Shaker Excitation - Consideration and Problems

Structural Dynamics Research Laboratory University of Cincinnati
SHAKER EXCITATION TUTORIAL
Considerations and Problems Young Engineers Program - IMAC 2001
Structural Dynamics Research Laborator y University of Cincinnati Cincinnati, Ohio 45221-0072 USA WWW.SDRL.UC.EDU (513) 556-2720 Copyright 2001
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis
Typical Shaker Excitation Test Setup Schematic
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Test Set-up for Shaker Excitation
Physical Connections, Alignment Instrumentation Single Vs. Multiple Shakers Excitation Signal Type Digital Signal Processing Data Quality Post-Test Considerations Modal Parameter Estimation
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Key Issues

Estimate Frequency Response Functions (FRFs) Suit-
able for Modal Parameter Estimation

Minimize Digital Signal Processing Errors (Leak-
age!)
Minimize Small Structural Nonlinearities Multiple Reference FRF Data Frequency Range and Resolution
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Basic Assumptions

Linearity Time Invariance (Stationarity, Consistency) Observability Reciprocity
Error Considerations
Variance Error: Averaged value equals expected value Bias Error: Averaged value not equal to expected value
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Test Object Conguration

Fixed Boundary Conditions Free Boundary Conditions Shock Cord Foam Rubber Air Suspension Realistic Boundary Conditions Match Impedance(s) at Boundaries Mass Loaded Boundary Conditions
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Other Test Conguration Considerations
Test Fixturing Interaction with Test Object Test Object Number of References Fixed Excitation/Response Locations Location of References (Shakers)
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Instrumentation

Shaker Type (electromagnetic, hydraulic, etc.) Shaker Control Capability (force matching vs. mo-
tion matching)
Specications Force Amplitude Range (static vs. static + dy-
namic)
Frequency Range Signal Source (noise, DAC, etc.)
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Physical Connections - Shaker to Structure
Mount Force Transducer on Test Object (glue, screw,
vacuum, etc.)
Connect Force Transducer to Shaker with Stinger (quill,
etc.)
Stiff in Direction of Excitation Weak in Transverse Directions No Moments or Side Loads on Force Transducer No Moments or Side Loads on Shaker
Minimize Shaker Fixture Motion/Resonances
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Data Quality Issues

Force Level (High/Low Amplitude, Improper Frequency
Content)
Loose Exciter Connection (Stinger) Load Cell, Shaker Connection Not Perpendicular to Test
Object
Load Cell Not Aligned with Response Transducer at
Connection
Low Battery Power in Transducer Signal Conditioning Loose Cable Connections Cables Vibrating, Bad or Intermittent Cables Electrical and/or Radio Frequency Noise on Data Ground Loop 50/60 Hertz Noise Rattles in Test Object Unmeasured Inputs
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Data Quality/Consistency

Monitor Typical Measurements Frequency Response Functions for Noisy Data,
Rattles, Frequency Shifts, Amplitude Changes

Driving Point Frequency Response Function Cross Point Frequency Response Function Reciprocity Check H pq = H qp Monitor Force Spectrum of Each Input Equipment Failure, Loose Stinger(s) Monitor Force Correlation Characteristics for Multiple
Inputs
Excitation Tutorial
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February 5, 2001
Test Set-Up Examples
Excitation Tutorial
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February 5, 2001
Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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Excitation Tutorial
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February 5, 2001
Excitation Signal Considerations
The type of excitation signal used to estimate frequency response functions depends upon several factors. Generally, the excitation signal is chosen in order to minimize noise while estimating the most accurate frequency response function in the least amount of time. With the advent of the FFT, excitation signals are most often contain broadband frequency information and are limited by the requirements of the FFT (totally observed transients or periodic functions with respect to the observation window).
Excitation Tutorial
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February 5, 2001
Classication of Excitation Methods

Steady State Slow Swept Sine Stepped Sine Random True Random Periodic Fast Sine Sweeps Pseudo Random Periodic Random Transient Burst Random Impact Operating
Excitation Tutorial
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February 5, 2001
Excitation Signal Characteristics RMS to Peak Ratio - This ratio is formed by taking the RMS value of the excitation signal over the observation time period (T) compared to the largest value (positive or negative) in the time period (T). Generally, good excitation signals have larger RMS to peak ratios.
Signal to Noise Ratio - This ratio is formed by taking the RMS value of the excitation signal over the observation time period (T) over the RMS value of the noise over the same time period (T). Generally, good excitation signals have larger signal to noise ratios.
Distortion - Distortion refers to the ability of the excitation signal, when averaged, to allow nonlinear characteristics in the data to be preserved. Generally, since experimental modal analysis is a linear process, excitation signals that minimize distortion are considered more favorably. Nonlinear characteristics must be identied by other experimental or analytical techniques.
Excitation Tutorial
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February 5, 2001
Excitation Nomenclature In order to explain the way in which excitation signals are created and sent to the shaker, particularly in random testing, a number of nomenclature issues must be explained. Delay Blocks - The number of contiguous blocks of excitation that take place without the associated input and output data being acquired are referred to as the delay blocks (N d ). Capture Blocks - The number of capture blocks refers to the number of contiguous blocks of time data (excitation (input) and response (output)) that are recorded or captured for each average (N c ). Average (Ensemble) - The average or ensemble refers to the total collection of contiguous time blocks that contribute to each power spectral average. The total time of each average is equal to the sum of the number of delay blocks (N d ) plus the number of capture blocks (N c ) times the observation period (T) which is the same for all delay and capture blocks. Burst Length - Burst length is the percentage (0 to 100%) of the average or ensemble time that the excitation signal is present.
Excitation Tutorial
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February 5, 2001
Excitation Nomenclature Power Spectral Averages - The number of power spectral averages (N avg or N a ) is the number of auto and cross spectra that are averaged together to estimate the FRF measurements.
In order to clarify the preceding terminology, the following gure is a schematic representation of the number of contiguous blocks of time domain data contributing to one power spectral average. In this example, the two blocks marked "D" represent delay blocks and the four blocks marked "C" represent capture blocks. The total time for each power spectral average is, therefore, six contiguous blocks of time data (6 T seconds of data).
0 D 0 1 D 2
Burst Length (%) C 3 C 4 C 5 C
100
Number of Contiguous Time Blocks (6T)
Window Function
Total Contiguous Time Per Power Spectral Average
Excitation Tutorial
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February 5, 2001
Random Excitation Methods
Typical Random Excitation Test Setup
Excitation Tutorial
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February 5, 2001
Pure Random
Advantages: Fair general excitation type Fair signal to noise ratio Fair RMS to peak ratio Reduces distortion Good measurement test time Works well with Zoom Disadvantages: Leakage a serious problem More averages required Poor characterization of non-linearities Typical DSP Window Hanning Window
Excitation Tutorial
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February 5, 2001
Pure Random
Power Spectrum Pure Random
10
10
Magnitude
10
10
10
10
15 Spectral line (bin)
20
25
30
Signal Energy Content - Pure Random
Excitation Tutorial
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February 5, 2001
Pure Random Typical Random Signal - Time Domain
Random Force 1 0.8 0.6 0.4 0.2 Amplitude 0 0.2 0.4 0.6 0.8 1 0
0.5
1.5
2 2.5 Time (Seconds)
3.5
Excitation Tutorial
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February 5, 2001
Pure Random Typical Random Signal - Frequency Domain
Random Force 0.5
Real Part
0.5 0
10
20
30
40 50 60 Frequency (Hertz)
70
80
90
100
0.5 Imaginary Part
0.5 0
10
20
30
70
80
90
100
Excitation Tutorial
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February 5, 2001
10
Random Force
Magnitude
10
10
10
20
30
70
80
90
100
200 100 0 100 200 0
Phase (Deg)
10
20
30
70
80
90
100
Excitation Tutorial
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February 5, 2001
10 10 Magnitude 10 10 10
Random ForceAveraged
10
20
30
70
80
90
100
200 100 0 100 200 0
Phase (Deg)
10
20
30
70
80
90
100
Excitation Tutorial
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February 5, 2001
Pseudo Random A pseudo random excitation signal is a random time domain signal that is constructed from a limited sequence of random numbers. Conventionally, the pseudo random excitation signal is constructed in the frequency domain with a uniform amplitude, random phase spectrum at the discrete frequencies of the measurement. Therefore, a single time block of the pseudo random excitation signal has energy at all frequencies of the measurement.
Advantages: Minimum leakage Fair signal to noise ratio Fair RMS to peak ratio Good measurement test time Disadvantages: Non-linear systems generate periodic noise Typical DSP Window Uniform Window
Excitation Tutorial
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February 5, 2001
Pseudo Random
Power Spectrum Pseudo Random
10
10
Magnitude
10
10
10
10
20
25
30
Signal Energy Content - Pseudo Random
The pseudo random excitation signal is applied to the exciter repetitively. While the excitation signal is periodic in the observation window (T), the response will not become periodic until the startup transient has decayed to zero. At this time, one or more averages are taken.
Excitation Tutorial
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February 5, 2001
Pseudo Random Typical Pseudo Random Signal - Frequency Domain
PsuedoRandom Force 1 0.5 Real Part 0 0.5 1 0
10
20
30
70
80
90
100
1 Imaginary Part 0.5 0 0.5 1 0
10
20
30
70
80
90
100
Excitation Tutorial
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February 5, 2001
10 10 Magnitude 10 10 10
PsuedoRandom Force
10
20
30
70
80
90
100
200 100 0 100 200 0
Phase (Deg)
10
20
30
70
80
90
100
Excitation Tutorial
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February 5, 2001
PsuedoRandom Force 1 0.8 0.6 0.4 0.2 Imag Part 0 0.2 0.4 0.6 0.8 1 1
0.5
0 Real Part
0.5
Excitation Tutorial
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February 5, 2001
Periodic Random A periodic random excitation signal is a random time domain signal that is constructed from an unlimited sequence of random numbers. Conventionally, the periodic random excitation signal is constructed in the frequency domain with a random amplitude, random phase spectrum at the discrete frequencies of the measurement. Therefore, a single time block of the periodic random excitation signal does not have energy at all frequencies of the measurement.
Advantages: Minimum leakage Fair signal to noise ratio Fair RMS to peak ratio Reduces distortion Fair measurement test time Disadvantages: Slower than other periodic excitations Special hardware needed Typical DSP Window Uniform Window
Excitation Tutorial
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February 5, 2001
Periodic Random
Power Spectrum Periodic Random
10
10
Magnitude
10
10
10
10
20
25
30
Signal Energy Content - Periodic Random
The periodic random excitation signal is applied to the exciter repetitively; while the excitation signal is periodic in the observation window (T), the response will not become periodic until the startup transient has decayed to zero. After sufcient time has elapsed to allow for both the input and output to become periodic, the rst average of data is taken. This process is repeated until sufcient averages have been taken.
Excitation Tutorial
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February 5, 2001
Burst Random
Advantages: Good general excitation Minimum leakage Fair signal to noise ratio Fair RMS to peak ratio Reduces distortion Good measurement test time Disadvantages: Special hardware needed Voltage feedback excitation amplier Typical DSP Window Uniform or Exponential Window
Excitation Tutorial
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February 5, 2001
Burst Random
Power Spectrum Burst Random
10
10
Magnitude
10
2
10
10
20
25
30
Signal Energy Content - Burst Random
Excitation Tutorial
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February 5, 2001
Burst Random Exciter Systems: Exciter systems, particularly electromagnetic, attempt to match the excitation signal to some physical characteristic of the exciter. Typically, this means that the displacement, velocity or acceleration of the armature of the shaker will attempt to match the excitation signal. Note that this is normally an open loop control process; no attempt is made to exactly match the excitation signal. Voltage Feedback: Voltage feedback refers to the types of ampliers in the exciter system that attempt to match the voltage supplied to the shaker to the excitation signal. This effectively means that the displacement of the armature will follow the excitation signal. Therefore, if a zero voltage signal is sent to the exciter system, the exciter will attempt to prevent the armature from moving. Current Feedback: Current feedback refers to the types of ampliers in the exciter system that attempt to match the current supplied to the shaker to the excitation signal. This effectively means that the acceleration of the armature will follow the excitation signal. Therefore, if a zero voltage signal is sent to the exciter system, the exciter will allow the armature to move, preventing any force to be applied by the exciter system.
Excitation Tutorial
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February 5, 2001
Burst Random Signal to shaker

1.5
0.5
-0.5
-1
-1.5
500
1000
1500
2000
Signal from load cell (Voltage Feedback)

1.5
0.5
-0.5
-1
-1.5
500
1000
1500
2000
Signal from accelerometer

6 x 10
-3
-2
-4
-6
500
1000
1500
2000
Excitation Tutorial
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February 5, 2001
Hybrid Random Excitation Methods Several random excitation methods have recently been demonstrated that are hybrid methods involving combinations of burst random and pseudo random, burst random and periodic random together with cyclic averaging.
Power Spectrum Burst Pseudo Random
10
10
Magnitude
10
10
10
10
20
25
30
Signal Energy Content - Burst Pseudo Random

Power Spectrum Burst Periodic Random
10
10
Magnitude
10
10
10
10
20
25
30
Signal Energy Content - Burst Periodic Random
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Summary of Excitation Signal Choices
Excitation Signal Characteristics Steady State Sine Minimize Leakage Signal-to-Noise Ratio RMS-to-Peak Ratio Test Measurement Time Controlled Frequency Content Controlled Amplitude Content Removes Distortion Characterize Nonlinearity * Special Hardware Required No Very High High Very Long Yes Yes No Yes Yes * No Yes No Fair Good Fair Ver y Short Yes * Yes * No No Yes No Yes * No Yes * Yes * No Yes No No Yes No No Fair Fair High Fair Low Ver y Shor t No Fair Very Shor t Yes * No No Fair Yes Fair Yes Fair Yes High Yes Low Yes Fair Pure Random Pseudo Random Random Periodic Chirp Impact Burst Random
Excitation Tutorial
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February 5, 2001
Shaker Excitation for Experimental Modal Analysis Summary/Conclusions/Discussion
Excitation Tutorial
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February 5, 2001

Shaker Excitation - Consideration and Problems

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Structural Dynamics Research Laboratory University of Cincinnati

SHAKER EXCITATION TUTORIAL

Considerations and Problems Young Engineers Program - IMAC 2001

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis

Typical Shaker Excitation Test Setup Schematic

Structural Dynamics Research Laboratory University of Cincinnati

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis Key Issues

able for Modal Parameter Estimation

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis Basic Assumptions

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis Test Object Conguration

Structural Dynamics Research Laboratory University of Cincinnati

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis Instrumentation

Structural Dynamics Research Laboratory University of Cincinnati

Minimize Shaker Fixture Motion/Resonances

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis Data Quality Issues

Structural Dynamics Research Laboratory University of Cincinnati

Shaker Excitation for Experimental Modal Analysis Data Quality/Consistency

Rattles, Frequency Shifts, Amplitude Changes

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Test Set-Up Examples

Structural Dynamics Research Laboratory University of Cincinnati

Excitation Signal Considerations

Structural Dynamics Research Laboratory University of Cincinnati

Classication of Excitation Methods

Structural Dynamics Research Laboratory University of Cincinnati

Structural Dynamics Research Laboratory University of Cincinnati

Structural Dynamics Research Laboratory University of Cincinnati

Burst Length (%) C 3 C 4 C 5 C

Number of Contiguous Time Blocks (6T)