Vibration of Machine Foundation

Vibrations
of
Machine Foundations
Richard P. Ray, Ph.D., P.E.
Civil and Environmental Engineering
University of South Carolina
USC
USC
ATST Telescope and FE Model
Fundamentals-Modeling-Properties-Performance
USC
USC
Summary and Conclusions (Cho, 2005)

1.
2.
3.
4.
5.
High fidelity FE models were created

Relative mirror motions from zenith to horizon pointing: about 400 m in
translation and 60 rad in rotation.
Natural frequency changes by 2 Hz as height changes by 10m.
Wind buffeting effects caused by dynamic portion (fluctuation) of wind
Modal responses sensitive to stiffness of bearings and drive disks
6. Soil characteristics were the dominant influences

in modal (dynamic) behavior of the telescopes.
7.
8.
9.
Fundamental Frequency (for a lowest soil stiffness):

OSS=20.5hz; OSS+base=9.9hz; SS+base+Coude+soil=6.3hz
A seismic analysis was made with a sample PSD
ATST structure assembly is adequately designed:
1.
Capable of supporting the OSS
2.
Dynamically stiff enough to hold the optics stable
3.
Not significantly vulnerable to wind loadings
USC
USC
Topics for Today
Fundamentals
Modeling
Properties
Performance
Alapok
Modellezs
Tulajdonsgok
Gyakorlati
Alkalmazs
USC
USC
Foundation Movement
Alapok Mozgslehetsgei
Z
Y
USC
USC
Design Questions (1/4) Tervezs

How Does It Fail?
Static Settlement
Dynamic Motion Too
Large (0.02 mm)
Settlements Caused By
Dynamic Motion
Liquefaction
What Are Maximum
Values of Failure?
(Acceleration,
Velocity,
Displacement)
Hogy rongldik/megy
tnkre?
Statikus sllyeds
Dinamikus mozgs tl
nagy (0,02 mm)
Sllyeds dinamikus
mozgs kvetkeztben
Megfolysods
Ronglds maximlis
rtkei (gyorsuls,
sebessg, eltolds)
Fundamentals-Modeling-Properties-Design-Performance
USC
USC
Velocity Requirements
Sebessg Kvetelmnyek
0,40
Massarch (2004) "Mitigation of Traffic-Induced Ground Vibrations"
USC
USC
300
800
USC
USC
Design Questions (2/4)

Tervezs
What Are Relations

Between Loads And
Failure Quantities?
Loads -Harmonic,
Periodic, Random
Load Structure
Foundation Soil
Neighboring Structures
Model: Deterministic or
Probabilistic
Mi a kapcsolat terhelsi
s trsi mennyisgek
kztt?
Terhelsek- Harmnikus,
Peridikus, Vletlenszer
Terhels plet
Alapozs Talaj Kzeli
pletek
Model: Determinisztikus s
probabilisztikus
USC
USC
Harmnikus
Peridikus
Vletlenszer
USC
USC
USC
USC

Tervezs
Hogy hatrozzuk meg a tervezshez szksges

paramtereket? (How do we measure what is
necessary?)
Teljes mretarny teszt (Full scale Test)

Prototpus teszt (Prototype Test)
Kis mret teszt (Small Scale Tests (Centrifuge))
Laboratriumi teszt (Laboratory Tests (Specific
Parameters))
Szmtgpes program (Computer Model)
USC
USC
USC
USC
Milyen biztonsgi tnyezt hasznljunk? (What

Factor of Safety Do We Use? )
Van a biztonsgi tnyeznek rtelme? (Does FOS Have

Meaning)
Mi trtnik trs utn (What Happens After There Is
Failure)
letveszts (Loss of Life)

Tulajdonvesztd (Loss of Property)
Gyrts kihagys (Loss of Production)
Mi a munka clja, tervezett lettartalma, rtke (Purpose of

Project, Design Life, Value)
USC
USC
r -2
r -2 r -0.5
+
Rayleigh wave
Vertical
Horizontal
component component
Nyr
hullm
Relative
amplitude
r -1
+
Shear
window
Nyr
ablak
r -1
Compresszi
hullm
Waves
Wave Type
Hullm tpus
sszes energia
szzalka
Rayleigh
67
Shear
26
Compression
USC
USC
Alapok Modellezse
(Modeling Foundations)
Egyestett Tmb (m,c,k)Lumped Parameter (m,c,k) Block
System
Ellenllsi Fggvnyek Impedance Functions
Function of Frequency (), Layers
Peremrtk Feladatok Boundary Elements (BEM)
Parameters Constant, Layers, Special
Infinite Boundary, Interactions, Layers
Vges Elemes (Finite Element/Hybrid (FEM, FEM-BEM))
Complex Geometry, Non-linear Soil

USC
USC
Lumped Parameter (Egyestett tmb)

P = Po sin( t )
m
c
m &z& + c z& + kz = P0 sin( t )
USC
USC
Egy szabadsgfok (Single Degree of

Freedom)
mz &z& + c z z& + k z z = 0
m
mz &z& = Inertia Force ( kg )
or ( N ) c
2
sec
Tehetetlensgi er
N sec m
c z z& = Damping Force
or ( N )
m sec
z
m
k
Csillapt Er
N
k z z = Spring Force (m) or ( N )
m
Rug er
USC
USC
Egy szabadsgfok
Single Degree of Freedom
megolds
mz &z& + c z z& + k z z = 0
lland
solution will take form z = e ....... = constant
where (ms 2 + cs + k ) e st = 0
ahol
k
st
2
divide by m e and set n =
m
oszts
c
2
2
then s + s + n = 0
m
teht
solution for s depends on c
s megoldsa c-tl fgg
st
c=0Undamped
Nem csillaptott
c=2mCritically
Damped
c<2mUnderdamped
Alul csillaptott
USC
USC
c
2
s + s + n = 0 undamped...s = in
m
i n t
i n t
z (t ) = 1e + 2 e
where 1 , 2 = f (init. cond .)
2
Euler ' s identity e int = cos(nt ) + i sin(nt )

z (t ) = A sin(nt ) + B cos( t ) A, B = f (initial condition)
z (0) = B and z& (0) = An
Kiindul felttel
z& (0)
sin(nt ) + z (0) cos(nt )
z (t ) =
z& (0)
n
z(0)
t
USC
USC
c
2
s + s + n = 0 if damping present
m
2
c
c
2
then s =

n
2m
2m
critical
c
if
= 0 then c = ccrit = 2mn and s =
= n
2m
n t
z (t ) = (1 + 2t )e
where 1 , 2 = f (init. cond .)
z& (0)
z(0)
z (t ) = [z (0)(1 + nt ) + z& (0)t ]e nt

t
USC
USC

if c < 2mn then
suppose D =
c
ccrit
then s = Dn
< 0 underdampe d
= damping ratio and D = n 1 D 2
(Dn ) n
2
= Dn i D
z (t ) = 1e Dnt +i Dt + 2 e Dnt i Dt = e Dnt 1ei Dt + 2 e i Dt

z (t ) = e
D n t
z (t ) = e
D n t
( A sin( D t ) + B cos( D t )
z& (0) + z (0) Dn
sin( D t ) + z (0) cos( D t )
See Chart
USC
USC

mz &z& + c z z& + k z z = P0 sin( P t )
z=e
+
( n Dt )
{A sin(Dt ) + B cos(Dt )}
P0
(k m ) + c
2 2
c P
tan =
2
k m P
k
n =
m
P = Po sin( P t )
sin ( P t ) c
P
2 D
=
2
1 P
n
D = n 1 D 2
D=
c
ccrit
ccrit = 2 km
USC
USC
SDOF tmenti s lland Transient and Steady-State
USC
USC
z (t ) =
P0
(k m ) + c
2 2
z max
P0
=
k
z max = z static
sin ( P t )
1

1 P
n
2
+ 2 D P
n

1

1 P
n
2
+ 2 D P
n

USC
USC
Dynamic Magnification (Logarithmic)

100
D=0.02
D=0.05
D=0.10
D=0.20
D=0.50
Magnification
10
0.1
0.1
1
Frequency Ratio (P/n)
10
USC
USC
Lumped Parameter System

Z
mz &z& + c z z& + k z z = P0 sin( P t )
Cz
Kz
Kx
X
Cx
C/2
C/2
USC
USC
Rendszer paramterek Lumped Parameter Values

Mode
Vertical
z
Horizontal
x
Rocking
Torsion
Stiffness
k
4Gr
1
8Gr
2
8Gr 3
3(1 )
16Gr 3
3
Mass Ratio
m
m(1 )
4 r 3
m( 2 )
8 r 3
3I (1 )
8 r 5
I
r 5
Damping
Ratio, D
0.425
m 1 / 2
0.288
m 1/ 2
0.15
(1 + m )m 1/ 2
0.50
1 + 2m
D=c/ccr G=Shear Modulus =Poisson's Ratio r=Radius

=Mass Density I,I=Mass Moment of Inertia
USC
USC
Design Example 1 (Plda)

VERTICAL COMPRESSOR
Unbalanced Forces (kiegyenslyozatlan erk)
Vertical
= 45 kN fggleges
Horizontal Primary = 0,5 kN vzszintes
Operating Speed
= 450 rpm zemel seb.
Wt Machine + Motor = 5 000 kg
Gp+motor slya
DESIGN CRITERION: Tervezsi felttel
Talaj jellemzk
Soil
Properties
Smooth Operation At Speed
Nyr hullm
Shear Wave Velocity Vs = 250 m/sec
Velocity <0,10 in/sec
Density,
= 1600 kg/m3
Displacement < 0,002 in <0,05mm
Shear Modulus,
G = 1,0e8 Pa
Poisson's Ratio,
= 0,33
Jump to Chart
USC
USC
4Gr
4 1,0 108 r
k=
=
(1 )
0,667
Q0
(1 )Q0 0,667(45 000)1000
=
= 0,05mm =
kz
4Gr
4 1,0 108 r
0.075
r=
= 1.5m
0.05
tmbalaptest
Try a 3 x 2,5 x 1 foundation block, r = 1,55 m
Z static =
Mass = 18 000 kg Total Mass = 18 000 + 5 000 = 23 000 kg

tmeg
m(1 )
m =
4 r 3
m =
(1 ) m 0,67 23 000
=
= 0,65
3
3
4r 4 1600(1,55)
0,425
1
= 0,53 M z 1,0
D=
m
2D
Z dynamic = Z static = 0,05mm
Jump to Figure
USC
USC
Design Example - Table Top
5m
Q0=1800 N
10m
4m
I=1,0 x 107 N-m-sec2

DESIGN CRITERION
5m
Emelt (asztal) alap

m=250 000 kg
Soil Properties
Shear Wave Velocity Vs = 200 m/sec
Shear Modulus,
G = 6,80x107 Pa
Density,
= 1700 kg/m3
Poisson's Ratio,
= 0,33
5.0 mm/sec Horizontal Motion at

Machine Centerline
X = 0,04 mm from combined
rocking and sliding
egyttes rocking, csszs
Speed = 320 rpm sebessg
Slower speeds, X can be larger
Kisebb sebessgnl, x
megnhet
USC
USC
Horizontal Translation Only

Equivanlent
D=
r=
lw
10 5
0,288
= 0,41 Mag x 1,2
1/ 2
m
csak vzszintes mozgs

2 m
= 0,49
3
8 r
Q 1800
2 0,33
3
= 0 =
=
1
,
3
10
mm
7
kx
8 6,8 10 3,99
= 3,99m m =
X static
Rocking About Point "O"
Ax = 40x10-3 mm
3
3
lw
10
5
= 320 rpm = 33,5 rad / sec
Equivalent r = 4
=4
= 3,39m
3
3
8Gr 3
8 6,80 107 3,393
k =
=
= 1,054 1010 N / rad
3(1 )
3(1 0,33)
n =
k
I
1,054 1010
= 32,4 rad / sec
=
1,0 10 7
3(1 ) I
3(0,67) 1,0 10 7
m =
=
= 3,29
5
5
r
8
8 1700(3,39)
0,15
0,15
D =
=
= 0,019 Mag = 25,0
(1 + m ) m (1 + 3,29) 3,29
USC
USC
Static Moment About Base = M 0 = 1800 5 = 9000 N m

Static Angular Deflection = s =
Mo
9000
7
=
=
8
.
54
10
rad
10
k 1.054 10
Horizontal Motion = X = s h = 8.54 10 7 4 = 3,4 10 3 mm

At Resonance = 25,0(3,4 10 3 ) = 85,0 10 3 mm
X = 40x10-3 mm
Dynamic Magnification (Linear)
30
0,02
Magnification
25
0,05
20
15
0,1
10
0,2
0,5
0
0,0
0,5
1,0
1,5
Frequency Ratio ( P / n)
2,0
USC
USC
Impedance Methods
Ellenllsi fggvnyek
Based on Elasto-Dynamic Solutions

Compute Frequency-Dependent Impedance
Frekvencitl fgg
Values (Complex-Valued) ellenllsi rtkek
Solved By Boundary
Integral
Methods
Peremrtk integrl mdszer
Require Uniform, Single Layer or Special Soil
Property Distribution Egyenletes, egy rteg, specilis
talajrtk eloszls szksges
Solved For Many Foundation Types
Tbbfajta alap tpusra megoldott
USC
USC
Impedance Functions
P = Poeit = Po (cos( t ) + i sin( t ) )
Sz
Rz
2K
= K + i C = (K STATIC k ( ) ) + i C +
Sz =
DSOIL
Az
Radiation Damping
Energia csillapts
Jump Wave
Soil Damping
Talaj csillapts
USC
USC
Impedance Functions
a0 = r
r
Vs
Luco and Westmann (1970)
USC
USC
Impedance Functions
USC
USC
Boundary Element
Peremrtk feladatok
Stehmeyer and Rizos, 2006

USC
USC
B-Spline Impulse Response Approach
USC
USC
[M ]{u&&}+ [K ]{u} = {p}e
i t
{u} = {U}eit then

2
{[K ] [M ]}{U} = {p}
USC
USC
u1
u7
G1,1,1
u2
u8
[K1 ] = fn(G1 , 1 , 1 )
[m1 ] = fn( 1 )
ui = ai x + bi y + cxy + d
k1,1
k
2,1
k
7 ,1
k8,1
k1, 2
k1, 7
k 2, 2
k 2, 7
k7 , 2
k7 , 7
k8 , 2
k8 , 7
= linear
k1,8 u1 = linear
k 2,8 u2

k7 ,8 u7

k8,8 u8
USC
USC
[M ]{u&&}+ [K ]{u} = {p}eit

m1
m2
m3
m4
u&&1 k1,1 k1, 2

u&& k
k
2 2,1 2, 2
u&&3 + k3,1 k3, 2

k 4, 2
u&&4
m5 u&&5
k1,3
k 2,3
k 2, 4
k3,3 k3, 4
k 4,3 k 4, 4
k5, 3
k5, 4
u1 p1

u2 p2
k3,5 u3 = p3 eit
k4,5 u4 p4

k5,5 u5 p5
if {z} = {Z}eit then {&z&} = 2 {Z}e it and
{[K ] [M ]}{Z} = {p} given , solve for {Z}

2
[K ], {Z} are complex valued
G* = G 1 2 D 2 + 2iD 1 D 2
)
USC
USC
Dynamic p-y Curves
Tahghighi and Tonagi 2007
USC
USC
Soil Properties
Shear Modulus, G and Damping Ratio, D
Talaj jellemzk
Soil Type
Talajtpus
Confining Stress
Void Ratio Hzagtnyez
Strain Level Nyls szint
Field: Cross-Hole, Down-Hole, Surface

Analysis of Seismic Waves SASW
Laboratory: Resonant Column, Torsional
Simple Shear, Bender Elements
USC
USC
Oscilloscope
Crosshole Testing
ASTM D 4428
Pump
t
Shear Wave Velocity:
Vs = x/t
Downhole
Hammer
(Source)
Test
Depth
packer
Note: Verticality of casing
must be established by
slope inclinometers to correct
distances x with depth.
Slope
Inclinometer
PVC-cased
Borehole
Velocity
Transducer
(Geophone
Receiver)
Slope
Inclinometer
PVC-cased
Borehole
USC
USC
Resonant Column Test
G, D for Different
USC
USC
Torsional Shear Test
Schematic
Stress-Strain
USC
USC
Hollow Cylinder RC-TOSS
USC
USC
TOSS Test Results
USC
USC
Steam Turbine-Generator
(Moreschi and Farzam, 2003)
USC
USC
Machine Foundation Design Criteria
Deflection criteria: maintain turbine-generator

alignment during machine operating conditions
El/kihajlsi kritrium: a turbina-genertor szintben maradjon mkdse alatt
Dynamic criteria: ensure that no resonance

condition is encountered during machine
operating conditions
Jump to Resonance
Dinamikus felttel: nincs rezonancia a gp mkdse alatt
Strength criteria: reinforced concrete design

Erssgi felttel: elfesztett beton tervezs
USC
USC
STG Pedestal Structure
USC
USC
Vibration Properties Evaluation

Identification of the foundation natural
frequencies for the dominant modes
Az alap sajt frekvenciinak meghatrozsa a dominns lengsekre/mdokra
Frequency exclusion zones for the natural
frequencies of the foundation system and
individual structural members (20%)
Kihagysi frekvencia znk a termszetes frekvencikra
Eigenvalue analysis: natural frequencies,
mode shapes, and mass participation
Eigenrtk elemzs:termszetes frekvencik,
factors
lengsmdnl alakok, tmeg egyttdolgozsa
USC
USC
Finite Element Model

Structure and Base
Z
Y
USC
USC
Low Frequency Modes

1st mode
6.5 Hz
95 % m.p.f.
2nd mode
7.2 Hz
76 % m.p.f
USC
USC
High Frequency Modes
28th mode
46.3 Hz
0.3% m.p.f
42nd mode
64.6 Hz
0.03% m.p.f
Excitation frequency: 50-60 Hz

USC
USC
Local Vibration Modes
Identification of natural
frequencies for individual
structural members
Quantification of changes
on vibration properties due
to foundation modifications
USC
USC
ATST Telescope and FE Model
USC
USC
Assumptions in FE analyses
Optics Lab mass/Instrument weight = 228 tons

Wind mean force = 75 N, RMS = 89 N
Ground base excitation PSD = 0.004 g2/hz
Concrete Pier
High Strength Concrete (E=3.11010 N/m2,

=0.15)
Soil Stiffness, k
Four different values using Arya & ONeils

formula based on the site test data (Shear
modulus:30~75ksi, Poissons ratio:0.35~0.45)
USC
USC
Frequency vs Soil Stiffness

Stiffness units = SI, frequency mode (hz)
Stiffness
Kx
Ky
Kz
Krx
Kry
Krz
MODE
1
2
3
4
5
6
min
1.19E+10
1.19E+10
1.48E+10
1.34E+12
1.34E+12
1.74E+12
1.83E+10
1.83E+10
2.45E+10
2.21E+12
2.21E+12
2.61E+12
2.48E+10
2.48E+10
3.41E+10
3.09E+12
3.09E+12
3.49E+12
max
3.12E+10
3.12E+10
4.38E+10
3.96E+12
3.96E+12
4.36E+12
6.3
6.4
9.4
9.4
10.4
11.2
7.0
7.1
9.7
10.3
11.9
13.0
7.4
7.5
9.9
11.1
12.6
13.6
7.5
7.7
10
11.8
13.3
13.7
m in+33.3% m in+66.6%
Soil property range: Shear modulus (30~75ksi), Poissons ratio (0.35~0.45)

Pier Footing: Diameter (23.3m)
min for shear modulus of 30 ksi; max for 75 ksi
USC
USC
Summary and Conclusions (Cho, 2005)

1.
2.
3.
4.
5.
6.
7.
8.
9.
High fidelity FE models were created

Relative mirror motions from zenith to horizon pointing: about 400 m in
translation and 60 rad in rotation.
Natural frequency changes by 2 hz as height changes by 10m.
Wind buffeting effects caused by dynamic portion (fluctuation) of wind
Modal responses sensitive to stiffness of bearings and drive disks
Soil characteristics were the dominant influences in modal

behavior of the telescopes.
Fundamental Frequency (for a lowest soil stiffness):
OSS=20.5hz; OSS+base=9.9hz; SS+base+Coude+soil=6.3hz
A seismic analysis was made with a sample PSD
ATST structure assembly is adequately designed:
1.
Capable of supporting the OSS
2.
Dynamically stiff enough to hold the optics stable
3.
Not significantly vulnerable to wind loadings
USC
USC
Free-Field Analytical Solutions

uz
ur
L0V
2 r
u z (r , ,0) = i 3 RV (a0 ) H 0
2
CR
M 0V
ur (r , ,0) = i
3
2 r
RV (a0 ) H1
CR
USC
USC
USC
USC
USC
USC
USC
USC
USC
USC
USC
USC
Trench
Isolation
Karlstrom and Bostrom 2007

USC
USC
Chehab and Nagger 2003

USC
USC
Celibi et al (in press)
USC
USC
Thank-you
Questions?
USC
USC
r -2
r -2 r -0.5
+
Rayleigh wave
Vertical
Horizontal
component component
Shear
wave
Relative
amplitude
r -1
+
Shear
window
r -1
+
r
Wave Type
Percentage of
Total Energy
Rayleigh
67
Shear
26
Compression
7
USC
USC
Waves
Compression, P
Primary
Shear,S
Secondary
Rayleigh, R
Surface
USC
USC
Machine Performance Chart

Performance Zones
A=No Faults, New
B=Minor Faults,
Good Condition
C = Faulty, Correct
In 10 Days To Save
$$
0.002
D = Failure Is Near,
Correct In 2 Days
E = Stop Now
450
USC
USC

Vibration of Machine Foundation

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Vibration of Machine Foundation

Uploaded by

Copyright:

Available Formats

Vibrations

ATST Telescope and FE Model

Summary and Conclusions (Cho, 2005)

High fidelity FE models were created

6. Soil characteristics were the dominant influences

Fundamental Frequency (for a lowest soil stiffness):

Topics for Today

Design Questions (1/4) Tervezs

Massarch (2004) "Mitigation of Traffic-Induced Ground Vibrations"

Design Questions (2/4)

What Are Relations

Design Questions (3/4)

Hogy hatrozzuk meg a tervezshez szksges

Teljes mretarny teszt (Full scale Test)

Design Questions (4/4)

Milyen biztonsgi tnyezt hasznljunk? (What

Van a biztonsgi tnyeznek rtelme? (Does FOS Have

letveszts (Loss of Life)

Mi a munka clja, tervezett lettartalma, rtke (Purpose of

Ellenllsi Fggvnyek Impedance Functions

Function of Frequency (), Layers

Peremrtk Feladatok Boundary Elements (BEM)

Parameters Constant, Layers, Special

Infinite Boundary, Interactions, Layers

Vges Elemes (Finite Element/Hybrid (FEM, FEM-BEM))

Complex Geometry, Non-linear Soil

Lumped Parameter (Egyestett tmb)

m &z& + c z& + kz = P0 sin( t )

Egy szabadsgfok (Single Degree of

solution will take form z = e ....... = constant

Single Degree of Freedom

Euler ' s identity e int = cos(nt ) + i sin(nt )

Single Degree of Freedom

z (t ) = [z (0)(1 + nt ) + z& (0)t ]e nt

Single Degree of Freedom

= damping ratio and D = n 1 D 2

z (t ) = 1e Dnt +i Dt + 2 e Dnt i Dt = e Dnt 1ei Dt + 2 e i Dt

sin( D t ) + z (0) cos( D t )

Single Degree of Freedom

SDOF tmenti s lland Transient and Steady-State

Dynamic Magnification (Logarithmic)

Lumped Parameter System

mz &z& + c z z& + k z z = P0 sin( P t )

Rendszer paramterek Lumped Parameter Values

D=c/ccr G=Shear Modulus =Poisson's Ratio r=Radius

Design Example 1 (Plda)

Mass = 18 000 kg Total Mass = 18 000 + 5 000 = 23 000 kg

Design Example - Table Top

I=1,0 x 107 N-m-sec2

Emelt (asztal) alap

5.0 mm/sec Horizontal Motion at

Horizontal Translation Only

csak vzszintes mozgs

Rocking About Point "O"

Static Moment About Base = M 0 = 1800 5 = 9000 N m

Horizontal Motion = X = s h = 8.54 10 7 4 = 3,4 10 3 mm

Dynamic Magnification (Linear)

Based on Elasto-Dynamic Solutions

Luco and Westmann (1970)

Stehmeyer and Rizos, 2006

B-Spline Impulse Response Approach

[M ]{u&&}+ [K ]{u} = {p}e

{u} = {U}eit then

[M ]{u&&}+ [K ]{u} = {p}eit