Modal Analysis Applications Spring2002 MACL PDF

Modal Analysis and Controls Laboratory
Mechanical Engineering Department
Modal Analysis
Applications
University of
Massachusetts
Lowell
Presentation Topics
Spring 2002
Structural Dynamic
Modeling Tools
MACL Research Overview
Correlation Applications
System Modeling Research
System Modeling Applications
Force Estimation Applications
Reverse Modeling
Technique - DO IT
DO IT Equations
Recent Work
MACL Lab Resources
EMC
Chile
NRO
Dryer
Dr. Peter Avitabile
New Research Concepts

Dr. Peter Avitabile
peter_avitabile@uml.edu
Sunday, February 23, 2003
Structural Dynamic Modeling Techniques
Could you explain
and how is it
used for solving
dynamic problems?
modal analysis
Illustration by Mike Avitabile
Overview of Structural Dynamic Modeling Techniques
Dr. Peter Avitabile

Modal Analysis & Controls Laboratory
Modal Analysis and Structural Dynamics

DISK DRIVE
INDUCED VIBRATIONS
RESPONSE
OUTPUT TIME RESPONSE
INPUT TIME FORCE
FFT
INPUT FORCE
BOARD
RESPONSE
CABINET
INPUT POWER SPECTRUM
IFT
INPUT
FORCE
FAN INDUCED
VIBRATIONS
Modal Analysis is the study of the dynamic character of a

system which is defined independently from the loads applied
to the system and the response of the system.
Structural dynamics is the study of how structures respond
when subjected to applied loads. Many times, in one form or
another, the modal characteristics of the structure is used to
determine the response of the system.
Dr. Peter Avitabile

How Do Structures Respond Dynamically ?

The raw time response of a structure may seem
complicated but it is really nothing more than the
linear combination of the effects of all the modes
that are excited by the specific input
high speed video

showing drop load
response due to a vertical bump

superimposed on a random excitation
Dr. Peter Avitabile

Response of a Simple Plate

Simple time-frequency response relationship
RESPONSE
increasing rate of oscillation

FORCE
time
frequency
Dr. Peter Avitabile

Measure many points on the

plate simultaneously to view
the actual response
Different deformation
patterns can be seen as the
excitation sweeps from low
frequency to high frequency
Dr. Peter Avitabile


Sine Dwell to Obtain Mode Shape Characteristics
MODE3
MODE 1
MODE 2
MODE 4
Dr. Peter Avitabile

Analytical Modal Analysis

Equation of motion
[M n ]{&x& n } + [C n ]{x& n } + [K n ]{x n } = {Fn ( t )}
Eigensolution
[[K n ] [M n ]]{x n } = {0}
Dr. Peter Avitabile

Finite Element Models
Advantages
Disadvantages
Models used for design
Modeling assumptions
Joint design difficult to model
Component interactions are
development
No prototypes are
necessary
difficult to predict
Damping generally ignored
Dr. Peter Avitabile

Finite Element Models

Analytical models are developed
to describe the system mass and
stiffness characteristics of a
component or system
The model is decomposed to
express the part in terms of its
modal characteristics - its
frequency, damping and shapes
The dynamic characteristics help
to better understand how the
structure will behave and how to
adjust or improve the component
or system design
Dr. Peter Avitabile

Experimental Modal Analysis

[Y]
MEASURED RESPONSE
[F]
APPLIED FORCE
fref1
fref2
[H]
FREQUENCY RESPONSE FUNCTIONS
Advantages
Disadvantages
Modal characteristics
Requires hardware
Actual boundary conditions
are defined from actual

measurements
Damping can be
evaluated
may be difficult to simulate

Different hardware
prototypes may vary
10
Dr. Peter Avitabile

Experimental Modal Analysis

Measured frequency response
functions from a modal test can
also be used to describe the
structures dynamic properties its frequency, damping and shapes
40
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 33
h 32
11
Dr. Peter Avitabile

Experimental Data Reduction

Measured frequency response
functions from a modal test or
operating data can be used to
develop a model of the dynamic
characteristics of the system
12
Dr. Peter Avitabile

What Are Measurements Called FRFs ?

A simple inputoutput problem
8
5
2
8
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
13
Dr. Peter Avitabile

Digital Signal Processing Flow Diagram

ANALOG SIGNALS
OUTPUT
INPUT
ANTIALIASING FILTERS
Actual time signals

Analog anti-alias filter
AUTORANGE ANALYZER
ADC DIGITIZES SIGNALS
OUTPUT
INPUT
APPLY WINDOWS
INPUT
OUTPUT
COMPUTE FFT
LINEAR SPECTRA
LINEAR
OUTPUT
SPECTRUM
LINEAR
INPUT
SPECTRUM
Digitized time signals

Windowed time signals
Compute FFT of signal
AVERAGING OF SAMPLES
COMPUTATION OF AVERAGED
INPUT/OUTPUT/CROSS POWER SPECTRA
INPUT
POWER
SPECTRUM
OUTPUT
POWER
SPECTRUM
CROSS
POWER
SPECTRUM
COMPUTATION OF FRF AND COHERENCE
FREQUENCY RESPONSE FUNCTION
Average auto/cross spectra

Compute FRF and Coherence
COHERENCE FUNCTION
14
Dr. Peter Avitabile

Experimental Mode Shapes From FRFs

MODE 2
2
1
MODE 1
5
2
4
1
3
6
15
Dr. Peter Avitabile

Experimental Mode Shapes From FRFs
a ij1
a ij2
a ij3
HOW MANY POINTS ???
RESIDUAL
EFFECTS
RESIDUAL
EFFECTS
The task for the modal

test engineer is to
determine the parameters
that make up the pieces
of the frequency response
function
Mathematical routines
help to determine the
basic parameters that
make up the FRF
HOW MANY MODES ???
16
Dr. Peter Avitabile

Flow Diagram for Response

Why and How Do Structures Vibrate?
INPUT TIME FORCE
f(t)
y(t)
FFT
IFT
INPUT SPECTRUM
f(j )
OUTPUT SPECTRUM
h(j )
17
y(j )
Dr. Peter Avitabile

What is Operating Data ?

If an excitation is applied close to a mode, then
that mode is excited - if not, then the response
is the linear combination of all the modes excited
18
Dr. Peter Avitabile


The modes of the structure act like filters
which amplify and attenuate input excitations
on a frequency basis
OUTPUT SPECTRUM
y(j )
f(j )
INPUT SPECTRUM
19
Dr. Peter Avitabile


The raw time response of the structure may seem
complicated but it is really nothing more than the
linear combination of the effects of all the modes
that are excited by the specific input
response due to a vertical bump

superimposed on a random excitation
20
Dr. Peter Avitabile

What Good is Modal Analysis ?
EXPERIMENTAL
MODAL
TESTING
FINITE
ELEMENT
MODELING
MODAL
PARAMETER
ESTIMATION
PERFORM
EIGEN
SOLUTION
RIB
STIFFNER
MASS
DEVELOP
MODAL
MODEL
Repeat
until
desired
characteristics
are
obtained
SPRING
STRUCTURAL
CHANGES
REQUIRED
Yes
No
DONE
DASHPOT
USE SDM
TO EVALUATE
STRUCTURAL
CHANGES
STRUCTURAL
DYNAMIC
MODIFICATIONS
21
The dynamic
model can be
used for studies
to determine the
effect of
structural
changes of the
mass, damping
and stiffness
Dr. Peter Avitabile

What Good is Modal Analysis ?

Simulation, Prediction, Correlation, to name a few
FREQUENCY
RESPONSE
MEASUREMENTS
FINITE
ELEMENT
MODEL
CORRECTIONS
PARAMETER
ESTIMATION
EIGENVALUE
SOLVER
MODAL
PARAMETERS
MODEL
VALIDATION
MODAL
PARAMETERS
SYNTHESIS
OF A
DYNAMIC MODAL MODEL
MASS, DAMPING,
STIFFNESS CHANGES
FORCED
RESPONSE
SIMULATION
STRUCTURAL
DYNAMICS
MODIFICATION
MODIFIED
MODAL
DATA
REAL WORLD
FORCES
STRUCTURAL
RESPONSE
22
Dr. Peter Avitabile

Correlation and Updating Models

RVAC
Analytical and
experimental models
are correlated and
adjusted to
provide
better
component
and system
models
FINITE ELEMENT MODEL
FINITE ELEMENT
CoMAC
VECTOR CORRELATION
) [U n ] , [ ]
+
g
[Tu ] = [Un ] [Ua ]
[M] , [K]
VECTOR CORRELATION
FINITE ELEMENT
MODE
SWITCHING
0.8
0.6
0.6
0.4
0.3
0.2
0.2
FINITE ELEMENT
EXPERIMENTAL
EXPERIMENTAL MODAL MODEL

[En ] = [T u ] [E a ]
0.5
0.4
CORTHOG
Experimental Analytical
DOF CORRELATION
1.2
0.7
DOF CORRELATION
0.9
0.8
EXPERIMENTAL
DOF CORRELATION
MAC AND
ORTHOGONALITY
FRAC
MAC
0.1
GUYAN
MAC
FEM 5
FEM 4
0.6
POC
VECTOR CORRELATION
FEM 3
0.2
1
0.8
0.4
1.2
1.2
OR
FEM 2
0
EXP1 EXP 2
FEM 1
EXP 3 EXP 4
EXP 5
0.8
0.8
0.6
0.6
0.4
0.4
0.2
0.2
IRS
EXPERIMENTAL
SEREP
23
Dr. Peter Avitabile


FINITE ELEMENT
CoMAC
MAC
MODE
SWITCHING
MODAL
ASSURANCE
CRITERIA
MATRIX
OR
COORDINATE
MODAL
ASSURANCE
CRITERIA
CORTHOG
COORDINATE
ORTHOGONALITY
CRITERIA
OR
1
FEM 5
0.8
FEM 4
0.6
0.4
VECTOR CORRELATION
FEM 3
0.2
Experimental
FEM 2
Analytical
PSEUDO
ORTHOGONALITY
CRITERIA
MATRIX
EXP1
FEM 1
EXP 2
EXP 3
EXP 4
EXP 5
DOF CORRELATION
POC
EXPERIMENTAL
FINITE ELEMENT
EXPERIMENTAL
Vector tools
RVAC
RESPONSE
VECTOR
ASSURANCE
CRITERIA
FRAC
FREQUENCY
RESPONSE
ASSURANCE
CRITERIA
Degree of freedom tools
FINITE ELEMENT
EXPERIMENTAL
DOF CORRELATION
Frequency tools
VECTOR CORRELATION
24
Dr. Peter Avitabile


ANALYTICAL MODEL
MODEL
IMPROVEMENT
REGIONS
MODEL
IMPROVEMENT
REGIONS
Models can be adjusted to better reflect actual measured

system characteristics
Joint stiffness can be more accurately identified
Simplistic modeling assumptions can be modified to reflect
the actual system
25
Dr. Peter Avitabile

System Models
System models are developed
from component models which
can be obtained from physical
models, reduced models, modal
models or measurement models
All of these methods may be
used to develop a system model
26
Dr. Peter Avitabile

System Models
Modal Models
Reduced Models
FULL SPACE PHYSICAL MODEL
MODAL SPACE MODEL
CONNECTION
MODAL TIE MATRIX
MODAL SPACE MODEL

Modal/Physical Models
Impedance Models

TIE MATRIX
CONNECTION
MODAL SPACE MODEL
27
Dr. Peter Avitabile

Hybrid/Impedance Modeling
In addition to more conventional
system modeling approaches,
measured frequency response
functions can also be used to
assemble systems and provide more
realistic boundary conditions
MACHINE
CHUCK
CONNECTION IMPEDANCE
MEASURED AT MACHINE
CONNECTION IMPEDANCE
SYNTHESIZED FROM
FEM OF WORKPIECE
HYBRID MODELING
calc3_xyz
REFERENCE IMPEDANCE
SYNTHESIZED FROM
FEM OF WORKPIECE
UNIV:1974:+Z
10
10
120
-10
-10
HYBRID
-20
dB
-30
-20
-30
-40
100
-40
FEM
-50
(s2)/(kg)
-60
-50
-60
dB
-70
-70
5
100
200
255.75
Hz
Dof 15286 REFERENCE

Dof 15286 CALCULATED
(m/s2)/N
0
0
1000
2000
2550
Hz
28
Dr. Peter Avitabile

Dynamic Force Estimation

Using both measured operating data and frequency response
function, estimates of the dynamic forces driving the system can
be estimated
OPERATIONAL
DISPLACEMENTS
[Y]
Estimated force vs reference @dof7 part4

10-1
Reference
-2
10
Estimated
-3
10
-4
10
Lbf^2
-5
10
-6
10
Estimated force vs reference @dof17 part4

10 -1
Reference
-7
10
10
10
10
-2
50
100
150
Hz
200
250
Estimated
300
-3
-4
Lbf^2
10
10
[H]
10
-5
-6
-7
50
100
150
Hz
200
250
300
[F]
FREQUENCY RESPONSE
FUNCTIONS
29
Dr. Peter Avitabile

System Response
System response can be computed
for both linear and non-linear
systems by various methods.
INPUT TIME FORCE
OUTPUT TIME RESPONSE
f(t)
y(t)
FFT
IFT
INPUT SPECTRUM
FREQUENCY RESPONSE FUNCTION
OUTPUT SPECTRUM
f(j )
h(j )
y(j )
30
Dr. Peter Avitabile

System Disassembly and Cascaded Targets

With a specified performance level, modification or
adjustment of the system matrices is required
CAB IMPEDANCES
COMBINED
STRUCTURE
RESPONSE
AMI
FRAME IMPEDANCES
SSO/MSSO
These modified systems are then used

for system disassembly to determine
component required characteristics
31
PHANTOM
Dr. Peter Avitabile

System Disassembly and Cascaded Targets

Components may or may not
have elemental topology
The problem
is difficult
32
Dr. Peter Avitabile

Recent Work - Telescopes

45m in Nobeyama, Japan & both Gemini 8m in Chile/Hawaii
33
Dr. Peter Avitabile

Recent Work - Computers and Peripherals

Operating and modal
data collected for
massive storage
devices - 40 terabyte
Robust design options
34
Dr. Peter Avitabile

Future Work & Job Opportunities

As equipment is designed to be lighter, quieter, more efficient,
easier to manufacture, etc., there will always be structural
dynamic issues to address.
This is true in all industries and sectors - aerospace, automotive,
commercial products, sporting goods equipment are just a short
list of applications where structural dynamics plays a critical
role in the design and analysis of equipment
35
Dr. Peter Avitabile

Could you explain
and how is it
used for solving
dynamic problems?
modal analysis
36
Dr. Peter Avitabile


Modal Analysis Applications Spring2002 MACL PDF

Uploaded by

Document Information

Original Title

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

Modal Analysis Applications Spring2002 MACL PDF

Uploaded by

Copyright:

Available Formats

Modal Analysis and Controls Laboratory

Mechanical Engineering Department

Dr. Peter Avitabile

New Research Concepts

Sunday, February 23, 2003

Structural Dynamic Modeling Techniques

Could you explain

Illustration by Mike Avitabile

Overview of Structural Dynamic Modeling Techniques

Illustration by Mike Avitabile

Illustration by Mike Avitabile

Dr. Peter Avitabile

Modal Analysis and Structural Dynamics

INPUT TIME FORCE

INPUT POWER SPECTRUM

Modal Analysis is the study of the dynamic character of a

Dr. Peter Avitabile

How Do Structures Respond Dynamically ?

high speed video

response due to a vertical bump

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Response of a Simple Plate

increasing rate of oscillation

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Response of a Simple Plate

Measure many points on the

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Response of a Simple Plate

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Analytical Modal Analysis

[M n ]{&x& n } + [C n ]{x& n } + [K n ]{x n } = {Fn ( t )}

Overview of Structural Dynamic Modeling Techniques

[[K n ] [M n ]]{x n } = {0}

Dr. Peter Avitabile

Finite Element Models

Models used for design

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Finite Element Models

Dr. Peter Avitabile

Experimental Modal Analysis

are defined from actual

may be difficult to simulate

Dr. Peter Avitabile

Experimental Modal Analysis

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Experimental Data Reduction

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

What Are Measurements Called FRFs ?

Overview of Structural Dynamic Modeling Techniques

Dr. Peter Avitabile

Digital Signal Processing Flow Diagram

Actual time signals

Digitized time signals

COMPUTATION OF FRF AND COHERENCE

FREQUENCY RESPONSE FUNCTION

Average auto/cross spectra