Vibration analysis of an axially-loaded Euler-Bernoulli beam with point masses. (Theoretical + FEA) by: Akash Duai (13NA 10002) Arunendra Singh (13NA10005) Ayush Nuwal (13NA 10008) Iphineni Haneesha (13NA30006) Jitesh Kumar Shivgan (13NA30008) Date of Submission - 13/11/15 Introduction Many structures are too complex for analysis via classical method, Closed-form solutions are thus unavailable for these structures. For example, a structure may be composed of several different materials. Some of the materials may be anisotropic. Furthermore, the structure may be an assembly of plates, beams, and other components. Consider three examples: 1, A circuit board has numerous chips, crystal oscillators, diodes, connectors, capacitors, jump wires, and other piece parts 2. A large aircraft consisting of a fuselage, wing sections, tail section, engines, ete 3. A building has plies, foundation, beams, floor sections, and load-bearing walls The finite element method is a numerical method that can be used to analyze complex structures, such as the three examples, The purpose of this tutorial is to derive for a method for analyzing beam vibration using the finite element method. The method is based on Reference | eon Consider a beam, such as the cantilever beam in Figure | EI, p ————— en] Z ; Figure 1 where E__ is the modulus of elasticity. I _ is the area moment of inertia.L_ isthe length, pis mass per length. The product El is the bending stiffness, The vibration modes of the cantilever beam can be found by classical methods Specifically, the fundamental frequency is 187510] [ED or L We a This problem presents a good opportunity to compare the accuracy of the finite element method to the classical solution. Let y(x,t) represent the displacement of the beam as a function of space and time. The free, transverse vibration of the beam is governed by the equation > Qe ve] = 9x) 9 @) a Equation (2) neglects rotary inertia and shear deformation, Note that it is also independent of the boundary conditions, which are applied as constraint equations, Assume that the solution of equation (1) is separable in time and space yOs.t) = YOoe(t) 6) 2 2 Yoxit() 2 (4a) Efe Z rene =-p(x) ae (4b) The partial derivatives change to ordinary derivatives. 2 2 2 £0) “fe 5 yea} =-v00 als) {2 (5) dx! dx! dt-(6) The left-hand side of equation (6) depends on x only. The right hand side depends on t only. Both x and t are independent variables. Thus equation (6) only has a solution if both 2 sides are constant. Let @” be the constant (7) Equation (7) yields two independent equations. d a 2y, 9 EI) 5 V(X) — p(X) @ Y(X) = 0 (8) dx? dx e > f(t) +o F(t) =0 (9) at? Equation (8) is a homogeneous, forth order, ordinary differential equation. The weighted residual method is applied to equation (8). This method is suitable for boundary value problems. An alternative method would be the energy method, The energy method is introduced in Appendix A. There are numerous techniques for applying the weighted residual method. Specifically, the Galerkin approach is used in this tutorial The differential equation (8) is multiplied by a test function §(x). Note that the test function (x) must satisfy the homogeneous essential boundary conditions. The essential boundary conditions are the prescribed values of Y and its first derivative. The test function is not required to satisfy the differential equation, however. The product of the test function and the differential equation is integrated over the domain. The integral is set equation to zero. 2 e100] p(x) @ Y(x) } dx =0 (10) dxThe test function (x) can be regarded as a virtual displacement, The differential equation in the brackets represents an internal force. This term is also regarded as the residual ‘Thus, the integral represents virtual work, which should vanish at the equilibrium condition Define the domain over the limits from a to b. These limits represent the boundary points of the entire beam. ve9]-oe?ve ae-0 aly » ry ls fi 66x) {p(x © ¥09 Jax =0 (12) Integrate the first integral by parts oh he ea, aly 2 | —} | — — — 4 — — Wa (wor glen eG) ha Cie} a2] | Vem) a? (x) p(x) 7 ¥(x) fdx = 0 (3) d a js [tu 00 b -[ ox) foo 7 Y(x) Jax =0 (ayb d e fos [ty v0] | la bid 4 ey -[ {24 tu v0 |a b 2 \ - [i400 {ooo 0? vex Jax =0 as) Integrate by parts again b d e bd [a ey js ip ne) } ll Faecal oe) |s a b 7 2 b +f | | S000 f e100 ve9| | ax—f"o0 [poo 02 veo Jax =0 a | [ax dx? a a6) 2 | P ox) 4) E10) S09] |) = [£00] El(x) dx dx J dx la b 2 2 b +f | [: : ws [st a ~¥60 ef 60x) foc o yoo fax =0 | Lax? ax a ) ‘The essential boundary conditions for a cantilever beam are Y¥(a)=0 (18) v4 — = 9 * ° (19) Ix=aThus, the test functions must satisfy (a= (20) a) ‘The natural boundary conditions are 2 d d ) eS yl 22 4 eo o (22) (23) Equation (23) requires 0 ° 0 (24) : x=b Apply equations (20), (21), and (24) to equation (17). The result is b | a a bof J. 3 | S000] | 2100S veo | ax [00 peo 0? Yoo jax =0 a | | dx dx? a (2s) Note that equation (25) would also be obtained for other simple boundary condition cases. Now consider that the beam consists of number of segments, or elements. ‘The elements are arranged geometrically in series form Furthermore, the endpoints of each element are called nodes.The following equation must be satisfied for each element. 2 J | v4) [am ve Jef 41x) {p1x) 02 Yoo fax =0 dx dx~ Ix (26) Furthermore, consider that the stiffness and mass properties are constant for a given element, ) } dx po? f (x) ¥(x) dx =0 J (7) Now express the displacement function Y(x) in terms of nodal displacements yj) and yj as well as the rotations 0-1 and 0 j Y(x)=Ly yj-1+L yj +LghOjy+Lbg hp, -Dh 248-4287 +2489 +12@3 -12843087-2423 86-1867 +1283 re? 4age3 — 246 4426? - 2403 166 - 24 +1223 0 (112) Kj = 36-72+48 12-30+24 -36+72-48 24-42+24 ] (=) 412412 -12430-24 — 8-18+12 ni) 36-72448 -24442-24 16-24+12 | (13) i264 - 6 El 4-6 2 eyed ' (3) 2 -6 4 (lay auag) -28) [se2-28 2-8-3228 -c4222-23] = len oS “W132 42¢ ~6420?-8 (1s) LLT= 282-8) 62-28 )-3 2128) 62-28 be+22 2-2} (2-8hi-3 24283) 2-8 e228 h-3 e2 4263 (3 2a2e8 (Le +222-2) [-e+22-2f (116) all al2 al3. al4 22 a23 a24 Lite) 2 aa 333 034 a44 (zy all = 964 —1285 + 4e6 (is) al2=364 525 4266 (19) al3 = 36? 263 —9¢4 + 1265 — 466 (120)al4 = —363 +864 — 765 4266 a34=-€+ 267 4265 -ge4 4. 765- add = 62-423 4684 — 4) Recall {uct } a Mj.t1 = ph f {964-1265 +428 Jae I 9 4 Mj. = ph [ 26 ] 5 7 lo 94.4 Mj. = ph [2-2 pu = eh [2-248] 2B Mju = ph (8) 156 Mj. = ph | jl = ph (=) (121) (122) (123) (124) (125) (126) (127) (128) (129) (130) (31) (132)Mj. 12 = ph i {ae se 28 hag 305 2 Mis = ph f { 3e2 -263 -964 +1265 426 hae nnn =o [e-G)-(Spa-F] nono) row = (5) 54 Mj.13 = on ( ) 24 (134) (135) (136) (137) (138) (139) (140) (141) (142) (143)Mj. 14 = ph 1 h { 303 +864 765 +266 ae Mj, 22 Mj, 22 Mj. 23 = a = ph 2 pl te e304 4525 266 Jae 2s (139) (140) (141) (142) (143) (44) (14s) (146) (147) (148)26 (149) (150) (si) (152) (153) (154) (155) (156) (157) (158)156 159) Mj, 33 = ph [—— ( 33 = A (3) Mj, 34 = ph ik bese? 263 set 4 765-226 Jae (160) wioe= GeO GFF. 0 (161) vo -0 [OEE (162) -22 3 Mj, 34 = ph (=) (163) 1 (ay . ; Mj. 44 = ph h 2-463 684 425 + 8 fae (164) 1 (165) sya (Pe BGP va -0[0-O00) o = 4 167) Mj, 44 = ph (4) (167) 2Recall 12 6 -12 6 i 4-6 2 4 fo 12-6 4 156 22 54 -13 4 13 3 wy (2 420, 156 -22 4 (168) (169) (170) a7)Modal Analysis of a Uniform Cantilever with a Tip Mass C.l_ Transverse Vibrations The following analytical modal analysis is given for the linear transverse vibrations of an undamped Euler-Bemoulli beam with clamped-free boundary conditions and a tip mass rigidly attached at the free end, The expressions for the undamped natural frequencies and ‘mode shapes are obtained and the normalization conditions of the eigenfunctions are given ‘The procedure for reducing the partial differential equation of motion to an infinite set of ordinary differential equations is summarized, which is applicable to proportionally damped systems as well C11 Boundary-Value Problem Using the Newtonian or the Hamiltonian approach, the governing equation of motion for tundamped free vibrations of a uniform Euler-Bernoulli beam can be obtained as [1] wir) | wort) We em cy where w(x, 1) is the transverse displacement of the neutral axis (at point x and time #) due to bending, ¥7 is the bending stiffness, and m is the mass per unit length of the beam.! ‘The clamped-free boundary conditions with a tip mass attachment (Figure C.1) ean be expressed as aw(x.0) w(0,1) rs 0 cr "Note thatthe discussion here i given for fee vibrations. Hence te clamped end doesnot move and wx is ‘Mento tog 2) 8 fra the olution of Capers and 3 is concerned Preece Bnry Harvesting, Fest Eon. — Alper Ek nd Dani). ema 29x=0 x Figure C.1. Cantlevered uniform beam witha ip mass attachment Pan u(t [ee ow 0 © wert), a w6r,0) a (ar ax we ae Where M; is the tip mass and /, is the mass moment of inertia of the tip mass about x = L.? ‘Therefore the geometric boundary conditions at.x = Oare given by Equations (C.2) while the natural boundary conditions at x = L are given by Equations (C.3). Equations (C.1)-(C.3) define the boundary-value problem for the transverse vibrations of a cantilevered uniform Euler-Bernoulli beam with a tip mass attachment, C12 Solution Using the Method of Separation of Variables ‘The method of separation of variables [3] can be used to solve Equation (C.1) by separati the spatial and temporal functions as W(X = POI (ca) which can be substituted into Equation (C.1) to give M1 a6) _ 1 ant) mé@ de Wd ay ‘The left hand side of Equation (C.5) depends on x alone while the right hand side depends ‘on f alone. Since x and r are independent variables, the standard argument in the method of separation of variables states that both sides of Equation (C.5) must be equal to the same constant y WL dip) 1 anit) moa) ae ni) ae a 2 Knowing the mass moment of inertia of the ip mas attachment about its centroid, one can use the parallel axis ‘Aeorem (2) toobain ts mass moment of inertia about the end point ofthe elastic Beam where the boundary condition isexpresed 30yielding apex) om Gee 77 OO =O ca Pat) qe tee) (C8) It follows from Equation (C.8) that y is a positive constant so that the response is oscillatory (not growing or decaying) since one is after the vibratory response with small oscillations. ‘Therefore this positive constant can be expressed as the square of another constant: ‘The solution forms of Equations (C.7) and (C.8) are then sym acos(2x)+ac00(s) +esn(2s)+ sin) 9 nt) = Ecoset + F snot C10) where A, B, C, D, E, and F are unknown constants and 4 Me ron) Equation (C4) can be employed in Bquations (C.2) and (C3) 0 obtain Hos =o, 19 cy a | dg(xy POX) 2, = ot LOD PO) 6 amy 3 tte [SB sermon) cy ‘The spatial form of the boundary conditions, Equations (C.12) and (C.13), should then be used to find the values of 3 which give non-trivial (x). This process is called the differential eigenvalue problem and itis covered next. C13 Differential Eigenvalue Problem Using Equation (C.9) in Equations (C.12) gives A+B=0 (cla) C+D=0 (C5)Equation (C.9) then becomes som fem (2s) -ean(2s)]+efan(Ss)van(Ss)] cr Moni cdion sven Spaton vnn|tel=Ee sinh A), 4 re 17) ‘The coetficient matrix in Equation (C.17) has (0 be singular in order to obtain non-trivial values of A and C (hence non-trivial (x). Setting the determinant of the above coefficient matrix gives the characteristic equation of the differential eigenvalue problem as Bh Bh, cos i+ cosh2.—"% (sin d+-sinhay — sina+sinna+-* (cos a cos i+ cosh 2 (sin A sinh 2) + sinh + ( na—sinn r+ Me (eos2—cosh2) —eosk— cosh aM sina mL. mL (cosh A sin d + sinh d.cos 2) M, Bh 1+ coscosha +A 1s .sinh & — sin A.cosh A) — eos dosha +227 (cos sin mn cosh) = Fs ll exaheatn 20 32