04 - Modal and Harmonic Analysis With ANSYS

Modal and Harmonic Analysis using ANSYS
David Herrin, Ph.D.

University of Kentucky
Modal Analysis
Modal/Harmonic Analysis Using ANSYS
gUsed to determine the natural frequencies and

mode shapes of a continuous structure
Dept. of Mechanical Engineering ME 599/699 Vibro-

University of Kentucky Acoustic Design
Review of Multi DOF Systems
x1 x2
K1 K2 K3
F1 F2
M1 M2
C1 C2 C3
g Expressed in matrix form as
[M ]{u&&}+ [C ]{u& }+ [K ]{u } = {F }

Review of Multi DOF Systems
[M ]{u&&}+ [C ]{u& }+ [K ]{u } = {F }
gThe mass, damping and stiffness matrices are

constant with time
g The unknown nodal displacements vary with

time

Modal Analysis
gA continuous structure has an infinite number of
degrees of freedom
g The finite element method approximates the
real structure with a finite number of DOFs
gN mode shapes can be found for a FEM having
N DOFs
g Modal Analysis
üProcess for determining the N natural frequencies and
mode shapes
Modal Analysis
gGiven “suitable” initial conditions, the structure

will vibrate
ü at one of its natural frequencies
üthe shape of the vibration will be a scalar
multiple of a mode shape
g Given “arbitrary” initial conditions, the resulting

vibration will be a
ü Superposition of mode shapes
Modal Analysis
g Determines the vibration characteristics (natural

frequencies and mode shapes) of a structural
components
g Natural frequencies and mode shapes are a

starting point for a transient or harmonic analysis
ü If using the mode superposition method

Mode Shape of a Thin Plate (240 Hz)

Mode Extraction Methods
g Subspace
g Block Lanczos
g PowerDynamics
g Reduced
g Unsymmetric
g Damped and QR damped (Include damping)

Steps in Modal Analysis
g Build the model
ü Same as for static analysis
ü Use top-down or bottom-up techniques
g Apply loads and obtain solution
üOnly valid loads are zero-value displacement
constraints
ü Other loads can be specified but are ignored
g Expand the modes and review results
In-Class Exercise
A = 3 in 2 E = 30E6 psi
IZZ = 450 in 4  lb   s 
2
ρ = 8.031E − 4  3   
H = 5 in  in   in 
360 inches
In-Class Exercise
g Set element type to BEAM3
gSet the appropriate real constants and material

constants
gCreate Keypoints at the start and end of the

beam and a Line between them

Mesh the Line and Apply B.C.s
g Set the meshing size control of the line to 5
g Fix the Keypoint at the right end of the beam

Set Solution Options
g Change the analysis type to Modal

ü Solution > Analysis Type > New Analysis
ü <Modal>
g Set the analysis options

ü Solution > Analysis Options
ü Extract 10 mode <OK>
ü Enter <1500> for the ending frequency
g At this point, you have told ANSYS to find a

particular quantity of modes and to look within a
particular frequency range. If ANSYS finds that
quantity before it finishes the frequency range, it
will stop the search. If ANSYS does not find that
quantity before finishing the frequency range,
then it will stop the search.

g Solve the load set
gANSYS generates a substep result for each

natural frequency and mode shape

Postprocessing
g List results summary

üGeneral Postproc > List Results > Results
Summary
g Read results for a substep
ü General Postproc > Read Results > First Set
ü Plot deformed geometry
ü General Postproc > Read Results > Next Set
Theoretical Modal Analysis
David Herrin, Ph.D.

Structural Vibration at a Single DOF
g At a single degree of freedom
u = φ cos(ωt )
u = displacement of a nodal DOF
φ = amplitude

Structural Vibration for the Entire Structure
{u} = {φ}cos(ωt )
{u} = Vector of nodal displacements

{φ} = vector of amplitudes for each DOF

Mode Shapes
g The vector of amplitudes is a mode shape

φ 5 φ6
φ3 φ 4 φ7
φ2 φ8
gUse subscript i to differentiate mode shapes

and natural frequencies
{u} = {φ}i cos(ωit )

Appropriate Initial Conditions
g If the I.C.s are a scalar (a) multiple of a specific

mode shape then the structure will vibrate in the
corresponding mode and natural frequency
ICs = a{φ }i

Determining Natural Frequencies
g Consider a multi DOF system
[M ]{u&&}+ [K ]{u} = {0}

g Note that the system is
ü Undamped
ü Not excited by any external forces

Modal Analysis
gIf the system vibrates according to a particular

mode shape and frequency
{u} = {φ}i cos(ωit )

{φ}i = mode shape i
ωi = natural frequency i

Modal Analysis
g First derivative (Velocity)
{u&} = −ω i {φ }i sin (ω i t )
g Second derivative (Acceleration)
{u} = −ωi {φ}i cos ( ωit )

&& 2

Modal Analysis
g Plug velocity and acceleration into the equation

of motion
( − [ M ] ω + [ K ]) {φ} = {0}
2
i i
g Two possible solutions
{φ}i = {0}
det ( − [ M ] ω + [ K ]) = 0
2
i
The Eigen Problem
det ( − [ M ] ω + [ K ]) = 0
2
i
g The Eigen Problem

[A]{x} = λ[I ]{x}
g Eigenvalue λ
g Eigenvector { x}
Modal Analysis – An Eigen Problem
( − [ M ] ω + [ K ]) {φ} = [0]
2
i
[ K ]{φ} = ω [ M ]{φ}
2
i
[M ] [K ]{φ} = ω [I ]{φ}
−1 2
i
g Natural frequencies are eigenvalues ω 2

i
g The mode shapes are eigenvectors {φ}

Modal Analysis – An Eigen Problem
[M ] [K ]{φ} = ω [I ]{φ}
−1 2
i
[A]{x} = λ[I ]{x}

g Solving the eigen problem
([ A] − λ [ I ]) { x} = 0
det ([ A] − λ [ I ] ) = 0

Example Eigen Problem
 2 3   x1   x1 
3 2  x  = λi  x 
  2  2
 2 3 1 0 
det    − λi   =0
 3 2 0 1 

Find Eigenvalues
 2 − λ 3 
det    =0
 3 2 − λ 
( 2 − λ )( 2 − λ ) − 9 = λ − 4λ − 5
2
g Eigenvalues
λ1 = −1
λ2 = 5
For Eigenvector 1
λ1 = −1
 2 3 1 0    x1  0 
  − ( −1)     =  
 3 2 0 1    x2 1 0 
  2 + 1 3    x1  0
    =  
 3 2 + 1   x2 1 0

For Eigenvector 1
 3 3   x1  0 
    =  
 3 3   x2 1 0 
x2 = − x1
g x1 can be any value
 x1   1   .7071 
  = = 
 x2 1 −1  −.7071
For Eigenvector 2
λ2 = 5
 2 3 1 0   x1  0
  − ( 5)     =  
 3 2  0 1   x2 2 0
 2 − 5 3    x1  0
    =  
 3 2 − 5   x2 2 0

For Eigenvector 2
  −3 3    x1  0
    =  
  3 −3   x2 2 0
x2 = x1
g x2 can be any value
 x1  1 .7071
  = = 
 x2 2 1 .7071
Example
M 1 = 5 kg x1 x2
M 2 = 10 kg
K1 K2
K1 = 800 N/m M1 M2
K 2 = 400 N/m
g Equations of motions
x1 + K1 x1 − K1 x2 = 0
M1 &&
x2 + K 2 x2 + K1 x2 − K1 x1 = 0
M 2 &&
Matrix Form
 M1 0   x&&1   K1 − K1   x1  0
 0   +    = 
 x 2   − K1 K 1 + K 2   x 2   0 
M 2   &&
x1   800 −800   x1  0 
5 0   &&
0 10   && +   =  
   x2   −800 1200   x2  0 

Set Up Eigen Problem
[ M ] [ K ]{φ} = ω {φ}
−1 2
i
160 −160 
[M ] [ K ] = −80 120 
−1
 
 160 −160 1 0  
det    −λ  =0
  −80 120  0 1  
Solve Eigen Problem
 160 − λ −160  
det    =0
  −80 120 − λ  
ω1 = λ1 = 5.011 rad/s  φ1  0.7645 
  = 
f =
5.011
= .7975 Hz φ2 1 0.6446
2π
1
ω2 = λ 2 = 15.965 rad/s  φ1  −0.8601

  = 
φ2 1  0.5101 
15.965
f2 = = 2.5409 Hz
2π
Weighted Orthogonality
T
 φ1   φ1 
  [M ]  = 0
φ 2 1 φ 2  2
T
 φ1   φ1 
  [K ]  = 0
φ 2 1 φ 2  2

Modal Vector Scaling
g Unity Modal Mass

T
 φ1   φ1 
  [M ]  = 1
φ 2 1 φ 2 1

Modal Vector Scaling
g Unity Modal Mass

T
.7645 X  5 0  .7645 X 
      =1
.6446 X 1 0 10 .6446 X 1
X = .376
 φ1  .287 
  = 
φ 2 1 .242

Mode 1
0.7645 0.6446
K1 K2
M1 M2

Mode 2
-0.8601 0.5101
K1 K2
M1 M2

Harmonic Response using ANSYS
David Herrin, Ph.D.

Harmonic Response Analysis
g Solves the time-dependent equations of motion

for linear structures undergoing steady-state
vibration
g All loads and displacements vary sinusoidally at
the same frequency
Fi = F sin(ωt + φ1 )
Fj = F sin(ωt + φ2 )
Harmonic Response Analysis
g Analyses can generate plots of displacement

amplitudes at given points in the structure as a
function of forcing frequency

In-Class Exercise
A = 3 in 2 E = 30E6 psi
IZZ = 450 in 4  lb   s 
2
ρ = 8.031E − 4  3   
H = 5 in  in   in 
360 inches
In-Class Exercise
g Set element type to BEAM3
gSet the appropriate real constants and material

constants
gCreate Keypoints at the start and end of the

beam and a Line between them

Mesh the Line and Apply B.C.s
g Set the meshing size control of the line to 5
g Fix the Keypoint at the right end of the beam

g Change the analysis type to Modal

ü Solution > Analysis Type > New Analysis
ü <Modal>
g Set the analysis options

ü Solution > Analysis Options
ü Extract 10 mode <OK>
ü Enter <1500> for the ending frequency
g At this point, you have told ANSYS to find a

particular quantity of modes and to look within a
particular frequency range. If ANSYS finds that
quantity before it finishes the frequency range, it
will stop the search. If ANSYS does not find that
quantity before finishing the frequency range,
then it will stop the search.

g Solve the load set
gANSYS generates a substep result for each

natural frequency and mode shape

Postprocessing
g List results summary

üGeneral Postproc > List Results > Results
Summary
g Read results for a substep
ü General Postproc > Read Results > First Set
ü General Postproc > Read Results > Next Set
Forced Response
g Apply a 1.0 N load at the left end of the beam
g New Analysis > Harmonic
g Set the Analysis Options

ü Set the solution method to “Full”
üSet the DOF printout format to “Amplitude
and phase” <OK>
ü Set the tolerance to 1e-8 <OK>
Forced Response
g Set the frequency substeps

ü Solution > Load Step Opts – Time Frequency
> Freq and Substeps
üSet the Harmonic Frequency Range to
between 0 and 50 Hz
ü Set the number of substeps to 100
ü Set to Stepped

Forced Response
g Set the damping

ü Solution > Load Step Opts – Time Frequency
> Damping
ü Set the Constant Damping Ratio to 0.01
g Solve the model

Forced Response
g Enter time history postprocessor
g Define a variable for UY at the leftmost node
g List and graph the variable
gAdd a vertical truss member at the center of the

beam having an area of 10.


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Modal and Harmonic Analysis using ANSYS

David Herrin, Ph.D.

gUsed to determine the natural frequencies and

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Expressed in matrix form as

[M ]{u&&}+ [C ]{u& }+ [K ]{u } = {F }

[M ]{u&&}+ [C ]{u& }+ [K ]{u } = {F }

gThe mass, damping and stiffness matrices are

g The unknown nodal displacements vary with

Dept. of Mechanical Engineering ME 599/699 Vibro-

gGiven “suitable” initial conditions, the structure

g Given “arbitrary” initial conditions, the resulting

g Determines the vibration characteristics (natural

g Natural frequencies and mode shapes are a

Dept. of Mechanical Engineering ME 599/699 Vibro-

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Damped and QR damped (Include damping)

g Set element type to BEAM3

gSet the appropriate real constants and material

gCreate Keypoints at the start and end of the

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Set the meshing size control of the line to 5

g Fix the Keypoint at the right end of the beam

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Change the analysis type to Modal

g Set the analysis options

g At this point, you have told ANSYS to find a

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Solve the load set

gANSYS generates a substep result for each

Dept. of Mechanical Engineering ME 599/699 Vibro-

g List results summary

David Herrin, Ph.D.

g At a single degree of freedom

Dept. of Mechanical Engineering ME 599/699 Vibro-

{u} = Vector of nodal displacements

Dept. of Mechanical Engineering ME 599/699 Vibro-

g The vector of amplitudes is a mode shape

gUse subscript i to differentiate mode shapes

{u} = {φ}i cos(ωit )

g If the I.C.s are a scalar (a) multiple of a specific

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Consider a multi DOF system

[M ]{u&&}+ [K ]{u} = {0}

Dept. of Mechanical Engineering ME 599/699 Vibro-

gIf the system vibrates according to a particular

{u} = {φ}i cos(ωit )

Dept. of Mechanical Engineering ME 599/699 Vibro-

g First derivative (Velocity)

{u} = −ωi {φ}i cos ( ωit )

Dept. of Mechanical Engineering ME 599/699 Vibro-

g Plug velocity and acceleration into the equation

g Two possible solutions

g The Eigen Problem

g Natural frequencies are eigenvalues ω 2

g The mode shapes are eigenvectors {φ}

[A]{x} = λ[I ]{x}

Dept. of Mechanical Engineering ME 599/699 Vibro-

Dept. of Mechanical Engineering ME 599/699 Vibro-

Dept. of Mechanical Engineering ME 599/699 Vibro-

Dept. of Mechanical Engineering ME 599/699 Vibro-

Dept. of Mechanical Engineering ME 599/699 Vibro-