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SIMPACK

Beam
SIMPACK Release 8.6

24th September 2003/SIMDOC v8.607

COPYRIGHT 2003 c

BEAM:0.0 -2

BEAM A PRE-PROCESSOR FOR MODE SHAPE ANALYSIS OF STRAIGHT BEAM STRUCTURES AND GENERATION OF THE SID FILE FOR SIMPACK AND OTHER MBS CODES User Manual
written by Dr. Oskar Wallrapp D-82234 Wessling, FRG Version 3.3 - August 1996

BEAM:0.0 -2

Hint:

Beam is not part of a basic distribution of SIMPACK.

Contents
1 New in Version 3.3 2 What is Beam? 2.1 2.2 1.0 -5 2.1 -7

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 -7 Theoretical Background . . . . . . . . . . . . . . . . . . 2.2 -8 Longitudinal Vibration . . . . . . . . . . . . . . . . . . . 2.2 -9 Torsional Vibrations . . . . . . . . . . . . . . . . . . . . 2.2 -10 Bending Vibrations . . . . . . . . . . . . . . . . . . . . . 2.2 -11

2.3 2.4

Limitations of Modelling . . . . . . . . . . . . . . . . . . 2.0 -13 System Requirements . . . . . . . . . . . . . . . . . . . . 2.0 -13 3.2 -15

3 Starting of BEAM 3.1 3.2

General Information . . . . . . . . . . . . . . . . . . . . 3.2 -15 Example of a Simple Cantilever Beam . . . . . . . . . . . 3.2 -16 Model Description . . . . . . . . . . . . . . . . . . . . . 3.2 -16 . . . . . . . . . . . . . . 3.2 -16 Input Data and Run of BEAM

Input le of BEAM . . . . . . . . . . . . . . . . . . . . . 3.2 -23 SID File of the Simple Beam . . . . . . . . . . . . . . . . 3.2 -25 3.3 3.4 3.5 4 Example of a Beam with Sections Using Dierent Geometry3.3 -31 Example of a Beam with Concentrated Mass and Spring 3.4 -35 Beam Structure with Measured Torsional Stiness Data 3.5 -40 4.0 -49

References

BEAM:0.0 -4

CONTENTS

BEAM:1.

New in Version 3.3

The version 3.3 of BEAM contains signicant extensions for the usage and modelling capabilities with respect to version 3.0. The major topics are as follows: The stiness of tension, bending and torsion motions may be dened direct by input data, e. g. given by measured values, see section BEAM:3.5. The markers for the MBS code may be attached outside of the beams centerline but within the sections of the beam structure. This means that a markers is now dened by data of the x, y and z position, see section BEAM:3.5. For this markers, BEAM evaluates the mode shape values within the assumption of rigid arms perpendicular to the beams centerline. In addition to the damping ratio proportional to the modal stiness values, the important natural damping (Lehr ratio) is implemented . From these values BEAM computes the modal damping matrix De. The input is illustrated in section BEAM:3.5. In the past, beam structures with one homogenous section and the boundary conditions free-free results in an error due to the solution of the eigenvalue equation. In version 3.3 the exact solution is implemented. The SID le is optimized . No zero elements are written on the SID le now. A key allows to generate the SID le for SIMPACK v5.xx versions, too. Hint: Note that the new SID le requires the new read routine for SID in the MBS code.

BEAM:1.0 -6

BEAM:1. NEW IN VERSION 3.3

BEAM:2.
BEAM:2.1

What is Beam?

Introduction
BEAM is a computer program for the evaluation of the mode shapes of straight exible beam structures as shown in Fig. BEAM:2.1.1. From this mode shapes, BEAM generates the SID (Standard Input Data) le containing input data for MBS (MultiBody System) codes. BEAM is a so-called pre-processor for SIMPACK and other MBS codes. BEAM

z x y
Figure BEAM:2.1.1: A straight beam structure The structure has two sections, boundaries at the left end, concentrated springs at left and right, as well as a concentrated mass between section 1 and 2. solves the eigenvalue problem of beam structures with various sections of mass and geometrical properties, xed and exible boundary conditions at nodes, and concentrated nodal masses. BEAM uses an easy input description like FEM codes. A beam is modelled by the Euler-Bernoulli hypothesis, for which the mode shapes of longitudinal vibrations (in x-direction), bending vibrations in two directions (in y and z -direction), and torsion vibrations (about x-axes) can be computed exactly from the continuum equations, see section BEAM:2.2. Using the mode shapes of a beam, the submatrices of the system equations of a exible body as a part of the MBS are evaluated based on a modal approximation. The submatrices represent the input data of a exible body of a MBS, which are written on the Standard Input Data (SID) le especially for a Taylor expansion up to the rst order. MBS codes with exible members, which are based on a formulation of the deformations assuming small displacements and a modal approximation, they can take those data as input to generate the system equations. The SID le contains all submatrices for a complete linearization of the equations of deformations, see (Wallrapp 1993). BEAM allows the user to select a various number of modes shapes and markers for the MBS data generation. The computation of the geometric stiening terms can be activated or not.

BEAM:2.2 -8

Theoretical Background

BEAM can be used either in an interactive modus, where the beam data comes from the standard input or where the beam input data are taken from a le. The output may be test prints for detailed discussions of the results, the BEAM input data stored on a ASCII le for future computations, and the SID on a formatted ASCII le for the transfer to MBS codes running on various devises. Fig. BEAM:2.1.2 shows the data ow of BEAM. BEAM solves the eigenvalue problem of beam

INPUT

Input Data .....

BEAM Input Data

OR

BEAM

OUTPUT

Test Prints ..... BEAM Input Data

SID

Figure BEAM:2.1.2: Data ow of BEAM structures with various sections of mass and

BEAM:2.2

Theoretical Background
The following section gives an introduction into the vibration analysis of homogenous beams represented by one section and simple boundary conditions, e. g. the free - free situation. Therefore, an analytical solution of the equations of motions is possible which one nds e. g. in (Meirovitch, 1967). For problems with dierent sections and boundary conditions as shown in Fig. BEAM:2.1.1, the dierential equations are more dicult which one have to solve numerically using the Kolousek method. Both methods are implemented in BEAM.

Theoretical Background

BEAM:2.2 -9

Longitudinal Vibration
Let us consider a thin homogenous rod with a longitudinal exibility measured by u(x, t) with the unit [m]. The mass density per unit length is ? [kg/m], the longitudinal stiness is EA with the unit [N ], where E is the Youngs modulus and A is the cross section of area. The time derivative may be denoted by a dot and the space derivative with respect to x by , the equation of longitudinal motion is represented by the dierential equation (BEAM:2.1) u EAu (x, t) = (x, t), which must be satised over the domain 0 x L. At the borders x = 0 and x = L boundary conditions are given, e.g. for the free-free situation (BEAM:2.2) (BEAM:2.3) (BEAM:2.4) EAu, (x = 0, t) EAu, (x = l, t) = = 0 0 (BEAM:2.1)

Applying the separation of variables method (Meirovitch, 1967) one writes the displacements u(x, t) in the form u(x, t) = U (x)q(t) (BEAM:2.5)

where q(t) is a harmonic function with the frequency [rad/sec] and U (x) is the unknown function of the mode shapes. Substituting (4) into (1) to (3) and denoting u(x, t) = 2 U (x)q(t) yields the dierential equation of the eigenvalue problem

EAU ,, (x) = 2 U (x)

U ,, (x) + 2 U (x) = 0 (BEAM:2.6)

with the eigenvalues , which are correlated to the frequencies as EA

= and the boundary conditions

(BEAM:2.7)

(BEAM:2.8) (BEAM:2.9) (BEAM:2.10)

EAU , (0) EAU , (l)

= =

0 0

The general solution of (BEAM:2.6) is U (x) = C1 cosx + C2 sinx (BEAM:2.11)

BEAM:2.2 -10

Theoretical Background

where C1 and C2 are amplitudes and which have to specialized by the boundary conditions (BEAM:2.8) and (BEAM:2.9). From (BEAM:2.8) one gets C2 = 0 and from (BEAM:2.9) the frequency equation sinL = 0 which is satised for eigenvalues i = i , L i = 0, 1, 2, . . . (BEAM:2.13) (BEAM:2.12)

The rst value 0 = 0 represents the longitudinal rigid body motion. The other values describes the orthogonal, natural mode shapes for longitudinal deformations as Ui (x) = cosi x, i = 1, 2, . . . (BEAM:2.14)

where C1 is the amplitudes, which has the same value for all modes and which may be dened by the normalization of the modal mass conditions
L

Mqij =

Ui Uj dx =

1 f or i = j 0 f or i = j

i = 1, 2, . . . (BEAM:2.15)

For (BEAM:2.14) one nds with (BEAM:2.15) C1 = sqrt 2 L i = 1, 2, . . . (BEAM:2.16)

The rst three mode shapes of (BEAM:2.14) are plotted in Fig. BEAM:2.2.3.
1 Mode 2 0.5 0 -0.5 -1 0 0.2 0.4 0.6 0.8 1 Mode 3 Mode 1

Figure BEAM:2.2.3: Three longitudinal mode shapes of a rod with free-free borders

Torsional Vibrations
Let us focus at torsional vibrations about the x-axis of a homogenous bar with the torsional stiness GJT [Nm2/rad] and the mass moment

Theoretical Background

BEAM:2.2 -11

of inertia per unit length ix [kgm/rad]. If (x, t) is the torsional angle of the bars center line, the dierential equation of motion is given as GJT ,, (x, t) = ix (x, t) (BEAM:2.17)

which must be satised over the domain 0 x L. At the borders x = 0 and x = L boundary conditions are given, e.g. for the free-free situation GJT ,, (x = 0, t) = 0 and GJT ,, (x = L, t) = 0 (BEAM:2.19) (BEAM:2.18)

The solution of (BEAM:2.17) to (BEAM:2.19) is in analogy to the longitudinal vibration: one has to substitute u(x, t) by (x, t), EA by GJT , and by ix . The results are the natural frequencies i = i GJT , ix i = 0, 1, 2, . . . (BEAM:2.20)

and the torsional modes shapes Ti (x) = C1 cosi x, where i is given in (BEAM:2.13). i = 1, 2, . . . (BEAM:2.21)

Bending Vibrations
Bending motions may be considered in y- and z-direction. If v(x, t) is the displacement in y-axis of the beams center line, EJz [Nm2] the bending stiness and [kg/m] the mass density per unit length, the equation of motion is given as v EJx v ,,,, = (x, t), (BEAM:2.22)

which must be satised over the domain 0 x L. The bending stiness is the product of the Youngs modulus E and the area moment of inertia Jz with respect to the z-axis. To obtain separation of variables method and write the displacements as v(x, t) = V (x)q(t) (BEAM:2.23)

where q(t) is a harmonic function with the frequency [rad/sec] and V (x) is the unknown function of the mode shapes. Substituting (BEAM:2.23) into (BEAM:2.22) and denoting v (x, t) = 2 V (x)q(t) yields the dierential equation of the eigenvalue problem EJz v ,,,, (x) = 2 V (x) V ,,,, (x) + 4 V (x) = 0 (BEAM:2.24)

BEAM:2.3 -12

Theoretical Background

where the eigenvalues i , are given by 4 = 2 EJz = 2 EJz

(BEAM:2.25)

The mode shapes V (x) must be satisfy four boundary conditions. In the case of a free-free supported beam, one nds the conditions at the borders x = 0 and x = L EJz V ,, (x = 0, t) = 0 , EJz V ,,, (x = 0, t) = 0, (BEAM:2.26) EJz V ,, (x = L, t) = 0 , EJz V ,,, (x = L, t) = 0. Consequently, one obtain the frequency equation cosLcosL = 1 (BEAM:2.27)

with the solutions 0 = 1 = 0 as well as the eigenvalues of the bending motion, i = 2, 3, . . . which have to nd numerically from (BEAM:2.27). The natural frequencies follows with (BEAM:2.25). Modes i = 0 and i = 1 represent the rigid body motion as translation in the y-axis and rotation about the z-axis. The solution of the eigenvalue equation (BEAM:2.24) with respect to the boundary conditions (BEAM:2.26) and the innity sequence of eigenvalues i , i = 2, 3, . . . yields the bending modes shapes

Vi (x) = C1i coshi x + C2i sinhi x + C3i cosi x + C4i sini x, i = 2, 3, . . . (BEAM:2.28) where the coecients C1 to C4 are obtained from the normalization condition of the modal masses
L

Mqij = One nds

Vi Vj dx =

1 f or i = j 0 f or i = j

i = 1, 2, . . . (BEAM:2.29)

1 C1i = C3i = Ai (sini L + sinhi L) = , L (BEAM:2.30) Bi C2i = C4i = Ai (+cosi L coshi L) = . L where values Bi are near the value 1 but very sensitive. The rst four bending mode shapes of (BEAM:2.28) are plotted in Fig. BEAM:2.2.4.

Limitations of Modelling

BEAM:2.0 -13

2 Mode 1 1 Mode 3 0 Mode 2 -1 Mode 4

-2 0 0.2 0.4 0.6 0.8 1

Figure BEAM:2.2.4: Four bending mode shapes of a beam with freefree borders

BEAM:2.3

Limitations of Modelling
The solution of beam structures applied by BEAM V3.3 are limited as follow: 1 Beam sections are oriented in a straight line. The x-axis is always the beams centerline. 2 Boundary conditions and concentrated masses and stiness are only allowed at nodes. A section has two nodes. If more nodes required, more sections have to be introduced. 3 A xed support of the beam is only allowed at the end nodes of the beam structure, not at nodes within the structure. In this case, divide the structure into two parts. 4 A structure with a revolute joint between two sections is not solvable. The development group is endeavour to satisfy the customer wishes and to extend the BEAM code.

BEAM:2.4

System Requirements
BEAM V 3.3 has a line oriented user interface and is coded in FORTRAN 77. At present BEAM runs on dierent UNIX-platforms, PC and Macintosh. The SID le is portable over various platforms. The runtime memory is about 2 MB.

Hint:

Please note that both the input le of BEAM and the SID le have to be located in the same working directory.

BEAM:2.0 -14

System Requirements

BEAM:3.

Starting of BEAM

The following chapter describes how to use BEAM. The variants are divided into four classes: a simple cantilever beam, a beam with two sections, a beam with elastic borders and concentrated masses at nodes, and a beam with measured stiness.

BEAM:3.1

General Information
Note at rst, that the x-axis of the reference frame is identical to the beams centerline and second, that the y- and z-axis are perpendicular to the x-axis, like a Cartesian frame as shown in Fig. BEAM:2.1.1. The origin is dened at the coordinate x = 0, therefore, nodes with positive or negative values are allowed. The units of the beam data should be taken from the ISO norm: mass by [kg], length by [m], and time by [sec]. Therefore, the unit of the force is [N ] = [kgm/sec2 ]. The SID depend also on these units. If other units are used, the whole data set of the MBS should be changed to the new units. The code is limited to a maximum number of sections of the beam structure, number of modes, and number of desired markers for the MBS simulation. The actual limitation is printed out in the header of the BEAM code as shown below and may be dierent from your installation.

Example: B E A M a preprocessor for mode shape analysis of straight beam structures and generation of the SID file for MBS codes Version 3.3 - March 1996 Copyright by Oskar Wallrapp D-82234 Wessling ======================================================= Note: Model limited to Max. number of sections = 10 Max. number of modes = 30 Max. number of markers = 30 If a larger model is desired, consult your BEAM distributor.

BEAM:3.2 -16

Example of a Simple Cantilever Beam

BEAM:3.2

Example of a Simple Cantilever Beam


Let rst consider a simple beam as shown in Fig.BEAM:3.2.1. The beam is clamped to its left end, the right end is free. The beams data are given in Fig.BEAM:3.2.1. Due to the homogeneous structure of the beam, only one section with two major nodes at the ends are required to describe the beams properties. The nodes are measured by values at the x-axis only.
z * x y *
L = 10 m

Model Description

Marker *

Major node

Figure BEAM:3.2.1: A simple cantilever beam

Data length L = 10 m height 2 crosssectionarea A = 0.0004 m massdensity 7 4 areamomentof inertia Jx = 4 10 m Jy = 2 107 m4 Jz = 2 107 m4 Y oung smodulus E = 7 1010 N/m2 Shearmodulus

= 0.0774 m = 3000 kg/m3

G = 2.5 1010 N/m2

Input Data and Run of BEAM


Before starting BEAM, a folder of your project should be created. Then BEAM can be started by execution of Beam. The prompt is as follows: Example: B E A M a preprocessor for mode shape analysis of straight beam structures and generation of the SID file for MBS codes Version 3.3 - March 1996 Copyright by Oskar Wallrapp D-82234 Wessling ======================================================= Note: Model limited to

Example of a Simple Cantilever Beam

BEAM:3.2 -17

Max. number of sections = 10 Max. number of modes = 30 Max. number of markers = 30 ======================================================= Test output on screen(1), no test output(0) 0 Data of general beam structure input interactive or from file with mode selections etc. or all data from file and all modes for SID or as option 2 but SID for SIMPACK v5.xx or Data of measured beam structure input interactive or from file with mode selections etc. or all data from file and all modes for SID or as option 12 but SID for SIMPACK v5.xx or Stop the program ? 0

(0) (1) (2) (3)

(10) (11) (12) (13) (99)

The code asks you at rst about test prints. Test prints are important for detailed information on the computation only. Usually zero is used. Always, the natural frequencies and mode shape values are stored in the input le. The next prompt denes the input media. If there is no data input le for the beam properties, use the interactive modus, i.e. set 0, otherwise use 1 or 2. Is the input 9, the code stops. For input 1, the code will ask you about mode selection, consideration of geometric stiening by incorporating geometric stiening terms. The next block of input data describes the geometrical properties of the beam. This data can already exist on the beam input le or have to be told the program. Here, we have chosen the interactive modus. See the next program prompts and the inputs, where the data are taken from the chapter of Fig. BEAM:3.2.1. Example: Provide model description, not to exceed 80 characters Simple Beam: Date 19.03.94/OW Number of different beam sections (ns) = ?

BEAM:3.2 -18

Example of a Simple Cantilever Beam

1 === Write down x-position of each node (node=ns+1) x-Position in [m] of 1-th node = ? 0 x-Position in [m] of 2-th node = ? 10 === Write down mass, geometric & material properties For 1-th section Mass density [kg/m**3] = ? 3000 Cross sectional area(A) [m**2] = ? 4e-4 Area moments of inertia(Jt,Jy,Jz) [mm**4] = ? 4e-7 2e-7 2e-7 Youngs modulus(E) [N/m**2] = ? 7e10 Shear modulus(G) [N/m**2] = ? 2.5e10 The beam data starts with a description of the model. In our example, the beam consists only of one section with major nodes at both ends at x = 0.0 and x = 10m. For this section the mass density, the cross section area, the area moments of inertia about the x-, y-, and z-axis are required. Additionally, Youngs modulus and Shear modulus are needed measured in the corresponding units. For this section, the values are constant. The next block describes the boundary conditions, additional node stiness and nodal masses. This block can also be written on the beam input le. The program prompts and the inputs are: Example: Sum of nodes with boundary conditions(nb) = ? 1 Sum of nodes with additional masses(nam) = ? 0 Sum of nodes with additional springs(nas) = ? 0 === Write down boundary conditions

Example of a Simple Cantilever Beam

BEAM:3.2 -19

For 1-th boundary condition Node no., tx,ty,tz,rx,ry,rz(free = 0, fixed = 1) 1 1 1 1 1 1 1 As shown in Fig. BEAM:3.2.1, the beam structure has one boundary, no additional nodal masses and no additional spring suspensions. For a node up to 6 constraints can be dened. Here, at node one all directions are locked - three translational motions and three rotational motions about the reference frame. Additional masses and springs at nodes will be discussed in detail in section BEAM:3.4. Here, the inputs are zeros. The next beam data tells the code the number of modes to be computed and the corresponding modal damping rates. The program prompts and the inputs are: Example: === No. of modes in longitudinal(x) vibration, in y-bending vibration, in z-bending vibration, and in torsional vibration = ? 2 3 3 2 === Damping ratio ( pos. values mean proport. stiffness, neg. values mean natural damping ) for longitudinal vibration, y-bending vibration, z-bending vibration, torsional vibration = ? 0.01 0.02 0.02 0.001 Here two modes in longitudinal direction, three bending modes in y and z direction, as well as two torsional mode should be computed. The modal damping coecients will be multiplied with the stiness term to get a damping value in the equation of deformations of the MBS. All modes of one vibration direction are multiplied by the same coecient. For the evaluation of the SID, which are used in the MBS code, additional nodes - here denoted by markers - (often also called attachment points) are required in the MBS simulation, e.g. for evaluations of the kinematic, attachment points of joints, action points of forces, etc. So, within the range of the major nodes, markers for the MBS simulation have to be dened now. They may have also y and z values. Example: === Write down the total number > 0 of markers for MBS code 3 For all markers: name (max 8 char in strings)

BEAM:3.2 -20

Example of a Simple Cantilever Beam

and x, y, z - position in [m] marker : 1 m1 0 0 0 marker : 2 m2 5 0 0 marker : 3 m3 10 0 0 Here, markers are called m1, m2 and m3 and are located at x - position of zero, at 5 m, and 10 m. The coordinates y and z are zero. Next, in the mass integral evaluation, the mass moment of inertia of can be incorporated in the bending motion, when the key is on. The default is zero. For the computation of the modes shapes, a nonlinear equation in eigenvalues has to be solved. For this iteration solution written by KOLLOUSEK, starting values have to be computed by SOTIROPULUS. For both methods, iteration boundaries epskol and epssot have to be dened. Additionally, elements in the mass integrals of the equations of deformation can be set to zero when the value is smaller than an border epsmass. Usually, the defaults can be used, then the input is zero, see below. Example: === Four keys to consider: mass mom.o.inertia for bending (0/1), boundaries epskol for mode computations, boundaries epssot for mode computations, epsmass for zero mass elements ? Zero input means defaults = 0 1.000E-6 1.000E-3 1.000E-6 0 0 0 0 Because the interactive modus is used, BEAM ask the user to save the data in a input le for corrections and additional computations. The program prompts and inputs are: Example: Save of input data and program continuation 0 = compute without saving data 1 = compute with saving data 3 = save data and exit 4 = do not save data and exit 1 Name of the input data file within 60 characters in case of <blanks> file name = beam.dat is assumed <one blank> Data are saved on file = beam.dat

Example of a Simple Cantilever Beam

BEAM:3.2 -21

With the current input data, BEAM computes at rst the desired eigenvalues for the dened vibration directions. The code will print the following statements and results given by the mode shape description and natural frequencies: Example: ********* Mode Shape Calculation of Beam Structure ********* Longitudinal analysis in x direction ==================================== Bending analysis in y direction ================================ Bending analysis in z direction ================================ ------------------------------------------------| | | Mode number Type of mode Natural frequency[Hz]| |-------------------------------------------------| | | | 1 Longitudinal 1 120.76 | | 2 Longitudinal 2 362.28 | | 3 Bending y 1 .60443 | | 4 Bending y 2 3.7879 | | 5 Bending y 3 10.606 | | 6 Bending z 1 .60443 | | 7 Bending z 2 3.7879 | | 8 Bending z 3 10.606 | | 9 Torsion 1 72.169 | | 10 Torsion 2 216.51 | ------------------------------------------------Results are (also) listed in file: beam.dat 1 The above list of mode shapes will be also written on the input le for reason of saving the data. For the following evaluation of the MBS input data, specic modes have to be selected by the user, which are important for the MBS simulation model. Only the desired modes will be incorporated for SID. The number must be greater zero, but it may be chosen in a serious related to frequencies. The BEAM prompts and the inputs are listed next: Example: === write down the total number of modes to be chosen 4 === write down 3 different mode numbers selected 3 6 9 1

BEAM:3.2 -22

Example of a Simple Cantilever Beam

Here, the rst bending modes in y - direction and z - direction as well as the rst torsional and longitudinal modes are desired given by the numbers 3, 6, 9, and 1. Hint: Note that the serious of the selected number will be taken for the serious of the SID le. After these inputs, BEAM calculates the modal mass integrals, modal mass matrix, modal stiness matrix, and modal damping matrix. The stiness calculations can be done with or without consideration of geometric stiening terms, see the prompts and program input below. Geometric stiening has to be added if the structure is very exible and the loads are high, therefore simulations will appear in the range of buckling or stiening due to these loads. Example: ******** ******** Mass Terms Calculation Stiffness Calculations ******** ********

Choice of geometric stiffening calculations: 0=no, 1=yes 1 *** stiffness marker 1 *** *** stiffness marker 2 *** *** stiffness marker 3 *** *** stiffness ax *** *** stiffness accel. *** calculation due to force at calculation due to force at calculation due to force at calculation due to long. accel.

calculation due to centrifugal

The geometric stiness matrices are calculated for all possible unit loads: for longitudinal forces at all markers, a longitudinal acceleration ax of the reference frame, and for a centrifugal acceleration due to rotations about y- and z-axis of the reference frame. Here, in this model, geometric stiening is included. The last step of BEAM is to save the MBS data on a SID le, if the user will choose it. The name of the le is an input data, see the dialogue below. Example: Generation of SID file? (0 = no, 1 = for SIMPACK 6.xx, 2 = for SIMPACK 5.xx) 1 Provide the name of the SID file. It will be added by .SID Beam blanks means default <SID Beam> <one blank>

Example of a Simple Cantilever Beam

BEAM:3.2 -23

SID file is denoted:

SID Beam

The SID file is successfully written FORTRAN STOP If the writing of the SID le was successful, BEAM gives a prompt and stops.

Input le of BEAM
Please check the data of the BEAM input le, if a saving of the data was chosen. All data of the beam, the natural frequencies and the mode shapes results are stored on the BEAM input le - see the printed beam input le beam.dat next. Note that phi(1,2,3) are the displacements in x, y, z -axis, psi(1,2,3) are rotation angle about x, y, z -axis. Example: Simple Beam: Date 19.03.94/OW Model Description 1 Number of sections (ns) .000000 x-Position of node 1 10.0000 x-Position of node 2 3000.00 Mass density [kg/m**3] of sect. 1 4.000000E-04 Cross sectional area(A) of sect. 1 4.0E-07 2.0E-07 2.0E-07 Area moment of inertia (Jt,Jy,Jz) of sect.1 7.000000E+10 Youngs Modulus (E) of sect. 1 2.500000E+10 Shear Modulus (G) of sect. 1 1 Number of nodes with boundary cond. 0 Number of nodes with additional masses 0 Number of nodes with additional springs 1 1 1 1 1 1 1 Node no., tx,ty,tz,rx,ry,rz(free=0, fixed=1) of bound.cond. 1 2 3 3 2 No. of modes for long., bend. , bend.z, & torsion 0.10000E-01 0.20000E-01 0.20000E-01 0.10000E-02 Damping ratio for long., bend.y, bend.z,& torsion !! !! !! !! !! !! !! !! !! !! !! !! !!

!!

!!

BEAM:3.2 -24

Example of a Simple Cantilever Beam

3 number > 0 of markers for MBS code m1 .00000 .00000 .00000 marker description and x-position m2 5.000 .00000 .00000 marker description and x-position m3 10.000 .00000 .00000 marker description and x-position 0 1.00000E-06 1.00000E-03 1.00000E-06 Inertia key, epskol, epssot, epsmass

!! !! !! !! !!

------------------------------------------------| | Mode shapes computed by BEAM - V 3.3 | ------------------------------------------------| | Mode number Type of mode Natural frequency[Hz]| ------------------------------------------------| 1 Longitudinal 1 120.76 | 2 Longitudinal 2 362.28 | 3 Bending y 1 .60444 | 4 Bending y 2 3.7879 | 5 Bending y 3 10.606 | 6 Bending z 1 .60443 | 7 Bending z 2 3.7879 | 8 Bending z 3 10.606 | 9 Torsion 1 72.169 | 10 Torsion 2 216.51 ------------------------------------------------4 modes are selecet for MBS data generation: They are: Bending y 1 Bending z 1 Torsion 1 Longitudinal 1

| | | |

| | | | | | | | | |

Mode shapes for mode i and marker k

i k x y z | phi(1) phi(2) phi(3) psi(1) ----------------------------------------------------------------1 1 .00 .00 .00 .0000 .0000 .0000 .0000 1 2 5.00 .00 .00 .0000 .1960 .0000 .0000 1 3 10.00 .00 .00 .0000 .5774 .0000 .0000 2 1 .00 .00 .00 -.0000 .0000 .0000 .0000 2 2 5.00 .00 .00 -.0000 .0000 .1960 .0000 2 3 10.00 .00 .00 -.0000 .0000 .5774 .0000

Example of a Simple Cantilever Beam

BEAM:3.2 -25

3 3 3 4 4 4

1 .00 2 5.00 3 10.00 1 .00 2 5.00 3 10.00

.00 .00 .00 .00 .00 .00

.00 .00 .00 .00 .00 .00

.0000 .0000 .0000 .0000 .2887 .4082

.0000 .0000 .0000 .0000 .0000 .0000

-.0000 -.0000 -.0000 .0000 .0000 .0000

.0000 9.1287 12.9099 .0000 .0000 .0000

SID File of the Simple Beam


An outline of the SID-le written by BEAM is listed below. The generated SID le is an ASCII le and is readable using an standard editor. Hint: Example: It should be noted that changes on the le can disturb the readability of SID by SIMPACK. 3 4 = No. nodes & No. modes of model =Simple Beam: Date 19.03.94/OW |SID generated by BEAM-V.3.3 including Geo Stiff=yes from Beam input file=beam.dat 15-Aug-96; part new modal = m refmod mass = 1.20000000000D+01 nelastq = 4 ielastq ( 1) = Bending y 1 ielastq ( 2) = Bending z 1 ielastq ( 3) = Torsion 1 ielastq ( 4) = Longitudinal 1 end refmod frame new node = m1 >>> marker m1 rframe = body ref origin order = 1 nrow = 3 ncol = 1 nq = 4 nqn = 0 structur = 0 end origin phi order = 1 nrow = 3 ncol = 4 nq = 4 nqn = 0 structur = 0 end phi psi

BEAM:3.2 -26

Example of a Simple Cantilever Beam

order nrow ncol nq nqn structur end psi AP order nrow ncol nq nqn structur end AP end node ... ... new node rframe origin order nrow ncol nq nqn structur m0( 1, 1) in x for m3 m1( 1, 4, 1) m1( 2, 1, 1) m1( 3, 2, 1) end origin phi order nrow ncol nq nqn structur m0( 1, 4) m0( 2, 1) m0( 3, 2) m1( 1, 1, 1) m1( 1, 2, 2) end phi psi order nrow ncol

= = = = = =

0 3 4 4 0 0

= = = = = =

0 3 3 4 0 4

= m3 = body ref = = = = = = = 1 3 1 4 0 3 1.00000000000D+01 position

= 4.08248290463D-01 = 5.77350269190D-01 = 5.77350269190D-01

= 1 = 3 = 4 = 4 = 0 = 3 = 4.08248290463D-01 = 5.77350269190D-01 = 5.77350269190D-01 =-3.87314860533D-02 =-3.87314860533D-02

= 0 = 3 = 4

Example of a Simple Cantilever Beam

BEAM:3.2 -27

nq nqn structur m0( 1, 3) m0( 2, 2) m0( 3, 1) end psi AP order nrow ncol nq nqn structur m0( 1, 1) m0( 2, 2) m0( 3, 3) m1( 2, 1, m1( 3, 2, m1( 1, 1, m1( 3, 3, m1( 1, 2, m1( 2, 3, end AP end node end frame mdCM order nrow ncol nq nqn structur m0( 1, 1) of mass m1( 1, 4, m1( 2, 1, m1( 3, 2, end mdCM J order nrow ncol nq nqn structur m0( 1, 1) mom. o. m0( 2, 1) m0( 3, 1)

= 4 = 0 = 3 = 1.29099444873D+01 =-7.94725812117D-02 = 7.94725812117D-02

1) 1) 2) 2) 3) 3)

= 1 = 3 = 3 = 4 = 0 = 3 = 1.00000000000D+00 = 1.00000000000D+00 = 1.00000000000D+00 = 7.94725812117D-02 = 7.94725812117D-02 =-7.94725812117D-02 = 1.29099444873D+01 =-7.94725812117D-02 -1.29099444873D+01

= = = = = = = 1) 1) 1)

1 3 1 4 0 3 6.00000000000D+01 center

= 3.11878720494D+00 = 2.71236300674D+00 = 2.71236300674D+00

= = = = = = = inertia

1 6 1 4 0 3 1.20000000000D-02 mass

= 4.00000000000D+02 = 4.00000000000D+02

BEAM:3.2 -28

Example of a Simple Cantilever Beam

m1( 2, 4, m1( 3, 4, m1( 4, 1, m1( 5, 2, end J Ct order nrow ncol nq nqn structur m0( 1, 2) m0( 2, 3) m0( 4, 1) m1( 1, 1, m1( 2, 2, end Ct Cr order nrow ncol nq nqn structur m0( 1, 3) m0( 2, 2) m0( 3, 1) m1( 1, 2, m1( 2, 1, m1( 2, 4, m1( 4, 2, m1( 1, 4, m1( 4, 1, end Cr Me order nrow ncol nq nqn structur m0( 1, 1) mass m0( 2, 2) m0( 3, 3) m0( 4, 4) end Me Gr order

1) 1) 1) 1)

= 3.97096320094D+01 = 3.97096320094D+01 =-1.97040089549D+01 =-1.97040089549D+01

1) 1)

= 1 = 4 = 3 = 4 = 0 = 3 = 2.71236300674D+00 = 2.71236300674D+00 = 3.11878720494D+00 =-1.57087820334D-01 =-1.57087820334D-01

1) 1) 2) 2) 3) 3)

= 1 = 4 = 3 = 4 = 0 = 3 = 1.97047017752D+01 =-1.97047017752D+01 = 9.86247110499D-02 =-1.00000000000D+00 = 1.00000000000D+00 =-9.58641445425D-01 = 9.58641445425D-01 = 9.58641445425D-01 =-9.58641445425D-01

= = = = = = =

0 4 4 4 0 1 1.00000000000D+00 modal

= 1.00000000000D+00 = 1.00000000000D+00 = 1.00000000000D+00

= 0

Example of a Simple Cantilever Beam

BEAM:3.2 -29

nrow ncol nq nqn structur m0( 2, 1) m0( 2, 8) m0( 3, 2) m0( 3,12) end Gr Ge order nrow ncol nq nqn structur m0( 1, 2) m0( 1,12) m0( 2, 1) m0( 2, 8) m0( 4, 6) m0( 4, 9) end Ge Oe order nrow ncol nq nqn structur m0( 1, 4) m0( 2, 6) m0( 4, 2) m0( 4, 3) m1( 1, 1, m1( 2, 2, m1( 1, 1, m1( 2, 2, m1( 4, 4, m1( 1, 1, m1( 2, 2, m1( 4, 4, m1( 1, 4, m1( 4, 1, m1( 1, 2, m1( 2, 1, m1( 2, 4, m1( 4, 2, end Oe

= 3 =12 = 4 = 0 = 3 =-3.94094035503D+01 = 3.97096320094D+01 =-3.94094035503D+01 = 3.97096320094D+01

= 0 = 4 =12 = 4 = 0 = 3 =-2.00000000000D+00 = 1.91728289085D+00 = 2.00000000000D+00 =-1.91728289085D+00 = 1.91728289085D+00 =-1.91728289085D+00

1) 1) 2) 2) 2) 3) 3) 3) 4) 4) 5) 5) 6) 6)

= 1 = 4 = 6 = 4 = 0 = 3 = 1.97040089549D+01 = 1.97040089549D+01 =-1.98548160047D+01 =-1.98548160047D+01 =-1.00000000000D+00 =-1.00000000000D+00 = 1.19333638409D+00 = 1.93336384089D-01 =-1.00000000000D+00 = 1.93336384089D-01 = 1.19333638409D+00 =-1.00000000000D+00 = 9.58641445425D-01 = 9.58641445425D-01 = 1.00000000000D+00 = 1.00000000000D+00 = 9.58641445425D-01 = 9.58641445425D-01

BEAM:3.2 -30

Example of a Simple Cantilever Beam

ksigma order nrow ncol nq nqn structur end ksigma Ke order nrow ncol nq nqn structur m0( 1, 1) stiffness m0( 2, 2) m0( 3, 3) m0( 4, 4) end Ke De order nrow ncol nq nqn structur m0( 1, 1) damping m0( 2, 2) m0( 3, 3) m0( 4, 4) end De end modal end part

= = = = = =

0 4 1 4 0 0

= = = = = = =

0 4 4 4 0 1 1.44227572630D+01 modal

= 1.44227572630D+01 = 2.05616758357D+05 = 5.75726923399D+05

= = = = = = =

0 4 4 4 0 1 2.88455145261D-01 modal

= 2.88455145261D-01 = 2.05616758357D+02 = 5.75726923399D+03

The outline is supplemented by comments to give an interpretation of the entities and the structure of the le. At the beginning of the le the four natural frequencies of the selected modes can be recognised. The coordinates for the markers (in SID are called nodes) are relevant for the simulation with SIMPACK. See marker m3 for an example. Also the mass and the mass moments of inertia can be found in the SID-le. At the end the modal stiness and damping matrix are contained. Usually the user should not be bothered with the SID-le. The only entities which are relevant to the user in connection with the set-up of the MBS-model are the coordinates of the nodes of the FEM-structure. Congratulations on nishing your rst BEAM example!

Example of a Beam with Sections Using Dierent Geometry

BEAM:3.3 -31

The purpose of this rst example has to demonstrate the handling of BEAM. However, the next examples are more complicated with respect to the beams geometry and the boundary conditions.

BEAM:3.3

Example of a Beam with Sections Using Dierent Geometry


As mentioned before, a beam section has constant beam parameters. Therefore, a structure with variable mass and geometrical properties has to be subdivided (and approximated) into a nite number of sections. The example as shown in BEAM:3.3.2 is a simplied model of a helicopter rotor blade. The blade is modelled by four sections: The rst section represents the arm of the blade, the next two sections the transition and the last section the blade area. The data of the example are given in BEAM:3.3.2. Here, the bending motions in y-direction are of interest only. The aim of this simulation is to show the inuence of the rotation about the y-axis on the bending motion.
Section 1 2 3 Section 4

* y z

Figure BEAM:3.3.2: Beam model of an aliminium helicopter rotor blade

Section n 1 2 3 4

Data of the helicopter rotor blade Length Height Area Area m.o. Inert. M ass Density [m] [cm] [cm2 ] Jz [cm4 ] [Kg/m3 ] 0.60 6.0 42 126.0 2787 0.12 5.0 50 104.2 2787 0.08 3.4 51 49.0 2787 4.00 2.5 50 26.0 2787
Additional data: Shear modulus G = 2.5 E10, Area m.o.Inert. Jx and Jy are given by 0, because the data are unknown and not required in the computation for bending in y-direction

Y oung s M odulus [N/m2 ] 7.13 e10 7.13 e10 7.13 e10 7.13 e10

The input data for BEAM are listed below, where four sections with ve major nodes are introduced. Moreover, four markers at 0.0, 0.8, 2.8, and 4.8 m are set for the SID le. Example: Provide model description, not to exceed 80

BEAM:3.3 -32

Example of a Beam with Sections Using Dierent Geometry

characters Helicopter rotor Blade, y-bending, with geo.Stiff Number of different beam sections (ns) = ? 4 === Write down x-position (#node=ns+1) x-Position of 1-th node = 0 x-Position of 2-th node = 0.6 x-Position of 3-th node = 0.72 x-Position of 4-th node = 0.8 x-Position of 5-th node = 4.8 of each node ? ? ? ? ?

=== Write down mass, geometric & material properties For 1-th section Mass density [kg/m**3] = ? 2787 Cross sectional area(A) = ? 0.0042 Area moments of Inertia(Jx,Jy,Jz) = ? 0 0 126e-8 Youngs modulus(E) = ? 7.31e10 Shear modulus(G) = ? 2.5e10 For 2-th section Mass density [kg/m**3] = ? 2787 Cross sectional area(A) = ? 0.0050 Area moments of Inertia(Jx,Jy,Jz) = ? 0 0 104.2e-8 Youngs modulus(E) = ? 7.31e10 Shear modulus(G) = ? 2.5e10 For 3-th section Mass density [kg/m**3] = ? 2787 Cross sectional area(A) = ?

Example of a Beam with Sections Using Dierent Geometry

BEAM:3.3 -33

0.0051 Area moments of Inertia(Jx,Jy,Jz) = ? 0 0 49e-8 Youngs modulus(E) = ? 7.31e10 Shear modulus(G) = ? 2.5e10 For 4-th section Mass density [kg/m**3] = ? 2787 Cross sectional area(A) = ? 0.0050 Area moments of Inertia(Jx,Jy,Jz) = ? 0 0 26e-8 Youngs modulus(E) = ? 7.31e10 Shear modulus(G) = ? 2.5e10 ========================================== Sum of nodes with boundary conditions(nb) = ? 1 Sum of nodes with additional masses(nam) = ? 0 Sum of nodes with additional springs(nas) = ? 0 === Write down boundary conditions For 1-th boundary condition Node no., tx,ty,tz,rx,ry,rz(free = 0, fixed = 1) 1 1 1 1 1 1 1 No. of modes in longitudinal(x) vibration, in y-bending vibration, in z-bending vibration, and in torsional vibration = ? 0 7 0 0 === Damping ratio ( pos. values mean proport. stiffness, neg. values mean natural damping ) for longitudinal vibration, y-bending vibration, z-bending vibration, torsional vibration = ? 0 0.03 0 0

BEAM:3.3 -34

Example of a Beam with Sections Using Dierent Geometry

=== Write down the total number > 0 of markers for MBS code 4 For all markers: name (max 8 char in strings) and x, y, z - position marker : 1 m1 0 0 0 marker : 2 m2 0.8 0 0 marker : 3 m3 2.8 0 0 marker : 4 m4 4.8 0 0 === Four keys to consider: mass mom.o.inertia for bending (0/1), boundaries epskol for mode computations, boundaries epssot for mode computations, epsmass for zero mass elements ? Zero input means defaults = 0 1.000E-6 1.000E-3 1.000E-6 0 0 0 0 Example: ======================================================== Save of input data and program continuation 0 = compute without saving data 1 = compute with saving data 3 = save data and exit 4 = do not save data and exit 1 Name of the input data file within 60 characters in case of <blanks> file name = beam.dat is assumed hrotor.dat Now for the rotor blade, BEAM calculates the following seven natural frequencies, where only the rst four modes are taken into account in the SID generation. Example: ------------------------------------------------Mode number Type of mode Natural frequency[Hz] ------------------------------------------------1 Bending y 1 1.1553 2 Bending y 2 6.9340 3 Bending y 3 18.589

Example of a Beam with Concentrated Mass and Spring

BEAM:3.4 -35

4 Bending y 4 34.995 5 Bending y 5 56.565 6 Bending y 6 84.193 7 Bending y 7 118.32 ------------------------------------------------Results are (also) listed in file: hrotor.dat

=== write down the total number of modes to be chosen 4 === write down 4 different mode numbers selected 1 2 3 4 After the last data input, BEAM calculates the mass and stiness matrices and if desired, the results are saved on the SID le. This part of computations and the program dialogue has been described in section BEAM:3.2.

BEAM:3.4

Example of a Beam with Concentrated Mass and Spring


From this example the user should learn, how to use concentrated masses or springs at major nodes. In the case that there is a concentrated mass on the beam, a major node must be introduced at the mass point. Additionally, concentrated stiness suspensions such as translational or rotational springs have to be considered in a similar way. The example as illustrated in Fig. BEAM:3.4.3 shows a exible rod with a tip mass. The tip mass is much heavier than the rod itself, therefore, the tip mass has to be taken into account into the eigenvalue analysis. The beam has one section with two major nodes. For the model all vibration directions are of interest: Here, in this example we want to calculate 2 modes in x-direction, 2 bending modes in y-direction, 4 bending modes in z-direction and 2 torsional modes. Markers are dened for positions at 0, 7, and 14 cm in x-direction. For this example as shown in Fig. BEAM:3.4.3, the following units are used: [kg] for mass, [cm] for length, and [kgcm/s2 ] = N/100] for forces. Thus, the Youngs modulus of 2.1e11N/m2 represents 2.1e9kg/cms2 .

BEAM:3.4 -36

Example of a Beam with Concentrated Mass and Spring

* z y

h = 0.05 cm *

b = 1.32 cm Tip Mass *

L = 14

cm

Figure BEAM:3.4.3: Flexible rod with tip mass

Data
length crosssectionarea areamomentof inertia Y oungsmodulus massdensity tipmassM om.o.Inertia tipmassM om.o.Inertia L = 14 cm A = 0.066 cm2 Iy = 1.375e 6 cm4 E = 2.1e + 9 N/cms2 = 7.85e 3 kg/cm3 Ix = 2.2e 2 kgcm2 Iz = 1.25e 2 kgcm2 height h = 0.05 cm areamomentof inertia Ix = 9.597e 3 cm4 areamomentof inertia Iz = 9.583e 3 cm4 Shearmodulus G = 0.8e + 9kg/cms2 tipmass m = 0.026kg tipmassM om.o.Inertia Iy = 1.25e 2kgcm2

The input data for an interactive session is given below. Example: Provide model description, not to exceed 80 characters Flexible rod with tip mass incl. Geometric Stiffening Number of different beam sections (ns) = ? 1 === Write down x-position of each node (#node=ns+1) x-Position of 1-th node = ? 0 x-Position of 2-th node = ? 14 === Write down mass, geometric & material properties For 1-th section Mass density [kg/m**3] = ? 7.85e-3 Cross sectional area(A) = ? 0.066 Area moments of Inertia(Jx,Jy,Jz) = ? 9.597e-3 1.375e-6 9.583e-3 Youngs modulus(E) = ?

Example of a Beam with Concentrated Mass and Spring

BEAM:3.4 -37

2.1e9 Shear modulus(G) = ? 0.8e9 ========================================== Sum of nodes with boundary conditions(nb) = ? 1 Sum of nodes with additional masses(nam) = ? 1 Sum of nodes with additional springs(nas) = ? 0 === Write down boundary conditions For 1-th boundary condition Node no., tx,ty,tz,rx,ry,rz(free = 0, fixed = 1) 1 1 1 1 1 1 1 === Write down additional masses For 1-th additional mass Node no., mass, mass moment of inertia(Ix,Iy,Iz) 2 0.026 2.2e-2 1.25e-2 1.25e-2 No. of modes in longitudinal(x) vibration, in y-bending vibration, in z-bending vibration, and in torsional vibration = ? 2 2 4 2 === Damping ratio ( + values = proport. Stiffness, - values = Lehr ) for longitudinal vibration, y-bending vibration, z-bending vibration, torsional vibration = ? 0 0.02 0 0 === Write down the total number > 0 of markers for MBS code 3 For all markers: name (max 8 char in strings) and x, y, z - position marker : 1 m1 0 0 marker : 2 m2 7 0

BEAM:3.4 -38

Example of a Beam with Concentrated Mass and Spring

marker : 3 m3 14 0 === Four keys to consider: mass mom.o.inertia for bending (0/1), boundaries epskol for mode computations, boundaries epssot for mode computations, epsmass for zero mass elements ? Zero input means defaults = 0 1.000E-6 1.000E-3 1.000E-6 0 0 0 0 ======================================================== Save of input data and program continuation 0 = compute without saving data 1 = compute with saving data 3 = save data and exit 4 = do not save data and exit 1 Name of the input data file within 60 characters in case of <blanks> file name = beam.dat is assumed flexrul.dat Data are saved on file = flexrul.dat With the dened data, BEAM calculates the natural frequencies as shown below, where the rst four bending modes in z-direction and the rst torsion mode are considered in the generation of the SID. All other modes are not of interest due to the much higher frequencies. Example: ------------------------------------------------Mode number Type of mode Natural frequency[Hz] ------------------------------------------------1 Longitudinal 1 2968.4 2 Longitudinal 2 18979. 3 Bending y 1 141.45 4 Bending y 2 2138.3 5 Bending z 1 1.6943 6 Bending z 2 25.614 7 Bending z 3 62.887 8 Bending z 4 127.16 9 Torsion 1 788.33 10 Torsion 2 11464. --------------------------------------------------Results are (also) listed in file: flexrul.dat

Example of a Beam with Concentrated Mass and Spring

BEAM:3.4 -39

From these results, the user can chose various mode shapes for evaluation of SID. Beam structure with spring suspensions As mentioned before, beam structures attached by spring suspensions in dierent directions and various major nodes can be modelled in BEAM. At the attachment point, a major node must be introduced. Then, the stiness coecient are given by the BEAM input data. Let us consider a translational spring in z-direction with a value of 100[N/cm] at node 2. Then, the BEAM dialogue due to this spring may be changed as follows: Example: ========================================== Sum of nodes with boundary conditions(nb) = ? 1 Sum of nodes with additional masses(nam) = ? 1 Sum of nodes with additional springs(nas) = ? 1 === Write down boundary conditions For 1-th boundary condition Node no., tx,ty,tz,rx,ry,rz(free = 0, fixed = 1) 1 1 1 1 1 1 1 === Write down additional masses For 1-th additional mass Node no., mass, mass moment of inertia(Ix,Iy,Iz) 2 0.026 2.2e-2 1.25e-2 1.25e-2 === Write down additional springs For 1-th additional spring Node no., tkx,tky,tkz,rkx,rky,rkz 2 0 0 100 0 0 0 Referring to this additional spring, the natural frequencies of the bending motion in z-direction will be changed. The results of BEAM now are shown below. Example: ------------------------------------------------------Mode number Type of mode Natural frequency[Hz] ------------------------------------------------------1 2 3 Longitudinal Longitudinal Bending y 1 2 1 2968.4 18979. 141.45

BEAM:3.5 -40

Beam Structure with Measured Torsional Stiness Data

4 Bending y 2 2138.3 5 Bending z 1 9.6736 6 Bending z 2 25.614 7 Bending z 3 62.887 8 Bending z 4 127.16 9 Torsion 1 788.33 10 Torsion 2 11464. -----------------------------------------------------

A comparison with the results without spring shows that only the rst bending mode in z- direction are signicant changed.

BEAM:3.5

Beam Structure with Measured Torsional Stiness Data


The torsional exibility of a frame may be considered in the MBS simulation. Therefore, the torsional stiness GJT is required as the input data for BEAM. Here, this stiness may be taken from an experiment, where the frame is twisted about an angle [rad] due to a torque T [N m], see Fig. BEAM:3.5.4. For the frame as given in Fig.

T L

Figure BEAM:3.5.4: Experiment to nd out the torsional stiness T GJT = L theta N m2 /rad BEAM:3.5.5, a SID le should be now generated with respect to the following conditions: The body reference frame is in the middle of the frame. Therefore, node 1 is located at -5 m and node 2 at +5 m. The boundary conditions are taken from the free-free borders. Markers are here located at some of the corners of the prismatic body in addition to markers at the centerline, see Fig. BEAM:3.5.5. The damping ratio via Lehr is 10%.

Beam Structure with Measured Torsional Stiness Data

BEAM:3.5 -41

node 1

marker 3

z
marker 2

y
marker 1
beam 's ce nterli ne

b
marker 6

x
marker 5 node 2 marker 4

Figure BEAM:3.5.5: Frame structure with torsional exibility

Data length torsionalstif f ness Y oungsmodulus bodymass mom.o.Inertia mom.o.Inertia L = 10 m GJT = 0.066 N m2 /rad E = 21e + 10 N/m2 m = 200 Kg Ix = 5.0 kgm2 Iz = 600.0 kgm2 height width ShearM odulus Shearmodulus M om.o.Inertia b = 0.2 m a = 0.5 m G = 7.8e + 10 N/m2 Iy = 400.0 kgm2

In the case of the input of stiness, the body mass data with respect to the reference frame are required. The input data for an interactive session is listed below. Example: ======================================================= B E A M a p r e p r o c e s s o r for mode shapes analysis of straight beam structures and generation of the SID file for MBS codes Version 3.3 - March 1996 Copyright by Oskar Wallrapp D-82234 Wessling ======================================================= Note: Model Limitations are Max. number of sections = 10 Max. number of modes = 20 Max. number of markers = 10

BEAM:3.5 -42

Beam Structure with Measured Torsional Stiness Data

======================================================= Test output on screen(1), no test output(0) 0 Data of general beam structure input interactive or from file with mode selections etc. or all data from file and all modes for SID or as option 2 but SID for SIMPACK v5.xx or Data of measured beam structure input interactive or from file with mode selections etc. or all data from file and all modes for SID or as option 12 but SID for SIMPACK v5.xx or Stop the program ? 10

(0) (1) (2) (3)

(10) (11) (12) (13) (99)

Provide model description, not to exceed 80 characters Frame with torsional flexibility, 1.6.95 ==================================================== General Beam Structure Data Note the frame definitions: z y | / |/ +------ x = longitudinal Origin is at the coordinates 0/0/0 Nodes may be at the positive and negative x-axis ==================================================== === Write down Number of different beam sections (ns) = ? 1 === Write down x-position of each node (#node=ns+1) x-Position of 1-th node =?

Beam Structure with Measured Torsional Stiness Data

BEAM:3.5 -43

-5 x-Position of 2-th node = ? 5 === Write down mass, geometric & material properties Body mass [kg] 200 Body mass moments of inertia (Ix,Iy,Iz) [kg*m**2] 5 400 600 Stiffness: longitudinal in x, bending in y, bending in z, torsion about x 0 0 0 1e5 Youngs modulus(E) = ? 21e10 Shear modulus(G) = ? 7.8e10 ========================================== Sum of nodes with boundary conditions(nb) = ? 0 Sum of nodes with additional masses(nam) = ? 0 Sum of nodes with additional springs(nas) = ? 0 === No. of modes in longitudinal(x) vibration, in y-bending vibration, in z-bending vibration, and in torsional vibration = ? 0 0 0 3 === Damping ratio ( pos. values mean proport. stiffness, neg. values mean natural damping ) for longitudinal vibration, y-bending vibration, z-bending vibration, torsional vibration = ? 0 0 0 -0.1

BEAM:3.5 -44

Beam Structure with Measured Torsional Stiness Data

=== Write down the total number > 0 of markers for MBS code 6 For all markers: name (max 8 char in strings) and x, y, z - position marker : 1 m1 0 0 0 marker : 2 m2 -5 -0.5 0.2 marker : 3 m3 -5 0.5 0.2 marker : 4 m4 5 0 0 marker : 5 m5 5 -0.5 -0.2 marker : 6 m6 5 0.5 -0.2 === Four keys to consider: mass mom.o.inertia for bending (0/1), boundaries epskol for mode computations, boundaries epssot for mode computations, epsmass for zero mass elements ? Zero input means defaults = 0 1.000E-6 1.000E-3 1.000E-6 0 0 0 0

======================================================== Save of input data and program continuation 0 = compute without saving data 1 = compute with saving data 3 = save data and exit 4 = do not save data and exit 1 Name of the input data file within 60 characters in case of <blanks> file name = beam.dat is assumed TorsionFrame.dat Data are saved on file = TorsionFrame.dat The results of the rst three natural frequencies and the mode shapes evaluated at the markers 1 to 6 are printed out in the input le of this example and they are given next. Example: -------------------------------------------------

Beam Structure with Measured Torsional Stiness Data

BEAM:3.0 -45

| | | Mode shapes computed by BEAM - V 3.3 | ------------------------------------------------| | | Mode number Type of mode Natural frequency[Hz]| ------------------------------------------------| | | 1 Torsion 1 22.361 | | 2 Torsion 2 44.721 | | 3 Torsion 3 67.082 | ------------------------------------------------3 modes are selected for MBS data generation: They are: Torsion 1 Torsion 2 Torsion 3 Modes shapes for modes i and markers k

i k x y z | phi(1) phi(2) phi(3) psi(1) ----------------------------------------------------------------1 1 .00 .00 .00 .0000 .0000 .0000 .0000 1 2 -5.00 -.50 .20 .0000 .1265 .3162 .6325 1 3 -5.00 .50 .20 .0000 .1265 -.3162 .6325 1 4 5.00 .00 .00 .0000 .0000 .0000 -.6325 1 5 5.00 -.50 -.20 .0000 .1265 -.3162 -.6325 1 6 5.00 .50 -.20 .0000 .1265 .3162 -.6325 2 1 .00 .00 .00 .0000 .0000 .0000 -.6325 2 2 -5.00 -.50 .20 .0000 .1265 .3162 .6325 2 3 5.00 .50 .20 .0000 .1265 -.3162 .6325 2 4 5.00 .00 .00 .0000 .0000 .0000 .6325 2 5 5.00 -.50 -.20 .0000 -.1265 .3162 .6325 2 6 5.00 .50 -.20 .0000 -.1265 -.3162 .6325 3 1 .00 .00 .00 .0000 .0000 .0000 .0000 3 2 -5.00 -.50 .20 .0000 .1265 .3162 .6325 3 3 -5.00 .50 .20 .0000 .1265 -.3162 .6325 3 4 5.00 .00 .00 .0000 .0000 .0000 -.6325 3 5 5.00 -.50 .20 .0000 .1265 -.3162 -.6325 3 6 5.00 .50 .20 .0000 .1265 .3162 -.6325 Hint: Please note that the table shows the mode shape values of markers, which are outside of the beams center line. phi(1,2,3) are the displacements in x,y,z -axis, psi(1,2,3) are rotation angle about x,y,z -axis. The presented examples demonstrates the power of the program BEAM to calculate the eigenvalues and mode shapes of straight beam struc-

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Beam Structure with Measured Torsional Stiness Data

tures and to evaluate the data of exible bodies modelled in a multibody system using the standard input data (SID) description.

Error Messages
Referring to the model data, BEAM may not nd the eigenvalues of the vibration problem. A common message may occur: Example: Stiffness matrix not positive definite problem not solvable, change input: ierg=1 or Example: Newtons method does not convert, II,w= 1 NaN problem not solvable, change input: ierg=1 In this case, rst - increase the boundaries for epskol and epssot. If the error is still present, please stop the program and change the boundary conditions of the beam structure. Moreover, springs with a small stiness may be help to get a convergence of the iterative solution, e. g. for tx = 1.0e6N/m. Do this for corresponding vibration directions. A variation of this so-called numerical stabilisation factors brings the exact solution in the range of digits of the printed natural frequencies. Error messages due to non-consistent geometry data are selfexplanatory. Save the data, change the values and start BEAM again.

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Beam Structure with Measured Torsional Stiness Data

BEAM:4.

References

Wallrapp, O. (1993). Standard Input Data of Flexible Bodies for Multibody Codes. Internal Report IB 515-93-4, Deutsche Forschungsanstalt fr Luft- und Raumfahrt (DLR), Inst. Robotik und System Dynamik, Oberpfaenhofen.

Meirovitch, L. (1967). Analytical Methods in Vibrations. New York, Macmillan Company.

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