N
{X } =
r =1 (1 + i )
2
r
2
r
2

The response vector is referred to:

Forced Vibration Mode
or Operating Deflection Shape (ODS)
When the excitation frequency is close
to the natural frequency:
ODS reflects the shape of nearby mode
But not identical due to contributions of
other modes.
Damped system normal mode:

By carefully tuning the force vector the
response can be controlled by a single
mode.
This is attained if r {F }s = rs
{ }T

Depending upon damping condition the

force vector entries may well be complex
(they have different phases)

Special Case of interest:
Harmonic excitation of mono-phased forces
Same frequency
Same phase
Magnitudes may vary
Is it possible to obtain mono-phased
response?

512 channel
37 Shakers

(continued)
The real force response amplitudes:

{ f (t )} = F e
{}
it
([K + iD ] 2 [M ]){X }ei (t ) = {F }eit

{}
{x(t )} = X ei (t )
Real and imaginary parts:
(([K ] [M ])cos + [D]sin ){X }= {F }
2
(([K ] [M ])sin + [D]cos ){X }= {0}

2
The 2nd equation is an eigen-value problem;

its solutions leads to real {F }
Theoretical Basis N solutions IUST ,Modal Testing Lab ,Dr H Ahmadian
(continued)
At a frequency that the phase lag

between all forces and all responses is
90 degree then
(([K ] [M ])sin + [D]cos ){X }= {0}
2
Results ([K ] [M ]){X }= {0}

2
Undamped normal modes

Natural frequencies of undamped system

(continued)
The base for multi-

shaker test procedures.
Modal Analysis of Large
Structures: Multiple
Exciter Systems By:
M. Phil. K. Zaveri

MDOF System with General
Viscous Damping
E.O.M . [M ]{&x&}+ [C ]{x&} + [K ]{x} = { f }
{ f (t )} = {F }e {x(t )} = {X }e
i t i t
{X } = ([K ] [M ] + i[C ]) {F }
2 1
Next the orthogonality properties of the

system in 2N space is used for force response
solution.

Force Response Solution
C M x& K 0 x f
EOM + =
M 0 &x& 0 M x& 0
C M K 0
Free Vib. {u&}+ {u} = {0}
M 0 0 M
C M K 0
Eigen solution sr + {ur } = {0}
M 0 0 M
C M T K 0
U T
U = I ,U U = diag ( s1 , s2 ,L , s2 N ).
M 0 0 M

F T T F H F
u u u u u u
X
r r r r r r
0 0 0
2 N N
= = +
iX r =1 i r
s r =1 i s r i s *
r
The above simplification is due to the fact

that eigen-values and eigen-vectors occur in
complex conjugate pairs.

Single point excitation:
N
u jr ukr u u
jk ( ) = + jr kr
r =1 i sr i s
r

Modal Testing
(Lecture 5)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Modal Analysis of Rotating
Structures
Non-symmetry in system
matrices
Modes of undamped rotating
system
Symmetric Stator
Non-Symmetric Stator
FRFs of rotating system
Out-of-balance excitation
Synchronous excitation
Non-Synchronous excitation

Non-symmetry in System
Matrices
The rotating structures are subject to
additional forces:
Gyroscopic forces
Rotor-stator rub forces
Electrodynamic forces
Unsteady aerodynamic forces
Time varying fluid forces
These forces can destroy the symmetry of the
system matrices.
Non-rotating system
properties
A rigid disc mounted on
the free end of a rigid
shaft of length L,
The other end of is
effectively pin-jointed.

Modes of Undamped Rotating
System
I0 / L 0 &x& 0 J z / L x& k x L 0 x 0
0 + + = .
I 0 / L &y& J z / L 0 y& 0 k y L y 0

Symmetric stator
kx = k y = k, Support is symmetric
x = Xeit , Simple harmonic motion

y = Ye it ,
(k 2 I 0 / L2 ) (iJ z / L2
) X = 0,
2
( iJ z / L2 )

(k I 0 / L ) Y 0
2
kL2 J 2 kL
2
2
4
2 + z
+
2
= 0.
I0 I0 I0

Natural Frequencies
kL2 J 2 2

2
4 2 2 +
kL
+ z
= 0.
I0 I0 I0

2
2 2

2 2

1, 2 = 2
0 + 2
0 +
2 4
2
kL J
02 = , =
I0 I0

Mode Shapes
(k 12 I 0 / L2 ) (i J / L ) 1 = 0 ,
1 z
2
(k 22 I 0 / L2 ) (i J / L ) i = 0.
2 z
2
( i1J z / L2 )
(k I / L ) i 0
2
1 0
2
( i2 J z / L2 )

(k I / L ) 1 0
2
2 0
2

Non-symmetric Stator
kx k y

FRF of the Rotating Structure
External Damping
I 0 / L2 0 &x& c J z / L2 x& k 0 x f x
2
+ & + = ,
0 I 0 / L &y& J z / L2 c y 0 k y f y
(k I 0 / L + ic ) (iJ z / L )
2 2 2 1
[ ( )] =
(i J z / L2
) (k 2
I 0 / L2
+ ic )

xx ( ) = yy ( ) Loss of Reciprocity

xy ( ) = yx ( )
Coupling Effect
FRF of the Rotating Structure
with External Damping
Complex Mode
Shapes
due to significant
imaginary part

Out-of-balance excitation
Response analysis for the particular
case of excitation provided by out-of-
balance forces is investigated:
When the force results from an out-of-
balance mass on the rotor, it is of a
synchronous nature
When the force results from an out-of-
balance mass on a co/counter rotating
shaft, it is of a non-synchronous nature

Synchronous OOB Excitation
cos(t ) 1 it
{F } = mr 2
= FOOB e
sin(t ) i
Symmetric Stator :
X it A it
e = FOOB e
Y iA
2
L
A=
I 0 (02 2 (1 ) )
Synchronous OOB Excitation

Non-Synchronous OOB
Excitation
Force is generated by another rotor at
different speed
Excitation
X it A it
e = FOOB e
Y iA
L2
A=
I 0 ( 02 2 ( ) )
The essential results are the same as for
synchronous case.
Modal Testing
(Lecture 6)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Theoretical Basis
Analysis using rotating frame
Damping in rotating and stationary
frames
Dynamic analysis of general rotor-stator
systems
Linear Time Invariant Rotor-Stator
Systems
LTI Rotor-Stator Viscous Damp System
LTI Systems Eigen-Properties
Y
Yr
Xr
t
X
x cos(t ) sin(t ) xr
= y

y sin( t ) cos( t ) r
xr cos(t ) sin(t ) x
= y
r
y sin( t ) cos( t )

Transformation Matrices
xr cos(t ) sin(t ) x x
= y = [T ]
1 ,
r
y sin( t ) cos( t ) y
x& r cos(t ) sin(t ) x& sin(t ) cos(t ) x x& x

=
& y& + cos(t ) sin(t ) y = [T1 ] y& + [T2 ] y ,
r
y sin( t ) cos( t )
&x&r cos(t ) sin(t ) &x& sin(t ) cos(t ) x& 2 cos(t ) sin(t ) x

= &y& + 2 cos(t ) sin(t ) y& sin(t ) cos(t ) y
& &
r
y sin( t ) cos( t )
&x& x& x
= [T1 ] + 2[T2 ] + 2 [T1 ]
&y& y& x

Equation of Motion in Stationary Coordinates
I 0 / L2 0 &x& 0 J z / L2 x& k x 0 x 0
+ & + 0 = ,
0 I 0 / L2 &y& J z / L2 0 y k y y 0
1 = 02 + ( z / 2) 2 z / 2 2 = 02 + ( z / 2)2 + z / 2
Equation of Motion in Rotating Coordinates
I0 / L 2
0 &x&r 0 2 z I 0 / L2 + J z / L2 x&r
+ &
0 I 0 / L2 &y&r 2 z I 0 / L2 J z / L2 0 yr
2z I 0 / L2 + J 2z / L2 + k x c 2 + k y s 2 cs (k y k x ) xr 0
+ 2 = .
cs (k y k x ) z I 0 / L + J z / L + k x c + k y s yr 0
2 2 2 2 2
1 = 02 + ( z / 2)2 z / 2 + z 2 = 02 + ( z / 2) 2 + z / 2 z
Note: Eigenvectors remain unchanged
Fxr cos(t ) sin(t ) Fx
= .
Fyr sin(t ) cos(t ) Fy
For Example: Response harmonies not

present in the excitation
Fxr cos(t ) sin(t ) F0
= cos(t )
Fyr sin(t ) cos(t ) 0
F0 cos( )t + cos( + )t
=
2 sin( )t + sin( + )t
Internal Damping in rotating
and stationary frames
Equation of Motion in Rotating Coordinates
I 0 / L2 0 &x&r cI 2 z I 0 / L2 + J z / L2 x& r
2
+
&
0 I 0 / L yr 2 z I 0 / L2 J z / L2
&& cI yr
2z I 0 / L2 + J 2z / L2 + k 0 xr 0
+ = .
0 z I 0 / L + J z / L + k yr 0
2 2 2 2
Equation of Motion in Stationary Coordinates

I 0 / L2 0 &x& cI J z / L2 x& k x z cI x 0
+ & + c = ,
0 I 0 / L2 &y& J z / L2 cI y z I k y y 0
Internal/External Damping in
2DOF System
I0 / L2
0 &x& cE + cI J z / L 2
x&
2
+ &
0 I 0 / L y J z / L
&& 2
cE + c I y
kx z cI x 0
+ = ,
z c I k y y 0
At super critical speeds the real parts of
eigen-values may become positive,
i.e. unstable system
Dynamic Analysis of General
Rotor-Stator Systems
The rotating machines and their modal
testing is much more complex
Non-symmetric bearing support
Fixed/Rotating observation frame
Non-axisymmetric rotors
Internal/External damping
These lead to:
Time-varying modal properties
Response harmonies not present in the excitation
Instabilites (negative modal damping)
Equation of motion of rotating systems
are prone:
to lose the symmetry
to generate complex eigen-values/vectors
from velocity/displacement related non-
symmetry
to include time varying coefficients as
appose to conventional Linear Time
Invariant (LTI) systems
System Type Stationary Coord. Rotating Coord.
R-symm;S-symm LTI LTI
R-symm;S-nonsymm LTI L(t)
R-nonsymm;S-symm L(t) LTI
R-nonsymm;S-nonsymm L(t) L(t)
LTI: Linear Time Invariant

L(t): Linear Time Dependent
Linear Time Invariant Rotor-
Stator Systems
[M ]{&x&}+ ([C ] + [G ()]){x&}+
([K ] + i[D ] + [E ()]){x} = { f (t )}
[M ], [C ], [K ], [D ] Symm.
[G ()], [E ()] Skew symm.
Solution of equations will follow different
routs depending upon the specific features.
LTI Rotor-Stator Systems
(Viscous Damping Only)
[A]{u&}+ [B]{u} = {0},
C + G () M
[A] = The system matrices
M 0 are non-symmetric
K + E () 0 Complex eigenvals
[B] =

Two eigenvect sets:
0 M
RH; mode shapes

x
{u} = LH; normal excitation
shapes
x&
LTI Rotor-Stator Systems
(Viscous Damping Only)
Symmetric Rotor/ Non-symmetric Support
Forwards Whirl
Backwards Whirl

FRF of LTI Rotor-Stator
Systems
[ ( )] = [VRH ][(r i )] [VLH ]
1 H

Skew-symmetry in damping Matrix
1 3 1
[M ] = , [K ] = ,
1 1 3
0 0.5 1 0.5
[C ] = C + (1 C )
0 . 5 0 0 .5 1

C 2 X1 X2
0.0 -0.75+1.85i 1 -1.00
0.1 -0.68+1.88i 1 -1.05+0.08i
0.3 -0.52+1.94i 1 -1.08+0.28i
0.5 -0.37+1.99i 1 -1.03+0.49i
0.7 -0.23+2.04i 1 -0.90+0.63i
0.9 -0.07+2.08i 1 -0.76+0.71i
1.0 2.11i 1 -0.69+0.73i
Skew-symmetry in stiffness Matrix
1
[M ] = , [C ] = 0,
1
0 1 3 1
[K ] = K + (1 K )
1 0 1 3

K 2 X1 X2
0.0 2.00i 1 -1.00
0.1 1.90i 1 -1.12
0.3 1.65i 1 -1.58
0.5 1.23i 1 Infinity
0.7 0.32+1.00i 1 1.58i
0.9 0.57+0.79i 1 1.12i
1.0 0.70+0.70i 1 i
Modal Testing
(Lecture 7)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Complex Measured Modes

Complex Measured Modes

Display of Mode Complexity

Analytical Real Modes

Extracting real modes from
complex measured modes
H Ahmadian, GML Gladwell - Proceedings of
the 13th International Modal Analysis (1995):
The optimum real mode is the one with maximum
correlation with the complex measured one:

Extracting real modes
Normalizing the complex measured
mode shape:
The problem is rewritten as:

Symmetric Skew-symmetric
Rank 2 matrices
Since V is skew symmetric,
Therefore the problem is equivalent to:






Follow-ups:
E. Foltete, J. Piranda, Transforming Complex
Eigenmodes into Real Ones Based on an
Appropriation Technique, Journal of Vibration
and Acoustics, JANUARY 2001, Vol. 123
S.D. GARVEY, J.E.T. PENNY, THE
RELATIONSHIP BETWEEN THE REAL AND
IMAGINARY PARTS OF COMPLEX MODES,
Journal of Sound and Vibration
1998,212(1),75-83
Modal Testing
(Lecture 8)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Theoretical Basis
Non-sinusoidal Vibration and FRF
Properties:
Periodic Vibration
Transient Vibration
Random Vibration
Violation of Dirichlets conditions
Autocorrelation and PSD functions
H1 and H2
Incomplete ResponseIUSTModels
Theoretical Basis ,Modal Testing Lab ,Dr H Ahmadian
Non-sinusoidal Vibration and
FRF Properties
With the FRF data, response of a MDOF
system to a set of harmonic loads:
{X }e it
= [ ( )]{F }e it
The same frequency

Different amplitudes and phases
We shall now turn our attention to a range of

other excitation/response situvations.

Periodic Vibration
Excitation is not simply sinusoidal but retain
periodicity.
The easiest way of computing the response
is by means of Fourier Series,

2
f k (t ) = Fnk e i n t
n =
n =1 T

x j (t ) = jk ( n ) Fnk e i n t
n =1
Periodic Vibration
To derive FRF from periodic vibration
signals:
Determine the Fourier Series components
of the input force and the relevant
response
Both series contain components at the
same set of discrete frequencies
The FRF can be defined at the same set of
frequency points by computing the ratio of
response to input components.
Transient Vibration
Analysis via Fourier Transform
+
1
f (t )e
it
F ( ) = dt
2
X ( ) = H ( ) F ( )
+
H ( ) F ( )e
it
x (t ) = d

Transient Vibration
Response via time domain (superposition)
+
x (t ) = h(t ) f ( )d

1
Let f (t ) = (0) F ( ) =
2
+
1
2
it
Then x (t ) = H ( ) e d = h ( t )
Transient Vibration
To derive FRF from transient vibration
signals:
Calculation of the Fourier Transforms of
both excitation and response signals
Computing the ratio of both signals at the
same frequency
In practice it is common to compute a
DFT of the signals.
Random Vibration
Neither excitation nor response signal
can be subject to a valid Fourier
Transform:
Violation of Dirichlet Conditions
Finite number of isolated min and max
Finite number of points of finite discontinuity
Here we assume the random signals to
be ergodic
Random Vibration
Time Signal
f (t )
Autocorrelation Function
+
R ff ( ) = f (t ) f (t + )dt

Power Spectral Density
+
1
R
i
S ff ( ) = ( )e d
2
ff

Random Vibration
Time Signal
Autocorrelation

Random Vibration
Sinusoidal Signal
Autocorrelation

Random Vibration
Random Signal
Autocorrelation

Random Vibration
Noisy Signal
Autocorrelation

Random Vibration
The autocorrelation function is real and even:
+
R ff ( ) = f (t ) f (t + )dt

+
= f (u ) f (u)du = R

ff ( )
u = t +
The Auto/Power Spectral Density function is
real and even.
Random Vibration
Cross Correlation / Spectral Densities
+ +
1
x(t ) f (t + )dt R
i
Rxf ( ) = S xf ( ) = ( )e d
2
xf

Cross Correlation functions are real but

not always even.
Cross Spectral Densities are complex
functions.
Random Vibration
Time Domain Frequency Domain
+
R ff ( ) =

f (t ) f (t + )dt S ff ( ) = F * ( ) F ( )
+
Rxf ( ) = + = ( ) F ( )
*
x ( t ) f ( t ) dt S xf ( ) X

+
Rxx ( ) = x(t ) x(t + )dt S ( ) = X ( ) X ( )
*
xx

Random Vibration
To derive FRF from random vibration signals:
X ( )
H ( ) =
F ( )
X * ( ) X ( ) S xx ( )
H1 ( ) = * =
X ( ) F ( ) S xf ( )
F ( ) X ( ) S fx ( )
*
H 2 ( ) = * =
F ( ) F ( ) S ff ( )
Complete/ Incomplete Models
It is not possible to measure the
response at all DOF or all modes of
structure (N by N)
Different incomplete models:
Reduced size (from N to n) by deleting
some DOFs
Number of modes are a reduced as well
(from N to m, usually m<n)
Incomplete Response Models
m< N
Ajk
jk ( ) =
r =1
2
r
+ ir2 2
r r

[ ] 2
r m m
[ ]nm
Incomplete Response Models

Modal Testing
(Lecture 9)
Dr. Hamid Ahmadian

ahmadian@iust.ac.ir
Theoretical Basis
Sensitivity of Models
Modal Sensitivity
SDOF eigen sensitivity
MDOF system natural frequency sensitivity
MDOF system mode shape sensitivity
FRF Sensitivity
SDOF FRF sensitivity
MDOF FRF sensitivity

Sensitivity of Models
The sensitivity analysis are required:
to help locate errors in models in updating
to guide design optimization procedures
they are used in the course of curve fitting
A short summery on deducing
sensitivities from experimental and
analytical models is given.

Modal Sensitivities (SDOF)
k
0 =
m
0 1 k 1 0
= = ,
m 2 m 3
2 m
0 1 1 0
= = .
k 2 mk 2 k
Modal Sensitivities (MDOF)
([K ] [M ]){ } = {0},

2
r r

p
(
[K ] r [M ] {r } = {0},
2
)
(
[K ] r [M ]
2 { r }
)
+
[K ]
2
r 2 [M ]
[M ] r {r } = {0},
p p p p
Eigenvalue Sensitivity (MDOF)
Multiply by {r }T
{r }
{r } (T
[K ] [M ]
2
) +
p
r

{r }
T [K ]
2
r 2 [M ]
[M ] r {r } = {0},
p p p
[K ] 2 [M ]
{r }
T
r {r }
2
p p
results = r
p {r } [M ]{r }
T

Eigenvector Sensitivity
(MDOF)
Starting from :
(
){ }
[K ] r2 [M ] r + [K ] 2
r [M ] r2
[M ]
{r } = {0},
p p p p
{r } N
and taking = j { j }
p j =1
j r
[K ] r2 2 [M ]
( )
[K ] [M ] rj { j }+
N
2
[M ] r {r } = {0}
p p p
r
j =1
jr

(MDOF)
( )
[K ] r2 [M ] rj { j }+
N
[K ] 2
r [M ] r2
[M ]
{r } = {0}
j =1 p p p
jr
[K ] r2 2 [M ]
( )
{s } [K ] r2 [M ] rj { j }+ {s }
N
T T
[M ] r {r } = {0}
j =1 p p p
j r
[K ] 2 [M ]
(
rs + {s }
2 2
) T
r {r } = {0}
p p
s r

(MDOF)
[K ] 2 [M ]
( ) rs + {s } r {r }
2 2 T
p p
s r
[K ] 2 [M ]
{s } T
r {r }
rs = p p
(r2 s2 )
[K ] 2 [M ]
{s }
T
r {r }
{r } N
p p
= {s }
p s =1
sr
(r s )
2 2

Updating, Redesign,
Reanalysis
12 12 12
K
12 p12 p2 p3
2
2

2
2 p
2 2 2
K p1
p2 p3
M 1
p2
M M M K
= { } { } { }
{1} 1 1 1
K p3
{2 } p1 p2 p3 M
{2 } {2 } {2 }
M K
p1 p2 p3
M M M O
Updating, Redesign,
Reanalysis
The change in parameters must be very
small for accurate analysis
When the change in parameters is not
small:
Higher order sensitivity analysis
Iterative linear sensitivity analysis

FRF Sensitivities (SDOF)
1
( ) =
k + ic m2
( ) 1
=
k (k + ic m )
2 2
( ) i
=
c (k + ic m )
2 2
( ) 2
=
m (k + ic m )
2 2

FRF Sensitivities (MDOF)
[Z ( )] = [K ] + i[C ] 2 [M ],
([A] + [B ]) = [A] ([A] + [B ]) [B ][A]

1 1 1 1
take [A] [Z ( )]A , [A + B ] [Z ( )]x
then [Z ( )]x = [Z ( )]A [Z ( )]x ([Z ( )]x [Z ( )]A ) [Z ( )]A

1 1 1 1 1
[ ( )]x [ ( )]A = [ ( )]x [Z ( )][ ( )]A

[ ( )]x [ ( )]A = [ ( )]x [Z ( )][ ( )]A ,
{ x ( ) A ( )} = { x ( )} [Z ( )][ ( )]A
T T
j j


[ ( )] [Z ( )]
=
( 1
) = [Z ( )]1 [Z ( )]
[Z ( )]1
p p p
[ ( )] [Z ( )]
= [ ( )] [ ( )]
p p
[ ( )] [K ] [C ] 2 [M ]
= [ ( )] + i [ ( )]
p p p p

MT Lectures 1-10

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Modal Testing

Dr. Hamid Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Necessities for experimental

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Test types corresponding to objectives:

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Milestones in the development:

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Overview of Modal Testing IUST ,Modal Testing Lab ,Dr H Ahmadian

Dr. Hamid Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Softening effect Hardening effect

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Dr. Hamid Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

The magnitude of the three mobility functions

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

For structural damping the Receptance and

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Dr. Hamid Ahmadian

Forced response solution:

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

The receptance matrix is symmetric.

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

Complex Mode Shapes

([K ] + i[D] 2 [M ]){X }eit = {F }eit

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

[ ] = 0.537(0.0o ) 0.784(181o ) 0.318( 6.7o )

Heavily complex modes

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

[ ] ([K ] + i[D ] [M ])[ ] = [ ] [ ( )] [ ]

Theoretical Basis IUST ,Modal Testing Lab ,Dr H Ahmadian

The response is governed by:

All forces have the same frequency but