Module 1

Introduction to Dynamics

Introduction

Welcome!

Training Manual

DYNAMICS 7.0

Welcome to the Dynamics Training Course!

This training course covers the ANSYS procedures required to

perform dynamic analyses.

It is intended for novice and experienced users interested in

solving dynamic problems using ANSYS.

Several other advanced training courses are available on specific

topics. See the training course schedule on the ANSYS
homepage: www.ansys.com under Training Services.

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Introduction

Course Objectives

Training Manual

Preprocess, solve, and postprocess a modal, harmonic, transient, and

spectrum analysis.

Use a Restart Analysis to either add time points to an existing load

history or recover from an unconverged solution.

Use the Mode Superposition method to reduce the solution time of

either a transient or harmonic analysis.

Use ANSYSs advanced modal analysis capabilities. These include

prestressed modal, cyclic symmetry, and large deflection analyses.

DYNAMICS 7.0

By the end of this course, you will be able to use ANSYS to:

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Introduction

Course Material

Training Manual

The Training Manual you have is an exact copy of the slides.

Workshop descriptions and instructions are included in the

Workshop Supplement.

Copies of the workshop files are available (upon request) from the
instructor.

DYNAMICS 7.0

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Module 1

Introduction to Dynamics

Training Manual

B. Discuss different types of dynamic analysis.

C. Cover some basic concepts and terminology.
D. Introduce the Variable Viewer in the Time-History Postprocessor.

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A. Define dynamic analysis and its purpose.

E. Do a sample dynamic analysis exercise.

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Dynamics

A. Definition & Purpose

A technique used to determine the dynamic behavior of a

structure or component, where the structures inertia (mass
effects) and damping play an important role.

Dynamic behavior may be one or more of the following:

DYNAMICS 7.0

What is dynamic analysis?

Training Manual

Vibration characteristics - how the structure vibrates and at what

frequencies.
Effect of time varying loads (on the structures displacements and
stresses, for example).
Effect of periodic (a.k.a. oscillating or random) loads.

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Dynamics

Definition & Purpose

The famous Tacoma Narrows

bridge (Galloping Gertie) collapsed
under steady wind loads during a
42-mph wind storm on November
7, 1940, just four months after
construction.

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A static analysis might ensure that

the design will withstand steadystate loading conditions, but it may
not be sufficient, especially if the
load varies with time.

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Dynamics

Definition & Purpose

A dynamic analysis usually takes into account one or more of the

following:

Vibrations - due to rotating machinery, for example.

Impact - car crash, hammer blow.
Alternating forces - crank shafts, other rotating machinery.
Seismic loads - earthquake, blast.
Random vibrations - rocket launch, road transport.

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Training Manual

Each situation is handled by a specific type of dynamic analysis.

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Dynamics

B. Types of Dynamic Analysis

Training Manual

An automobile tailpipe assembly could shake apart if its natural

frequency matched that of the engine. How can you avoid this?
A turbine blade under stress (centrifugal forces) shows different dynamic
behavior. How can you account for it?

Answer - do a modal analysis to determine a structures vibration

characteristics.

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Consider the following examples:

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Dynamics

Types of Dynamic Analysis

Training Manual

Solution - do a transient dynamic analysis to calculate a structures

response to time varying loads.

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An automobile fender should be able to withstand low-speed impact,

but deform under higher-speed impact.
A tennis racket frame should be designed to resist the impact of a
tennis ball and yet flex somewhat.

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Dynamics

Types of Dynamic Analysis

Solution - do a harmonic analysis to

determine a structures response to
steady, harmonic loads.

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Rotating machines exert steady,

alternating forces on bearings and
support structures. These forces
cause different deflections and
stresses depending on the speed of
rotation.

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Dynamics

Types of Dynamic Analysis

Solution - do a spectrum analysis to determine a

structures response to seismic loading.

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Building frames and bridge structures in an

earthquake prone region should be designed to
withstand earthquakes.

Training Manual

Courtesy: U.S. Geological Survey

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Dynamics

Types of Dynamic Analysis

Training Manual

Solution - do a random vibration analysis to determine how a

component responds to random vibrations.

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Spacecraft and aircraft components must withstand random loading

of varying frequencies for a sustained time period.

Courtesy:
NASA

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Dynamics

C. Basic Concepts and Terminology

General equation of motion

Solution methods

Modeling considerations

Mass matrix

Damping

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Topics discussed:

Training Manual

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Dynamics - Basic Concepts & Terminology

Equation of Motion
The general equation of motion is as follows.

M u C u K u F t

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Training Manual

Different analysis types solve different forms of this equation.

Modal analysis: F(t) is set to zero, and [C] is usually ignored.
Harmonic analysis: F(t) and u(t) are both assumed to be harmonic in
nature, i.e, Xsin(t), where X is the amplitude and is the frequency
in radians/sec.
Transient dynamic analysis: The above form is maintained.

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Dynamics - Basic Concepts & Terminology

Solution Methods

Training Manual

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How do we solve the general equation of motion?

Two main techniques:

Mode superposition
Direct integration

Mode superposition

The frequency modes of the structure are predicted, multiplied by

generalized coordinates, and then summed to calculate the
displacement solution.

Can be used for transient and harmonic analyses.

Covered in Module 6.

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Dynamics - Basic Concepts & Terminology

Solution Methods

Training Manual

Equation of motion is solved directly, without the use of

generalized coordinates.

For harmonic analyses, since both loads and response are

assumed to be harmonic, the equation is written and solved as a
function of forcing frequency instead of time.

For transient analyses, the equation remains a function of time

and can be solved using either an explicit or implicit method.

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Direct integration

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Dynamics - Basic Concepts & Terminology

Solution Methods

Training Manual

Explicit Method

Matrix inversion is required

No matrix inversion

Nonlinearities require equilibrium

iterations (convergence problems)

Can handle nonlinearities easily

(no convergence issues)

Integration time step t can be large

but may be restricted by
convergence issues

Integration time step t must be

small (1e-6 second is typical)

Useful for short duration transients

such as wave propagation, shock
loading, and highly nonlinear
problems such as metal forming.

ANSYS-LS/DYNA uses this method.

Not covered in this seminar.

Efficient for most problems except

where t needs to be very small.

This is the topic covered in this

seminar

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Implicit Method

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Dynamics - Basic Concepts & Terminology

Modeling Considerations

Training Manual

Generally same considerations as a static analysis.

Include as many details as necessary to sufficiently represent the

model mass distribution.

A fine mesh will be needed in areas where stress results are of

interest. If you are only interested in displacement results, a
coarse mesh may be sufficient.

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Geometry and Mesh:

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Dynamics - Basic Concepts & Terminology

Modeling Considerations

Training Manual

Both Youngs modulus and density are required.

Remember to use consistent units.

For density, specify mass density instead of weight density when using
British units:

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Material properties:

[Mass density] = [weight density]/[g] = [lbf/in3] / [in/sec2] = [lbf-sec2/in4]

Density of steel = 0.283/386 = 7.3 x 10-4 lbf-sec2/in4

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Dynamics - Basic Concepts & Terminology

Modeling Considerations

Training Manual

Allowed only in a full transient dynamic analysis.

Ignored in all other dynamic analysis types - modal, harmonic,

spectrum, and reduced or mode superposition transient. That is,
the initial state of the nonlinearity will be maintained throughout
the solution.

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Nonlinearities (large deflections, contact, plasticity, etc.):

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Dynamics - Basic Concepts & Terminology

Mass Matrix

Training Manual

Mass matrix [M] is required for a dynamic analysis and is

calculated for each element from its density.

Two types of [M]: consistent and lumped. Shown below for

BEAM3, the 2-D beam element.

UX 1

x 0 0 x 0 0

UY1 0 x x

ROTZ 1 0 x x

UX 2 x 0 0
UY2 0 x x
ROTZ 2 0 x x

0 x
0 x

x 0 0 0 0 0

0 x 0 0 0 0

x 0 0
0 x x
0 x

Consistent [M]

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BEAM3
1

0 0 x 0 0 0

0 0 0 x 0 0
0 0 0 0 x 0
0 0 0 0 0 x

Lumped [M]

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Dynamics - Basic Concepts & Terminology

Mass Matrix

Training Manual

Calculated from element shape functions.

Default for most elements.

Some elements have a special form called the reduced mass

matrix, which has rotational terms zeroed out.

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Consistent mass matrix

Lumped mass matrix

Mass is divided among the elements nodes. Off-diagonal terms

are zero.

Activated as an analysis option (LUMPM command).

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Dynamics - Basic Concepts & Terminology

Mass Matrix

Training Manual

Consistent mass matrix (default setting) for most applications.

Reduced mass matrix (if available) or lumped [M] for structures

that are small in one dimension compared to the other two
dimensions, e.g, slender beams or very thin shells.

Lumped mass matrix for wave propagation problems.

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Which mass matrix should you use?

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

The energy dissipation mechanism that causes

vibrations to diminish over time and eventually
stop.

Amount of damping mainly depends on the

material, velocity of motion, and frequency of
vibration.

Can be classified as:

Dampening of
a Response

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What is damping?

Viscous damping
Hysteresis or solid damping
Coulomb or dry-friction damping

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

Occurs when a body moves through a fluid.

Should be considered in a dynamic analysis since the damping force

is proportional to velocity.
The proportionality constant c is called the damping constant.

Usually quantified as damping ratio (ratio of damping constant c to

critical damping constant c c*).

Critical damping is defined as the threshold between oscillatory and

non-oscillatory behavior, where damping ratio = 1.0.

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Viscous damping

*For a single-DOF spring mass system of mass m and frequency , cc = 2m.

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

Inherently present in a material.

Should be considered in a dynamic analysis.

Not well understood and therefore difficult to quantify.

Coulomb or dry-friction damping

Occurs when a body slides on a dry surface.

Damping force is proportional to the force normal to the surface.

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Hysteresis or solid damping

Proportionality constant is the coefficient of friction.

Generally not considered in a dynamic analysis.

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

Viscous damping can be included by specifying the damping ratio

, Rayleigh damping constant (discussed later), or by defining
elements with damping matrices.

Hysteresis or solid damping can be included by specifying

another Rayleigh damping constant, (discussed later).

Coulomb damping can be included by defining contact surface

elements and gap elements with friction capability (not discussed
in this seminar; see the ANSYS Structural Analysis Guide for
information).

DYNAMICS 7.0

ANSYS allows all three forms of damping.

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Dynamics - Basic Concepts & Terminology

Damping
In ANSYS damping is defined as

[C] [M ] ( c )[K ]

NMAT

NEL

[K ] C
j1

k 1

[C ]

[C] structure damping matrix

constant mass matrix multiplier (ALPHAD)

M structure mass matrix
constant stiffness matrix multiplier (BETAD)
c variable stiffness matrix multiplier (DMPRAT)
structure stiffness matrix
constant stiffness matrix multiplier for material j (MP,DAMP)
j
[Ck] element damping matrix (element real constants)
C frequency-dependent damping matrix (DMPRAT and MP,DAMP)

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Training Manual

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Dynamics - Basic Concepts & Terminology

Damping
Damping is specified in various forms:

Viscous damping factor or damping ratio

Quality factor or simply Q
Loss factor or Structural damping factor
Log decrement
Spectral damping factor D

Most of these are related to DAMPING RATIO used in ANSYS

Conversion factors are shown next

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Dynamics - Basic Concepts & Terminology

Damping
Conversion between various damping specifications:

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Training Manual

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

Also known as mass damping.

Specified only if viscous damping is

dominant, such as in underwater
applications, shock absorbers, or
objects facing wind resistance.

If beta damping is ignored, can be

calculated from a known value of
(damping ratio) and a known
frequency :
= 2

Only one value of alpha is allowed, so

pick the most dominant response
frequency to calculate .

Input using the ALPHAD command.

Effect of Alpha Damping on Damping

Ratio (Beta Damping Ignored)

Damping Ratio

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Alpha Damping

3
2
1
0.5
Frequency

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

Also known as structural or stiffness

damping.

Inherent property of most materials.

Specified per material or as a single,

global value.

If alpha damping is ignored, can be

calculated from a known value of
(damping ratio) and a known frequency
:

Effect of Beta Damping on Damping

Ratio (Alpha Damping Ignored)
0.004
0.003
Damping Ratio

0.002

= 2/

Pick the most dominant response

frequency to calculate .

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Beta Damping

0.001
Frequency

Input using MP,DAMP or BETAD

command.

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

Used as multipliers of [M] and [K] to calculate [C]:

[C] = [M] + [K]
/2 + /2 =

where is the frequency, and is the damping ratio.

Needed in situations where damping ratio cannot be specified.

Alpha is the viscous damping component, and Beta is the

hysteresis (a.k.a. solid or stiffness) damping component.

DYNAMICS 7.0

Rayleigh damping constants and

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Dynamics - Basic Concepts & Terminology

Damping

Training Manual

DYNAMICS 7.0

To specify both and damping:

Use the relation

How to Approximate Rayleigh

Damping Constants

/2 + /2 =

Since there are two unknowns,

assume that the sum of alpha and
beta damping gives a constant
damping ratio over the frequency
range 1 to 2. This gives two
simultaneous equations from which
you can solve for and .
= /2 1 + 1/2

of the and terms is nearly

constant over the range of
frequencies
Damping Ratio

Rayleigh Equation: the sum

Frequency

= /2 2 + 2/2

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Dynamics - PostProcessing

D. Variable Viewer
The Variable Viewer is a
specialized tool allowing one to
postprocess results with respect
to time or frequency.

The Variable Viewer can be

started by:

Main Menu > TimeHist Postpro >

Variable Viewer

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Dynamics - PostProcessing

Variable Viewer

Training Manual

1 2

4 5

6 7

9 10

2
11

3
4
5

12

Add variable button

Delete variable button
Graph variable button
List variable button
Properties button

Import data button

7 Export data button
8 Export data type
6

9
13

14

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Clear Time-History Data

10 Refresh Time-History Data

15

16

11 Real/Imaginary Components
12 Variable list
13 Variable name input area

17

14 Expression input area

15 Defined APDL variables
16 Defined Post26 variables
17 Calculator

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Dynamics - PostProcessing

Variable Viewer

DYNAMICS 7.0

k = 36kN/m

Training Manual

100kg

k = 36kN/m
25kg

y
F

4000 N , t 0
0, t 0

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Dynamics

E. Introductory Workshop
In this workshop, you will run a
sample dynamic analysis of the
Galloping Gertie (Tacoma
Narrows bridge).

Follow the instructions in your

Dynamics Workshop supplement
(
Introductory Dynamics - Gallopin
g
Gertie, Page W-5 ).

The idea is to introduce you to

the steps involved in a typical
dynamic analysis. Details of
what each step means will be
covered in the rest of this
seminar.

Failure of Tacoma Narrows Bridge

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Training Manual

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