Modal analysis FAQ

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• Added by Ondrej Kalny, last edited by Ondrej Kalny on Aug 26, 2010 (view change)

This page contains frequently asked questions related to modal analysis.

On this page:

• General FAQ
o How should I setup a modal analysis for a structure with cables?
o What are reasons for and consequences of a warning message that loads are
applied to massless degrees of freedom in Ritz-vector modal analysis?
o After assigning shell joint offsets, why I am getting warning messages that
loads are applied to massless degrees of freedom in Ritz-vector modal
analysis?
o Why am I getting warning message about excessively large effective-damping
ratios for modal time history analysis based on Ritz vectors?

General FAQ
How should I setup a modal analysis for a structure with
cables?

Extended Question: I am doing a modal analysis of a model that has cable elements in it. The model is
intrinsically non-linear since it has tension-only cable elements. But the modal analysis is theoretically an
elastic analysis. If you force SAP to do such an analysis, what will happen? In another words, what is the
algorithm involved?

Answer: To obtain meaningful results for modal analysis of a structure with cables, the modal analysis
should be using stiffness at the end of nonlinear load case in which the dead loads (and possibly other
types of loads of interest) are applied. Then the modes will be based on the stiffness of the cables under
the applied loads. If you need to consider complete dynamic nonlinear behavior, you should consider
running nonlinear direct-integration time-history analysis.

What are reasons for and consequences of a warning message

that loads are applied to massless degrees of freedom in
Ritz-vector modal analysis?

Extended Question: When I run analysis, I get a warning message saying: Loads are applied to one or
more massless degrees of freedom, corresponding Ritz modes may be unavailable or inaccurate for
dynamics. When does this type of warning indicate? How can I modify my model to get rid of this
message? Does that have to do with boundary conditions? If nothing is done to avoid this warning, what
are the possible consequences?

Answer: This message means that you are applying load in that load case to a joint that has no [mass] ,
possibly at a joint that is restrained.
In a structure with frame or shell elements, each joint has up to 6 [degrees of freedom] (DOF):
translations UX, UY, and UZ; and rotations RX, RY, and RZ.

Masses which come from the elements (which, in turn, come from the material mass density) are always
assigned only to the translational DOF. You can additionally assign joint masses at any of the 6 DOF of a
joint.

Gravity load on a frame element creates a set of fixed-end forces at the joints which include moments as
well as shears. Hence gravity (self-weight) load in most structures will impose load (moments) on
massless DOF.

Ritz vectors used for dynamic loading work best if all applied loads act on degrees of freedom with mass.
Earthquake loads automatically act on mass DOF. If you are applying other types of loads or are using
nonlinear NLLink elements, which SAP2000 treats as external force generators, mass should be assigned
to the loaded DOF.

If you are generating Ritz vectors for the purpose of applying gravity and other static loads in a time-
history analysis, then it is not necessary to have mass on the loaded DOF, since the load is applied so
slowly that dynamical behavior is not important. So for this type of problems, this warning can be
ignored. Alternatively, you could specify a very small nonzero mass for the DOFs in question.

Also, please see the CSI Analysis Reference Manual, chapter "Modal Analysis", section "Starting Load
Vectors".

After assigning shell joint offsets, why I am getting warning

messages that loads are applied to massless degrees of
freedom in Ritz-vector modal analysis?

When [joint offsets] are used for the shell element, translational forces may cause moments at the joints.
However, the masses are still lumped at the joints, and do not include rotational inertia.

These messages are to be expected. Unless the offsets are very large, they are not very important. To
eliminate them, you can assign small rotational masses at the joints. A reasonable value would be equal to
the translational mass as the joint, multiplied by the square of the offset distance, divided by 100 or 1000.

Why am I getting warning message about excessively large

effective-damping ratios for modal time history analysis
based on Ritz vectors?

Extended Question: My model gives "Excessively Large Effective-Damping Ratios Have Been Set To
0.999950 ..." warning when I run time history using modes from Ritz Vector modal load case. When it
uses Eigenvectors with all other parameters being the same, there is no such a warning. Is there any
explanation for this warning message?

Answer: This could be caused by using [proportional damping], for which the damping increases with
large frequency, and Ritz vectors generate high-frequency modes that, hence, have large damping.
 Ritz vectors
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• Added by Ondrej Kalny, last edited by Ondrej Kalny on May 03, 2010 (view change)

Parallel Processing in Ritz Vector Analysis

Prior to beginning Ritz analysis, the stiffness matrix is factored, and that uses multiple cores. During Ritz
analysis, there are four main operations: (1) Solving for new vectors, (2) Cleaning new vectors with
respect to previous vectors, (3) Orthogonalizing the final Ritz vector set, and (4) Postprocessing and
saving the vectors. Only the first step uses multi-cores. This step dominates for problems where the model
is large and a fair number of vectors are requested. Steps (2) and (3) are not parallelized, and they
dominate as the number of vectors is increased. Step (4) is linear in time with the number of vectors.
When large number is Ritz vectors is being requested, steps (2) and (3) will dominate, and will increase
exponentially with more vectors.

However, the usual intention for using Ritz or eigen vectors is that they reduce the number of degrees of
freedom in the system, so that the essential behavior can be captured more efficiently. If you need much
more than about 20 to 25% of the DOF as Ritz vectors, you may want to consider direct-integration.

FAQ
Why is the cumulative modal mass participation ratio for a
given number of Ritz vectors affected by the total number
of Ritz vectors requested?

Extended Question: When 1000 Ritz modes are requested, the cumulative modal mass participating
ratios for Rx for 250 modes is almost 100%. However, when only 500 modes are requested, the
cumulative modal mass participating ratio for Rx reaches only about 70% for all 500 modes. Is there any
explanation for this?

Answer: Unlike Eigen vectors, Ritz vectors do not always produce the same modes. For example, if you
get 200 and 500 eigens, the first 200 of both will be the same. But if you get 200 and 500 Ritz vectors,
none may be the same, although the lower modes will tend to converge to be the same as you increase the
number of modes.
 Ritz vectors vs. Eigen vectors
• Added by Riaz, last edited by Ondrej Kalny on Dec 15, 2010 (view change)

SAP2000 has always offered both exact Eigen vectors and Load-dependent Ritz (LDR vectors). As stated
in the CSI Analysis Reference Manual that is included with SAP2000:

• Eigenvector analysis determines the undamped free-vibration modes shapes and frequencies of the
system. These natural modes provide an excellent insight into the behavior of the structure.
• Ritz-vector analysis seeks to find modes that are excited by a particular loading. Ritz vectors can
provide a better basis that do eigenvectors when used for response-spectrum or time-history
analyses that are based on modal superposition.

We always recommend performing an Eigen analysis of the structure, since it can help to check behavior
and find modeling problems. The natural frequency information can also be important for understanding
where resonance can be expected with different types of loads.

For determining the response to horizontal ground acceleration, eigen modes are generally quite efficient,
although it may be necessary to include a missing-mass (residual-mass) mode to account for high-
frequency effects that are missed by the Eigen modes. Most common structural analysis programs have
this capability, as does SAP2000.

For vertical ground acceleration, or localized loading such as by machine vibration, eigen modes may be
much less efficient, and determining whether or not you have enough modes can be difficult. Load-
dependent Ritz vectors are very effective for this purpose, and have the advantage of always including the
missing-mass modes automatically. Even for horizontal ground excitation, Ritz vectors are more efficient
and widely used.

Mass participation is a common measure for determining whether or not you have enough modes.
However, it is only useful for ground acceleration, and does not give information about localized
response. SAP2000 provides static and dynamic participation measures for other types of loading as well.
When determining convergence of localized response with respect to the number of modes, Ritz vectors
converge much faster and more uniformly than do Eigen vectors.

Load dependent Ritz vectors are well documented in the open literature (e.g., Wilson et al), in standard
finite-element textbooks (e.g., Cook et al), and in standard structural dynamics textbooks (e.g., Chopra).
Please let us know if you need detailed citations.

SAP2000 lets you, the engineer, determine the type of modes you feel are most appropriate. In fact, you
can calculate both types of modes simultaneously, in the same model, even in the same run, and
compare their behavior. SAP2000 offers much flexibility in the calculation of Eigen or Ritz modes,
including the consideration of P-delta and other nonlinear effects, modes at different stages of
construction, and frequency shifts for specialized loading.

When using Eigen vectors, you control the convergence tolerance. Orthogonality is strictly maintained to
within the accuracy of the machine (15 decimal digits). Sturm sequence checks are performed and
reported to avoid missing any Eigen vectors when using shifts. Internal accuracy checks are performed
and used to control the solution automatically. SAP2000 will detect and report ill-conditioned systems,
but will still produce eigen vectors that you can use to trace the source of the modeling problem. Ritz
vectors are not subject to convergence questions, but strict orthogonality of the vectors is maintained as it
is for eigen vectors.