Professional Documents
Culture Documents
Modal Analysis in Vibrations
Modal Analysis in Vibrations
Overview of
Experimental Modal Analysis
Peter Avitabile
Mechanical Engineering Department
University of Massachusetts Lowell
and how is it
used for solving
dynamic problems?
modal analysis
FFT
INPUT FORCE
BOARD
RESPONSE
CABINET
IFT
INPUT
FORCE
FAN INDUCED
VIBRATIONS
Eigensolution
Advantages
Disadvantages
Modeling assumptions
Joint design difficult to model
Component interactions are
development
No prototypes are
necessary
difficult to predict
Damping generally ignored
MEASURED RESPONSE
[F]
APPLIED FORCE
fref1
fref2
[H]
FREQUENCY RESPONSE FUNCTIONS
Advantages
Disadvantages
Modal characteristics
Requires hardware
Actual boundary conditions
MODE # 1
MODE # 2
MODE # 3
DOF # 1
DOF #2
DOF # 3
COHERENCE
dB Mag
FRF
INPUT POWER SPECTRUM
-60
0Hz
800Hz
AUTORANGING
AVERAGING
h 13
1
2
1
3
2
h 23
3
h 33
h 31
h 32
h 33
3
0
-3
8
-7
Magnitude
Real
MODE # 1
MODE # 2
MODE # 3
DOF # 1
DOF #2
DOF # 3
1.0000
Phase
-1.0000
Imaginary
h32
2
1
3
1
h33
22.457 Mechanical Vibrations - Experimental Modal Analysis 11
h31
Dr. Peter Avitabile
Modal Analysis & Controls Laboratory
Any row or
column can be
used to extract
mode shapes
- as long as it is
not the node of
a mode !
?
DOF # 1
DOF #2
DOF # 3
SDOF Equations
Equation of Motion
d2x
dx
m 2 + c + kx = f ( t )
dt
dt
or
m &x& + cx& + kx = f ( t )
f(t)
x(t)
Characteristic Equation
ms 2 + cs + k = 0
c
=
2m
c + k
m
2m
SDOF Definitions
Poles expressed as
s1, 2 = n
(n )2 n 2 = jd
POLE
Damping Factor
= n
Natural Frequency
n = k
% Critical Damping
= c
cc
Critical Damping
c c = 2mn
Damped Natural
Frequency
d = n 1 2
CONJUGATE
with
and
1
ms 2 + cs + k
Pole-Zero Form
h (s) =
1/ m
(s p1 )(s p1* )
1
2 jmd
1 t
e sin d t
md
Source: Vibrant Technology
h ( j) = h (s)
s = j
a1
a1*
=
+
( j p1 ) ( j p1* )
Bode Plot
0.707 MAG
Nyquist Plot
DISPLACEMENT / FORCE
VELOCITY / FORCE
INERTANCE
ACCELERATION / FORCE
DYNAMIC STIFFNESS
FORCE / DISPLACEMENT
MECHANICAL IMPEDANCE
DYNAMIC MASS
FORCE / VELOCITY
FORCE / ACCELERATION
MDOF Equations
Equation of Motion
Eigensolution
1
=
\
22
and [U ] = [{u1}
\
{u 2 } L]
[[M]s
[[M]s +[C]s+[K ]] = 0
2
p k = k jdk
Damping
Frequency
{
x (s )}
[B(s )]{x (s )} = {F(s )} [H(s )] = [B(s )] =
{F(s )}
1
[B(s )]
[
Adj[B(s )]
A(s )]
= [H(s )] =
=
det[B(s )] det[B(s )]
[A(s )]
Residue Matrix
det[B(s )]
Characteristic Equation
Mode Shapes
Poles
[A(s )]k
a11k
a
21k
a 31k
M
a12 k
a 22 k
a 32 k
M
a13k
a 23k
a 33k
M
= q k {u k }{u k }
L
u1k u1k
u u
L
=q k 2 k 1k
L
u 3k u1k
M
O
u1k u 2 k
u 2k u 2k
u 3k u 2 k
M
u1k u 3k
u 2 k u 3k
u 3k u 3k
M
L
L
L
O
h ij ( j ) =
a ij1
( j p 1 )
+
( j p 2 )
( j p*2 )
( j p 3 )
a *ij 3
( j p*3 )
( j p 1 )
q1 u i 1 u j 1
( j p*1 )
q 2u i 2u j 2
( j p 2 )
+
a *ij 2
a ij 3
q1 u i 1 u j 1
( j p*1 )
a ij 2
h ij ( j ) =
a *ij1
q 2u i 2u j 2
( j p*2 )
q 3u i 3u j 3
( j p 3 )
q 3u i 3u j 3
( j p*3 )
+
( j p1 ) ( j p*1 )
+
D1
a*ij1
a ij1
a*ij 2
a ij 2
+
+ L
( j p 2 ) ( j p*2 )
R2
D2
R3
D3
F1
F2F3
a ij1
h ij ( j ) =
q1u i1u j1
* * *
1 i 1 j1
*
1
qu u
+
( j p1 ) ( j p )
+
q 2u i 2u j 2
* * *
2 i2 j2
*
2
qu u
( j p 2 ) ( j p )
a ij2
a ij3
2
3
+ L
TRANSFER
FUNCTION
LAPLACE
DOMAIN
[B(s)] -1 = [H(s)]
qk u j {u k}
[U]
[ A(s) ]
det [B(s)]
[U]
FINITE
ELEMENT
MODEL
T
[K - M]{X} = 0
MODAL
PARAMETER
ESTIMATION
ANALYTICAL
MODEL
REDUCTION
N
H(j )
LARGE DOF
MISMATCH
X j(t)
H(j ) =
Xj (j )
Fi (j )
FFT
Fi (t)
MODAL
TEST
EXPERIMENTAL
MODAL MODEL
EXPANSION
Measurement Definitions
ANALOG SIGNALS
OUTPUT
INPUT
ANTIALIASING FILTERS
AUTORANGE ANALYZER
ADC DIGITIZES SIGNALS
OUTPUT
INPUT
APPLY WINDOWS
INPUT
OUTPUT
COMPUTE FFT
LINEAR SPECTRA
LINEAR
OUTPUT
SPECTRUM
LINEAR
INPUT
SPECTRUM
AVERAGING OF SAMPLES
COMPUTATION OF AVERAGED
INPUT/OUTPUT/CROSS POWER SPECTRA
INPUT
POWER
SPECTRUM
OUTPUT
POWER
SPECTRUM
CROSS
POWER
SPECTRUM
COHERENCE FUNCTION
Sx(f)
h(t)
y(t)
TIME
SYSTEM
OUTPUT
H(f)
Sy(f)
FREQUENCY
x(t)
y(t)
Sx(f)
Sy(f)
H(f)
h(t)
x ( t )= Sx (f )e j2 ft df
y( t )= S y (f )e
j2 ft
h ( t )= H(f )e
Sx (f )= x ( t )e j2 ft dt
df
S y (f )= y( t )e j2 ft dt
j2 ft
df
H(f )= h ( t )e j2 ft dt
Gxx(f)
Ryx(t)
Ryy(t)
TIME
SYSTEM
OUTPUT
Gxy(f)
Gyy(f)
FREQUENCY
G xx ( f ) = S x ( f ) S*x ( f )
G yy ( f ) = S y ( f ) S*y ( f )
G yx ( f ) = S y ( f ) S*x ( f )
T TT
+
lim 1
R yy ()=E[ y( t ), y( t + )]=
y( t )y( t + )dt
T TT
+
R yx ()=E[ y( t ), x ( t + )]=
lim 1
y( t )x ( t + )dt
T TT
H1 formulation
- susceptible to noise on the input
- underestimates the actual H of the system
S y S*x G yx
H=
=
*
Sx Sx G xx
H2 formulation
- susceptible to noise on the output
- overestimates the actual H of the system
Other
formulations
for H exist
S y S*y G yy
=
H=
*
Sx S y G xy
2
xy
G yx / G xx
G yy / G xy
H1
H2
Typical Measurements
Measurements - Auto Power Spectrum
x(t)
y(t)
AVERAGED INPUT
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
G yy (f)
G xx (f)
OUTPUT RESPONSE
INPUT FORCE
G xx(f)
G yy (f)
AVERAGED INPUT
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
AVERAGED CROSS
POWER SPECTRUM
G yx (f)
Measurement Definitions
12
Measurement Definitions
13
Real
AVERAGED INPUT
AVERAGED CROSS
AVERAGED OUTPUT
POWER SPECTRUM
POWER SPECTRUM
POWER SPECTRUM
G xx(f)
G yx(f)
G yy(f)
0Hz
AVG: 5
200Hz
COHERENCE
Freq Resp
40
dB Mag
-60
0Hz
AVG: 5
200Hz
H(f)
Measurement Definitions
14
Measurement Definitions
15
Impact Excitation
An impulsive excitation which is very short in the time window
usually lasting less than 5% of the sample interval.
ADVANTAGES
- easy setup
- fast measurement time
- minimum of equipment
- low cost
DISADVANTAGES
- poor rms to peak levels
- poor for nonlinear structures
- force/response windows needed
- pretrigger delay needed
- double impacts may occur
- high potential for signal overload and underload of ADC
Real
Real
-976.5625us
TIME PULSE
123.9624ms
dB Mag
-976.5625us
TIME PULSE
123.9624ms
dB Mag
0Hz
FREQUENCY SPECTRUM
6.4kHz
0Hz
FREQUENCY SPECTRUM
6.4kHz
RUBBER TIP
Real
Real
-976.5625us
TIME PULSE
123.9624ms
dB Mag
-976.5625us
TIME PULSE
123.9624ms
dB Mag
0Hz
FREQUENCY SPECTRUM
6.4kHz
0Hz
FREQUENCY SPECTRUM
6.4kHz
COHERENCE
dB Mag
FRF
INPUT POWER SPECTRUM
-60
0Hz
800Hz
COHERENCE
40
FRF
dB Mag
INPUT POWER SPECTRUM
-60
0Hz
200Hz
SAMPLED SIGNAL
WINDOW WEIGHTING
Impact Test
Either a row or column of the
FRF matrix is needed to
estimate mode shapes
Ref#1
Ref#2
Ref#1
Ref#2
Ref#3
Ref#3
a1
a1*
=
+
( jn + jd ) ( jn + + jd )
a1 =h ( j)
a1
a1*
a2
a *2
=
+
+
+
( j1 + 1 jd ) ( j1 + 1 + jd ) ( jn + 2 jd 2 ) ( jn + 2 + jd 2 )
frequency resolution
parameter estimation
a pronounced effect on
circle
h ( j)=
=
U + jV
+ R + jI
r + j( r )
U2 +V2
; tan() = U V
response can be
used to extract
parameters
Amplitude
Time domain
Damping Decay
technique is
generally used on
multiple mode time
response data
Period
h(t)
1
md
e t
sin d t
Complex Exponential
One of the first mdof estimators was the complex exponential which uses
the Prony Algorithm to solve the set of equations. The Toeplitz
equations are used to form the characteristic polynomial followed by the
mode shape extraction using Vandemonde Equation formulation.
m
1
h ( t )=
e kt sin dk t
k =1 m k dk
ADVANTAGE
numerically fast and stable
handles many modes
IFT
DISADVANTAGE
time domain leakage is a concern
must overspecify modes to handle residuals
h (s)=
1
ms 2 + cs + k
polynomials
MDOF Polynomial
This method uses a Rational Fraction polynomial form of the FRF in order
to extract modal parameters. Both the numerator and denominator
polynomials are used in a least squares fit to extract the polynomial
coefficients.
h ij ( j) =
a ij2
a *ij2
( j p 2 ) ( j p*2 )
+
a ij3
a *ij3
( j p 3 ) ( j p*3 )
[L]
[h ( t )] = [V] e t
LR ij
u ik L kj
[h ij ( j)] =
+ * + UR ij + 2
k =1 ( j p k )
MODE 2
2
1
MODE 1
5
2
4
1
3
6