04 Modal and Harmonic Analysis With ANSYS

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

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

mode shapes of a continuous structure
g
Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design
Review of Multi DOF Systems

x1
K1
x2
K2
F1
F2
M1
C1
g
K3
M2
C2
C3
Expressed in matrix form as
[M ]{u&&}+ [C ]{u& }+ [K ]{u } = {F }

Review of Multi DOF Systems

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

The mass, damping and stiffness matrices are
constant with time
g
The unknown nodal displacements vary with

time
g

Modal Analysis
A continuous structure has an infinite number of

degrees of freedom
g
The finite element method approximates the

real structure with a finite number of DOFs
g
N mode shapes can be found for a FEM having

N DOFs
g
Modal Analysis
Process for determining the N natural frequencies and
mode shapes

Modal Analysis
Given suitable initial conditions, the structure

will vibrate
g
at one of its natural frequencies
the shape of the vibration will be a scalar

multiple of a mode shape
Given arbitrary initial conditions, the resulting

vibration will be a
g
Superposition of mode shapes

Modal Analysis
Determines the vibration characteristics (natural

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

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

Mode Shape of a Thin Plate (240 Hz)


Mode Extraction Methods

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

Steps in Modal Analysis

g
Build the model
Same as for static analysis
Use top-down or bottom-up techniques
Apply loads and obtain solution

Only valid loads are zero-value displacement
constraints
Other loads can be specified but are ignored
Expand the modes and review results

In-Class Exercise
A = 3 in 2
IZZ = 450 in 4
H = 5 in
E = 30E6 psi
2
lb s
= 8.031E 4 3
in in
360 inches
In-Class Exercise
Set element type to BEAM3
Set the appropriate real constants and material

constants
g
Create Keypoints at the start and end of the

beam and a Line between them
g

Mesh the Line and Apply B.C.s

Set the meshing size control of the line to 5
Fix the Keypoint at the right end of the beam

Set Solution Options

g
Change the analysis type to Modal
Solution > Analysis Type > New Analysis
<Modal>
Set the analysis options
Solution > Analysis Options
Extract 10 mode <OK>
Enter <1500> for the ending frequency


At this point, you have told ANSYS to find a

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


Solve the load set
ANSYS generates a substep result for each

natural frequency and mode shape
g

Postprocessing
g
List results summary

General Postproc > List Results > Results
Summary
Read results for a substep
General Postproc > Read Results > First Set
Plot deformed geometry
General Postproc > Read Results > Next Set

Theoretical Modal Analysis
David Herrin, Ph.D.

Structural Vibration at a Single DOF

g
At a single degree of freedom
u = cos(t )
u = displacement of a nodal DOF
= amplitude

Structural Vibration for the Entire Structure

{u} = {}cos(t )
{u} = Vector of nodal displacements
{} = vector of amplitudes for each DOF
Mode Shapes
g
The vector of amplitudes is a mode shape

2
3 4
5 6
Use subscript i to differentiate mode shapes

and natural frequencies
g
{u} = {}i cos(it )

Appropriate Initial Conditions

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

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

Determining Natural Frequencies

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

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

Modal Analysis
If the system vibrates according to a particular

mode shape and frequency
g
{u} = {}i cos(it )

{}i = mode shape i
i = natural frequency i
Modal Analysis
First derivative (Velocity)
{u&} = i { }i sin ( i t )
g
Second derivative (Acceleration)

2
&&
{u} = i {}i cos ( it )

Modal Analysis
Plug velocity and acceleration into the equation

of motion
g
( [ M ] + [ K ]) {} = {0}
2
i
Two possible solutions
{}i = {0}
det ( [ M ] + [ K ]) = 0
2
i

The Eigen Problem

det ( [ M ] + [ K ]) = 0
2
i
The Eigen Problem
Eigenvalue
Eigenvector
{ x}
[A]{x} = [I ]{x}

Modal Analysis An Eigen Problem

2
i
( [ M ] + [ K ]) {} = [0]
[ K ]{} = [ M ]{}
2
i
[M ] [K ]{} = [I ]{}
1
2
i
Natural frequencies are eigenvalues
The mode shapes are eigenvectors
{}

2
i
Modal Analysis An Eigen Problem

[M ] [K ]{} = [I ]{}
[A]{x} = [I ]{x}
1
2
i
Solving the eigen problem
([ A] [ I ]) { x} = 0
det ([ A] [ I ] ) = 0
Example Eigen Problem

x1
2 3 x1
3 2 x = i x
2
2
2 3
1 0
det
i
=0
0 1
3 2
Find Eigenvalues
2
3
det
=0
2
3
2
( 2 )( 2 ) 9 = 4 5
g
Eigenvalues
1 = 1
2 = 5
For Eigenvector 1
1 = 1
2 3
1 0 x1 0
( 1)
0 1 x2 1 0
3 2
2 + 1 3 x1 0
2 + 1 x2 1 0
3
For Eigenvector 1
3 3 x1 0
3 3 x2 1 0
x2 = x1
g
x1 can be any value
x1 1 .7071
= =
x2 1 1 .7071
For Eigenvector 2
2 = 5
2 3
1 0 x1 0
( 5)
0 1 x2 2 0
3 2
2 5
3 x1 0
2 5 x2 2 0
3
For Eigenvector 2
3 3 x1 0
3 3 x2 2 0
x2 = x1
g
x2 can be any value
x1 1 .7071
= =
x2 2 1 .7071
Example
M 1 = 5 kg
x1
M 2 = 10 kg
K1 = 800 N/m
x2
K1
M1
K2
M2
K 2 = 400 N/m
g
Equations of motions
M1 &&
x1 + K1 x1 K1 x2 = 0
M 2 &&
x2 + K 2 x2 + K1 x2 K1 x1 = 0
Matrix Form
M1
0
0 x&&1 K1
K1 x1 0
+
=
M 2 &&
x 2 K1 K 1 + K 2 x 2 0
x1 800 800 x1 0
5 0 &&
+
=
0 10 &&
x2 800 1200 x2 0

Set Up Eigen Problem

[ M ] [ K ]{} = {}
1
[M ]
2
i
160 160
[ K ] = 80 120
160 160
1 0
det
=0
0 1
80 120
Solve Eigen Problem

160 160
det
=0
80 120
1 = 1 = 5.011 rad/s
1 0.7645
=
5.011
2 1 0.6446
f =
= .7975 Hz
1
2 = 2 = 15.965 rad/s
15.965
f2 =
= 2.5409 Hz
2
1 0.8601
=
2 1 0.5101
Weighted Orthogonality
T
1
1
[M ] = 0
2 1
2 2
T
1
1
[K ] = 0
2 1
2 2

Modal Vector Scaling

g
Unity Modal Mass

T
1
1
[M ] = 1
2 1
2 1

Modal Vector Scaling

g
Unity Modal Mass

T
.7645 X 5 0 .7645 X
=1
.6446 X 1 0 10 .6446 X 1
X = .376
1 .287
=
2 1 .242
Mode 1
0.7645
0.6446
K1
M1

K2
M2
Mode 2
-0.8601
0.5101
K1
M1

K2
M2
Harmonic Response using ANSYS
David Herrin, Ph.D.

Harmonic Response Analysis

Solves the time-dependent equations of motion

for linear structures undergoing steady-state
vibration
g
All loads and displacements vary sinusoidally at

the same frequency
g
Fi = F sin(t + 1 )
Fj = F sin(t + 2 )
Harmonic Response Analysis

Analyses can generate plots of displacement

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

In-Class Exercise
A = 3 in 2
IZZ = 450 in 4
H = 5 in
E = 30E6 psi
2
lb s
= 8.031E 4 3
in in
360 inches
In-Class Exercise
Set element type to BEAM3
Set the appropriate real constants and material

constants
g
Create Keypoints at the start and end of the

beam and a Line between them
g

Mesh the Line and Apply B.C.s

Set the meshing size control of the line to 5
Fix the Keypoint at the right end of the beam


g
Change the analysis type to Modal
Solution > Analysis Type > New Analysis
<Modal>
Set the analysis options
Solution > Analysis Options
Extract 10 mode <OK>
Enter <1500> for the ending frequency


At this point, you have told ANSYS to find a

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


Solve the load set
ANSYS generates a substep result for each

natural frequency and mode shape
g

Postprocessing
g
List results summary

General Postproc > List Results > Results
Summary
Read results for a substep
General Postproc > Read Results > First Set
General Postproc > Read Results > Next Set

Forced Response
g
Apply a 1.0 N load at the left end of the beam
New Analysis > Harmonic
Set the Analysis Options
Set the solution method to Full
Set the DOF printout format to Amplitude

and phase <OK>
Set the tolerance to 1e-8 <OK>

Forced Response
g
Set the frequency substeps

Solution > Load Step Opts Time Frequency
> Freq and Substeps
Set the Harmonic Frequency Range to

between 0 and 50 Hz
Set the number of substeps to 100
Set to Stepped

Forced Response
Set the damping

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

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

beam having an area of 10.
g


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Modal and Harmonic Analysis using ANSYS

David Herrin, Ph.D.

Used to determine the natural frequencies and

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Review of Multi DOF Systems

Expressed in matrix form as

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

ME 599/699 VibroAcoustic Design

Review of Multi DOF Systems

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

The unknown nodal displacements vary with

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

A continuous structure has an infinite number of

The finite element method approximates the

N mode shapes can be found for a FEM having

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Given suitable initial conditions, the structure

at one of its natural frequencies

the shape of the vibration will be a scalar

Given arbitrary initial conditions, the resulting

Superposition of mode shapes

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Determines the vibration characteristics (natural

Natural frequencies and mode shapes are a

If using the mode superposition method

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Mode Shape of a Thin Plate (240 Hz)

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Mode Extraction Methods

Damped and QR damped (Include damping)

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Steps in Modal Analysis

Build the model

Same as for static analysis

Use top-down or bottom-up techniques

Apply loads and obtain solution

Other loads can be specified but are ignored

Expand the modes and review results

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

ME 599/699 VibroAcoustic Design

Set element type to BEAM3

Set the appropriate real constants and material

Create Keypoints at the start and end of the

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Mesh the Line and Apply B.C.s

Set the meshing size control of the line to 5

Fix the Keypoint at the right end of the beam

Dept. of Mechanical Engineering

ME 599/699 VibroAcoustic Design

Set Solution Options

Change the analysis type to Modal

Solution > Analysis Type > New Analysis

Set the analysis options

Solution > Analysis Options

Extract 10 mode <OK>