Dynamics 70 M4 Transient

Transient Dynamic Analysis
Module 4
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Module 4
Transient Dynamic Analysis
A. Define transient dynamic analysis and its purpose.
B. Learn basic terminology and concepts underlying transient analysis.
C. Learn how to do a transient analysis in ANSYS.
D. Work on a transient analysis exercise.
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Transient Analysis
A. Definition & Purpose
What is transient dynamic analysis?
A technique to determine the response of a structure to arbitrary
time-varying loads such as an explosion.
Input
Loads as a function of time.
Output
Time-varying displacements and other derived quantities such as
stresses and strains.
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Transient Analysis
Definition & Purpose
Transient dynamic analysis is used in the design of:
Structures subjected to shock loads, such as automobile doors
and bumpers, building frames, and suspension systems.
Structures subjected to time-varying loads, such as bridges, earth
moving equipment, and other machine components.
Household and office equipment subjected to bumps and
bruises, such as cellular phones, laptop computers, and vacuum
cleaners.
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Transient Analysis
B. Terminology & Concepts
Topics covered:
Equation of motion
Solution methods
Integration time step
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Transient Analysis - Terminology & Concepts
Equation of Motion
Equation of motion for a transient dynamic analysis is the same
as the general equation of motion.

This is the most general form of dynamic analysis. Loading may
be any arbitrary function of time.
Depending on the method of solution, ANSYS allows all types of
nonlinearities to be included in a transient dynamic analysis -
large deformation, contact, plasticity, etc.
| |{ } | |{ } | |{ } ( ) { } t F u K u C u M = + +

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Transient Analysis - Terminology and Concepts
Solution Methods
Solving the equation of motion
Direct Integration Mode Superposition
Implicit Explicit
Full Reduced Full Reduced
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Solution Methods
Two methods of solving the equation of motion:
Mode superposition (discussed in Module 6)
Direct integration
Equation of motion is directly integrated step by step over time. At
each time point ( time = 0, At , 2At, 3At,.) a set of simultaneous,
static equilibrium equations (F=ma) is solved.
An assumption (integration scheme) is made regarding how
displacement, velocity and acceleration will vary over At
Various integration schemes are available in literature such as
Central difference, Average acceleration, Houbolt, WilsonO,
Newmark etc.

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ANSYS uses Newmark integration scheme.

Varying values of o and o causes integration scheme to change (implicit /
explicit / average acceleration ).
Newmark is an implicit scheme.
ANSYS/LS-DYNA uses explicit scheme. See module 1 for a discussion of
implicit and explicit.

| |{ } | |{ } | |{ } ( ) { }
t
t t
u
t
u
t
u
t t
u
t
t t
u
t
u t
t
u
t
u
t t
u
t F
t t
u K
t t
u C
t t
u M
A
A +
+ + =
A +
A
A +
+ + A + =
A +
=
A +
+
A +
+
A +
] ) 1 [(
2
] ) 2 / 1 [(

o o
o o
Solution Methods
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Solution Methods
Solution can use either reduced or full structure matrices.
Reduced matrices
Used to speed up the solution.
No nonlinearities (except gap) allowed.
[K], [C], and [M] are written in terms of master DOF, which form a
subset of the full DOF set.
Reduced [K] is exact, but reduced [C] and [M] are approximate. There
are other disadvantages also, not discussed in this seminar.
Full matrices
No reduction. Uses full [K], [C], and [M].
All nonlinearities allowed.
All discussions in this seminar assume this approach.
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Integration Time Step
An important concept in time integration techniques is the
integration time step (also ITS or At).
ITS = time increment At from one time point to the next.
Determines solution accuracy, so its value should be chosen
carefully.
ANSYS allows only a constant value of ITS for reduced and mode
superposition transient analyses.
In a FULL transient analysis, ANSYS can automatically vary the time
step size within limits set by user (discussed later).

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The integration time step ( ITS) size should be small enough to
capture the following:
the response frequency
the contact frequency (if applicable)
wave propagation effects (if applicable)
Nonlinear response (plasticity, creep, contact status)

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Response frequency
Different types of loads excite different
natural frequencies of the structure.
Response frequency is the weighted
average of all frequencies excited by a
given load.
The ITS should be small enough to
capture the response frequency .
Twenty time points per cycle should
be sufficient, i.e,
At = 1/20f
where f is the response frequency.
Response period
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Response frequency (continued)
During solution, the full transient method (discussed in this seminar)
prints the response frequency and the number of points per cycle at
every time point.
The goal is to maintain about 20 points per cycle.
By default, ANSYS automatically increases or decreases ITS to
maintain about 20 points per cycle at the response frequency.

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Contact frequency
When two objects come in
contact, the gap or contact
surface is usually represented by
a stiffness (gap stiffness).
The ITS should be small enough to
capture the frequency of the gap
spring.
Thirty points per cycle are
recommended. This is sufficient
to capture the momentum transfer
between the two objects. A larger
ITS might result in energy loss,
and the impact may not be
perfectly elastic.
The response frequency printed
during solution includes contact
frequency.
mass effective m
stiffness gap k
frequency contact f
m
k
2
1
f
f 30
1
ITS
c
c
c
=
=
=
t
=
=
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Wave propagation
Caused by impact. More
prominent in slender structures
(such as a thin rod dropped on
one end).
Requires a very small ITS and a
fine mesh along the direction of
the wave.
Explicit method (available in
ANSYS-LS/DYNA) may be better
suited for this.

density mass
modulus s Young'
speed wave elastic
direction wave along length
20 / size element
3
=
=
= =
=
s = A
A
s
E
E
c
L
L x
c
x
ITS
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Nonlinear response
A full transient analysis can include any type of nonlinearity.
Nonlinearities can be classified into 3 types:
Material nonlinearity (plasticity , creep, hyperelasticity )
Geometric nonlinearity (large strain , large rotation, buckling)
Element nonlinearity (contact , cable)
Nonlinearities require an iterative solution at each time point.
These iterations are called equilibrium iterations.
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Nonlinear response (continued)
Smaller ITS sizes generally help equilibrium iterations to converge
quickly.
Nonlinearities such as plasticity, creep and friction are non-
conservative in nature and require the load history to be followed
accurately. A small ITS size helps in following the load history
accurately.
A small ITS size is also required to capture changes in contact
status.

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At time = t At time = t+At
Nonlinear response (continued)
Example of ball hitting a plate
With large At the ball goes through the plate.
If ball goes through too far then contact will not be detected
(beyond pinball radius).

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So how do you choose an ITS?
Recommended way is to activate automatic time stepping
(AUTOTS), then provide At
initial
, At
min
, and At
max
. ANSYS uses an
automatic time stepping algorithm (AUTOTS) to determine the
optimum At value for a given problem.
Example: If AUTOTS is on with At
initial
= 1 sec, At
min
= 0.01 sec, and

At
max
= 10 sec; then ANSYS starts with an ITS= 1 sec and allow it to
vary between 0.01 and 10 depending on the structures response.

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AUTOTS is on by default for full transient analyses and is not
available for reduced and mode superposition methods.
AUTOTS will reduce the ITS (up to At
min
) if:
less than 20 points are being used at the response frequency
solution is diverging
solution takes a large number of equilibrium equations (slow
convergence)
plastic strain is accumulated in one time step exceeds 15%
Creep ratio exceeds 0.1
if contact status is about to change ( controlled by KEYOPT(7) of most
contact elements)

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Transient Analysis
C. Procedure
We will discuss the Full method only in this section.
Five main steps:
Build the model
Choose analysis type and options
Specify BCs and initial conditions
Apply time-history loads and solve
Review results
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Transient Analysis Procedure
Build the Model
Model
All nonlinearities are allowed.
Remember density!

See also Modeling Considerations in Module 1.
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Choose Analysis Type & Options
Build the model
Choose analysis type and options:
Enter Solution and choose transient
analysis.
Choose Full transient
Solution options - discussed next.
Damping - discussed next.
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Solution options
Choose large displacement transient
or small displacement transient .
When in doubt, choose large
displacement transient
Specify output controls
(discussed next)
Specify time at end of load step.
Automatic time stepping
(discussed next)
Specify initial, min and max
values of At for this load step.

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Automatic time stepping
An algorithm that automatically calculates appropriate ITS sizes
during the transient.
Recommendation is to activate it and also specify minimum and
maximum values of ITS.
If nonlinearities are present, use the Program Chosen option.

Note: The global solution controls switch [SOLCONTROL] is ON
by default. We recommend leaving it as is. More importantly, do
not turn this switch on and off between load steps.
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Output controls
Used to determine what is written to the results file.
Use the OUTRES command or choose Solution > Soln Control.. >
Basic in the menu
Typical choice is to write all items at every substep to the
results file.
Allows smooth plots of results vs. time.
Might cause results file to be large.
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Turn transient effects on/off
useful for setting up initial
conditions (discussed later)
Ramp or Step apply load
Specify damping (discussed
next)
Use default values for time
integration parameters
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Damping
Both alpha damping and beta damping are available.
In many cases, alpha damping (viscous damping) is ignored and
only beta damping (damping due to hysteresis) is specified:
| = 2/e
where is the damping ratio and e is the dominant response
frequency (rad/sec).
Material damping (e.g. rubber) and element damping (e.g. shock
absorber) are also available.
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Choose solver
By default ANSYS chooses Sparse solver
For large problems (>100000 dofs) use PCG solver
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Specify BCs & Initial Conditions
Build the model
BCs in this case are loads or
conditions that remain constant
throughout the transient, e.g:
Fixed points (constraints)
Symmetry conditions
Gravity
Initial conditions are discussed next.
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Initial conditions
Transient analyses require initial
displacement (u
0
) and initial
velocity(v
0
) to be specified.
By default, u
0
= v
0
= a
0
= 0.
Examples where non-zero initial
conditions may be required:
Aircraft landing gear (v
0
=0).
A golf club striking a ball (v
0
=0).
Drop test of an object (u
0
= v
0
=0 ,
a0=0).
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Two ways to apply initial conditions:
Start with a static load step
Useful when initial conditions need to be applied on only a portion of
the model, such as plucking the end of a cantilever beam with an
imposed displacement (u
0
is known , v
0
=0)
Required for applying a non-zero initial acceleration.
Use the IC command
Solution > Define Loads > Apply > Initial Conditn > Define
Useful when a non-zero initial displacement or velocity needs to be
applied on the entire body.
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Example - Dropping an object from rest
In this case a
0
=g (gravitational acceleration) and u
0
= v
0
=0.
Use the static load step method.
Load step 1:
Transient effects OFF. Use TIMINT,OFF command or
Solution > Soln Control
Select the Transient Tab and unselect Transient effects
Small time interval, e.g, 0.001.
2 substeps, stepped loads. (If ramped or with one substep, v
0
will be
non-zero.)
Hold the object at rest, i.e, fix all DOFs on the object.
Apply acceleration of g.
SOLVE.
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Load step 2:
Transient effects ON.
Release the object, i.e, delete DOF
constraints on the object.
Specify ending time and continue with
the transient.
Acel
t
0.0005 0.001
Load step 1
Application of Temporal Acceleration
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Example - Plucking the free end of a cantilever beam
In this case u
0
=0 at one end of the beam, and v
0
=0.
Use the static load step method.
Load step 1:
Transient effects OFF. Use TIMINT,OFF command or
Solution > Soln Control
Select the Transient Tab and unselect Transient effects
Small time interval, e.g, 0.001.
2 substeps, stepped loads. (If ramped or with one substep, v
0
will be
non-zero.)
Apply the desired non-zero displacement at the free end of the beam.
SOLVE.
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Load step 2:
Transient effects ON.
Delete the imposed displacement.
Specify ending time and continue with the transient.
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Example - Initial velocity on a golf club head
Assuming that only the club head is modeled and that the entire head
moves, we have v
0
=0. We will also assume that u
0
= a
0
= 0.
The IC command method is convenient for this case.
1 Select all nodes on the club.
2 Use the IC command to apply initial velocity, or
Choose Solution > Define Loads > Apply > Initial Conditn > Define
Pick all nodes.
Select direction and enter velocity value.
3 Activate all nodes.
4 Specify ending time, apply other loading conditions
(if any), and solve.
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Example - A stationary plate subjected to an impulse load
In this case u
0
= v
0
= a
0
= 0.
These are the default initial conditions in ANSYS, so there is no
need to specify them!
Simply apply the boundary conditions and the impulse load, then
solve.
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Apply Time-History Loads & Solve
Build the model
Time-history loads are loads that vary
with time.
Three ways to apply them:
Function tool
Tabular input
Multiple load steps
Load
t
Load
t
Load
t
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Function Tool
Allows you to apply complicated boundary conditions. To access the
function editor, choose Solution > Define Loads > Apply > Functions >
Define/Edit
Recommendation: do not use the Function Tool if the boundary
conditions can be expressed directly with tabular input

For more information
refer to Applying Loads
Using Function Boundary
Conditions in the Basic
Analysis Guide.
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Tabular input
Allows you to define a table of load vs. time (using array
parameters) and apply the table as a load.
Very convenient, especially if there are several different loads, each
with its own time history.
For example, to apply the force-vs-time curve shown:
1. Choose Solution > Define Loads > Apply > Structural > Force/Moment >
On Nodes, then pick desired nodes.
0.5
Force
t
22.5
10
1.0 1.5
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2. Choose the force direction and
New table, then OK.
3. Enter table name and no. of rows
(no. of time points), then OK.
4. Fill in time and load values, then
File > Apply/Quit.
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5. Specify ending time and integration time step.
Solution > Load Step Opts > Time/Frequenc > Time - Time Step
There is no need to specify the stepped or ramped condition. It is
implied by the load curve.

6. Activate automatic time stepping, specify output controls, and solve
(discussed later.)
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Multiple load step method
Allows you to apply each segment of the load-vs-time curve in a
separate load step.
No need to use array parameters. Simply apply each segment and
either solve the load step or write it to a load step file (LSWRITE).
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For example, to apply the same force-vs-time curve
as before:
1. Plan the approach. We will need three load
steps in this case: one for the up-ramp load,
one for the down-ramp load, and one for the
step removal of the load.
Force
t
22.5
10
0.5 1.0 1.5
2. Define load step 1:
Apply force = 22.5 units at the desired nodes.
Specify the ending time (0.5), integration time step, and ramped
loads.
Activate automatic time stepping, specify output controls*, and
either solve or write the load step to a load step file.

*Discussed later
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Change force values to 10.0.
Specify the ending time (1.0). No need to respecify the integration
time step or ramped condition.
Solve or write the load step to a load step file.

Delete the forces or set their values to zero.
Specify the ending time (1.5) and stepped loads.
Solve or write the load step to a load step file.
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Solution
Use SOLVE command (or LSSOLVE if load
step files were written).
At each time step, ANSYS calculates load
values based on the load-vs-time curve.
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Review Results
Build the model
Review Results
Consists of three steps:
Plot results vs. time at specific points in the
structure.
Identify critical time points.
Review results over entire structure at those
time points.
Use POST26, the time-
history postprocessor
Use POST1, the
general postprocessor
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Review Results - POST26
To plot results vs. time:
First define POST26 variables in the Variable Viewer.
Tables of nodal or element data.
Identified by a number > 2.
Variable 1 contains time-points and is predefined.
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Define variables (cont'd)
Pick nodes that might deform the most, then choose the DOF
direction.
List of defined variables is updated.
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Once the variables are
defined, you can graph them
or list them.
A Graphed Response in the Time Domain
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Identify critical time points
Use the List Extremes menu.
Note down the time points at which the minimum and maximum
values occur.
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Review results over entire structure at critical time points
Enter POST1, read results By Time/Freq..., and enter appropriate
time value.
Plot deformed shape and stress contours.
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Build the model
Review Results
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Lesson D:
Workshop - Transient Analysis
In this workshop, you will examine the transient response of a
block bouncing on a beam.
See your Dynamics Workshop supplement for details
Transient Analysis Workshop - Bouncing Block, Page W-35

Dynamics 70 M4 Transient

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Transient Dynamic Analysis

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