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Importance of Understanding Resonance
Resonance
• Structure vibrates excessively under periodic loading
• Most typically associated with structure’s natural frequency
• Several examples of importance of resonance
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Structural Resonance
Tacoma Narrows Bridge – famous resonance example
• Wind flow transverse to the bridge
• Torsional oscillations leading to structural failure
• Failure believed related to flutter in aircraft not vortex shedding
http://www.engineering.wright.edu/~jslater/SDTCOutreachWebsite/aeroelasticity.htm 9-3
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Resonance – Tacoma Narrows Bridge
Discussion from Wikipedia
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Aircraft Flutter
Interaction between air flow and aircraft structure
• Leads to vibration of structure
• Can be catastrophic if increases with time
• Study using wind tunnels / advanced analysis methods
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Vortex Shedding
Cylinder in cross–flow
• Periodic shedding of vortices (von Karman)
• Leads to periodic loading of cylinder
• Important for tall, cylindrical objects such as smoke stacks / towers
– Avoid using helical strakes to disturb generation of vortices
http://www.idom.es/ada/References/ref-rain-radar/ref-rain-radar.htm#Von%20Karman%20Vortex%20Shedding
http://www.engineering.wright.edu/~jslater/SDTCOutreachWebsite/aeroelasticity.htm 9-6
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Engine Valvetrain Resonance
Design of engine valvetrain
• Engine valves – springs push valves close, push rods open valves
• First inclination – stiffer springs mean better response
• Actual result – stiffer springs are heavier, worse response
• Note result at below right – harmonic analysis
– Vary frequency and determine resulting displacement
http://www.stockcarracing.com/techarticles/general/scrp_0608_valvetrain_myths/
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Spring-Mass-Damper System
Consider a 1D spring-mass-damper system
• Spring stiffness k
• Damping coefficient c
• Mass m
• Displacement u(t)
• Force r(t)
F 0
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FEA For Structural Dynamics
For 1D spring-mass-damper
system we found
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Mass Matrix
Fundament FEA equation of structural dynamics
Mass matrix M
• Consider D D 0 M D R
• Recall direct method for determining K matrix (K D = R)
– Set jth term in D equal to 1, all others to 0
– Forces R that resulted are jth column of K
• Same approach for
finding M
– Set jth term in D equal to 1, all others to 0
– Forces R that resulted are jth column of M
• How much force is required to achieve 1 unit acceleration at a node?
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Mass Matrix – 1D Beam Example
Consider a 1D beam element
• Length L, Area A, Density
• Leads to total mass AL
Consider mass matrix terms
• 4 acceleration terms (D )
• 4 force terms (R)
• M is a 4 4 matrix (same size as K)
m11 m12 m13 m14 v1 F1
m m22 m23 m24 1 M 1
R 21
MD
m31 m32 m33
m34 v2 F2
m41 m42 m43 m44 2 M 2
As with stiffnesss matrix, can find mass matrix two ways
• Direct method and analytical method
• Several assumptions can be used to simplify mass matrix as desired
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1D Beam Example – Lumped Mass
Lumped mass matrix
• Distribute all mass terms to the nodes
• Simplest approximation for 1D beam element
One approach – ignore rotational inertia effects
• Beam modeled by a point mass at each end
MD
MD
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Consistent Mass Matrix
Lumped mass matrices have certain benefits
• Beneficial for some transient analyses because no off-axis terms
• Represents an approximation of the acceleration behavior
Proper form is the consistent mass matrix
• Acceleration considered based on response of every point in body
• This is accomplished by the acceleration field at all points in body
– Based on the shape functions (N) and nodal accelerations ( D)
• Leads to an analytical equation for calculating mass matrix
– Similar to equation for K, result is a fully populated mass matrix
Remember to
make sure that
156 22 L 54 13L v1
density, force
A L
22 L
4 L2
13L 3L2 1 and distance
MD units all agree!
420 54 13L 156 22 L v2
13L 3L
2
22 L 4 L2 2
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Free Vibration – 1D Spring–Mass Example
1D spring-mass-damper example
• Set c = 0 (no damping) and no force
• Equation of motion becomes
k u m u 0 (referred to as free vibration)
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Free Vibration – General FEA Equations
Recall general FEA equation of motion
KD C D M D R
Set C = 0 (undamped) and R = 0 (unforced)
KD M D 0
As with 1D case, this has a simple solution
Dt D sin t K D sin t M 2 D sin t 0
K
M D sin t 0
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Eigenvalue, Eigenvector – Mathematics
A bit of background on eigenvalue / eigenvector problems
• Information only – not needed for final exam!
Consider a matrix A that multiplies a vector x
• This leads to another vector b (i.e. A x = b)
Are there any cases when b is a multiple of x (b = x)?
• Substitute and rearrange the equation to find
• Solutions: 1) x = 0 (trivial) 2) 0 (eigenvalue), x 0 (eigenvector)
A x x A I x 0
How does this relate to our case? Premultiply by M-1 or K-1
• Clearly M–1 K is A, 2 is (eigenvalue) and D is x (eigenvector)
K
M D 0 M 1 K 2 I D 0
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How do we find eigenvalues, eigenvectors (either form is fine)
• Eigenvalue when (…) term is singular det (…) = 0
• Once eigenvalue known, eigenvector makes equation become 0
• Kreyszig handout (book used in ME 565, ME 566 – Adv Engr Math) 9-16
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Free Vibration and FEA – Several Points
Eigenvalue Problem: K 2
M D 0
The magnitude of D is irrelevant
• Any multiple of D is also an eigenvector (i.e. solves problem)
• Scale is often set using (benefits for other analyses)
Do not need to prevent rigid body motion cases in ANSYS
• First several modes will represent rigid body motion modes if they exist
• Associated frequencies will be (approximately) 0
• Note that you must include any actual supports to get correct results!
Often interested in lowest non-zero frequency
• Called the fundamental natural frequency of the system
• Typically design system to operate at frequencies below this value
Note that natural frequency can be expressed two ways
• As , with units of radians/second
• As circular frequency f, with units of Hertz ( = 2 f)
• ANSYS returns frequencies as f in Hertz (Hz) 9-17
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Beam Resonance Example
Solve for natural frequencies of simple beam problem
• 6 DOFs total, restrain 4 or 5 of them
• Determine natural frequencies and associated mode shapes
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Natural Frequency, Damping
Consider structure operating under cyclic load (L)
• FEA finds fundamental natural frequency 1
• When is static analysis acceptable?
• When do you need to perform a dynamic analysis?
Good approximation: assume static if L < 1 / 3
• Results are generally within 10% of dynamic analysis
– Perform a harmonic analysis to include dynamic effects (next topic)
• As you approach 1, forces of inertia become important
• Structure operated near natural frequency can have very short life
– Large displacements, large stresses can lead to rapid failure
Effect of damping
• Most structures have relatively little damping
• Assume undamped free vibration in most cases
– If included, will find 1-Damped < 1-Undamped (but only slightly different)
• ANSYS can perform calculations using damping
– Based on complex analysis methods [i.e. v = p + i q, i = (-1)½]
– Only do this if you are sure you know what you are doing! 9-19
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Force, Distance, Mass Units
As discussed previously, make sure units are consistent
• See NASA handout from earlier in semester
• Before performing dynamic analysis, always check your units!
• Two common metric unit approaches below
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Structural Symmetry
Many structures under consideration have symmetry
• Stress analysis – use symmetry to simplify problem
Vibration modes are not necessarily symmetric
• Example – vibrating string that is simply supported
• Structure and loading (none) are symmetric about midplane
• 1st vibration mode is symmetric but 2nd vibration mode is not
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Example Problem – ¼ Symmetric Model
Boundary conditions for ¼ symmetric model
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Example Problem – ¼ Symmetric Model
1st non-zero frequency (33.51 Hz) for ¼ symmetric model
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Example Problem – ¼ Symmetric Model
2nd non-zero frequency (167.72 Hz) for ¼ symmetric model
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Example Problem – Full Model
Boundary conditions for full model
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Example Problem – Full Model
1st non-zero frequency (33.51 Hz) for full model
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Example Problem – Full Model
2nd non-zero frequency (83.83 Hz) for full model
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Example Problem – Full Model
5th non-zero frequency (167.72 Hz) for full model
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Nodal Reduction
Eigenvalue problems can be computationally intensive
• Large models – may need way to improve solution speed
Recall earlier discussion about static condensation
• Used for Q6 element to reduce internal DOFs
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Harmonic Response Analysis
Undamped free vibration – previous slides
• No damping
• No forces applied – R(t) = 0
Eigenvalue Problem : K 2
M D sin t 0
• Resulting solution: N modes at i with Di(t) = D i sin t
Harmonic analysis
• No damping
• Force applied is harmonic – R(t) = R sin t
– Every nodal load is in phase
– Frequency can be any value
• Substitute into governing FEA equation
R
K DM D
K 2
M D sin t R sin t
K* D R ; K* K 2 M
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Harmonic Response Analysis
Harmonic Analysis : K M D sin t R sin t
2
K D R ; K K M
* * 2
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Harmonic Response Analysis
Harmonic response analysis
• Usually performed at a series of frequencies
• Plot results at a given frequency (similar to static analysis plots)
• Can also plot various DOFs / nodal loads versus frequency
• Frame analysis problem from textbook
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Transient Analysis – General Dynamic Loading
Cases considered so far
• Modal analysis – undamped, unloaded
• Harmonic analysis – undamped, sinusoidally loaded
– Does not include transient portion of solution
Transient analysis (not on final exam)
M D
K DC D R
• Loaded by general function R(t)
• Can be damped or undamped
• Generally two approaches to solution
Modal superposition
• Solve for first M non-zero free vibration modes (M – your decision)
• Combine appropriately to predict solution
Direct integration – full transient analysis (ME 612)
• Treat FEA equation as an initial value problem (diff. eq.)
• Solve at a series of points in time to predict response
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FEA Transient Dynamic Analysis
Example – transient structural analysis slide from ME 612
• Solve problem as a series of time steps (t = t0, t0 + t, t0 + 2 t, etc.)
• Numerical integration approach – converts terms to mass / damping force vectors
• Shown for information only – do not need for ME 512 final exam!
K D R
MD
Displacement u n d(tn )
d
Velocity u n d(tn )
dt
~
K D R RM RC
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Transient Analysis – Example
Frame analysis problem from textbook
• Subject to impulse load (force for period of time)
• ANSYS – requires two different “load steps”
Book solves problem both ways
• Modal superposition
• Direct integration
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Transient Analysis – Example
Example
• Result at
at single node
Modal analysis
• Number of
modes used
varies
Direct integration
• Time step
used varies
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ME 612 – FEA II
Provide a brief overview of ME 612
• Topics / class style – below is Spring 2015 schedule
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