Finite Elements:

•Bar element
•Plane truss
•Beam element
Guyan reduction
•Guyan

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 Rayleigh‐Ritz vs. Finite Elements

« local assumed modes »

On the contrary
On the contrary to the Rayleigh‐Ritz method, the shape
to the Rayleigh Ritz method the shape functions
within an element are selected once and for all for evert type of element.

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 Bar element

Kinematic assumptions (within an element):

(uniform strain within the element)

Strain energy:

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Generalized coordinates:

Strain energy:

Stiffness matrix:

Kinetic energy:

Mass matrix:

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Summary:

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 Truss structure (assembly)

6 nodes with 2 d.o.f. each: (ui , vi)

Global coordinates:

Using the topology of the structure, the local 

coordinates of every element are related to the
global coordinates:
l b l di

Total strain energy =  sum of the strain energy of all the elements

Global stiffness matrix:
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 Total strain energy =  sum of the strain energy of all the elements

Global stiffness matrix:

Total kinetic energy =  sum of the kinetic energy of all the elements

Global mass matrix:

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 Beam element (Euler Bernoulli)

1. Kinematics

Shape functions:

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Euler‐Bernoulli beam:

In the element:

« consistent » mass matrix
(b d on the same
(based h shape
h f
functions
i
as the stiffness matrix)

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 « Lumped » mass matrix
The inertia associated with the rotation
is neglected, and one half
neglected and one half of the total 
of the total
mass is lumped at both ends of the element

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 Beam structure (assemby)

Assembled stiffness matrix:

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Assembled mass matrix:

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Boundary conditions:

P ii
Partition of the coordinates:
f h di where
h

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Af enforcing
After f i the boundary
h b d conditions:
di i

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Eigenvalue problem:

Reduced In the theory of beams,

Eigenvalue: The reduced frequency
was defined

Larger but quite close

First mode: > (analytical result)

>>
(the approximation is poor)

1. The FE method overestimates the natural frequencies (Rayleigh quotient)

2. Good accuracy of m natural frequencies requires N>>m degrees of freedom
3. High frequency modes depend on the dicretization (no physical meaning).
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 Guyan Reduction

1. The size of FE models is governed by the representation of the stiffness.

2. Automatic mesh generators tend to produce very big models (N>105 d.o.f.).
3 Guyan
3. Guyan’ss idea ((‘60):
60): quasi‐static
quasi‐static condensation before
condensation before solving the eigenvalue
the eigenvalue problem.
problem

The d.o.f. are separated in two groups: Masters : x1 Slaves : x2  (will be eliminated)

Case 1: The slaves have no inertia and have no external forces applied:

IInvolves
l only
l the master d.o.f.
h d f
There is no approximation in this case

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Guyan’s assumption:  The quasi‐static relationship between masters and slaves applies in all cases

Coordinate
Transformation:

Kinetic energy:

Strain energy:

Reduced mass and
siffness
iff matrices :
i

Virtual work of
External forces:

Equation of motion 
after reduction:

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 Guidelines for selecting the master d.o.f.
Guidelines for selecting the master d o f

1. The d.o.f. without inertia and external forces applied may be

condensed without affecting the accuracy

2. The translation d.o.f. carry more information than the rotation d.o.f.

3. The master d.o.f. should be selected in order to maximize the first 

natural frequency i of the constrained
of the constrained system (x
system (x1 blocked)
[the error is an increasing function of the ratio: (i i)2 ]

4. The frequency i of the first constrained mode should be far above

the frequency band where
the frequency band where the model is
the model is expected to be
to be accurate.
accurate

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 Example 1: Clamped beam modelled with a single finite element

Reduced eigenvalue : Eigenvalue problem:

F.E. (2 dof) Analytical

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(second row of the stiffness matrix)

Static deflection

Mass and stiffness
Af reduction:
After d i

Constrained system:

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 Fi t
First row of the stiffness
f th tiff matrix)
ti )

Static deflection

Poor quality !
Constrained sytem:

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Example 2: Comparison of various Guyan reductions

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Part 4: Vibration alleviation

•Dynamic Vibration Absorber
•Vibration isolator
•Relaxation isolator
Six axis isolator
•Six‐axis isolator
•Isolation by kinematic coupling

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Why suppress vibrations ?
vibrations ?

Failure
Building response
B ildi t
to earthquakes
th k (excessive strain)
( i t i )
Wind on bridges (flutter instability)
Fatigue

Comfort
Car suspensions
Noise in helicopters
Wi d i d d sway in buildings
Wind‐induced i b ildi

Operation of precision devices

DVD readers
Wafer steppers
Telescopes & interferometers

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How ?

Vibration damping:
Reduce the resonance peaks

Vibration isolation: 
Vibration isolation:
Prevent propagation of disturbances to sensitive payloads

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 Active damping in civil engineering structures
Active damping in civil engineering structures

TMD: Tuned Mass Damper = DVA: Dynamic Vibration Absorber

AMD: Active Mass Damper

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Dynamic Vibration Absorber (DVA)
Tuned Mass Damper (TMD)

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DVA -TMD AMD - HMD

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Taipei 101 (509 m)

730 T Tuned Mass Damper

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Yokohama Landmark Tower

Active Mass Damper

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(from K. Seto)

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(from K. Seto)

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Multiple tower with active control bridges (Seto)

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 Dynamic Vibration Absorber (DVA)

In Laplace form:

Response:

with

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 1. Narrow-band disturbance
Th response is
The i also
l harmonic:
h i

If the frequency of the

harmonic disturbance
is constant, the best solution
is to create a transmission
zero at

The tuning may be based on

By exciting the structure at

and tuning in such a way that
X1 and X2 be 90° out of phase.
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2. Wide band disturbance

2 design
parameters

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For all values of the damping,
The curves cross each other
in P and Q.

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 Equal peak design (Den Hartog, 1929)

The relative amplitude of the points P and Q

is controlled by the frequency ratio.
P and Q have equal amplitude for:

P and Q constitute the maxima of

the dynamic amplification curve for:

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Multiple D.O.F.

One mode approximation in the

vicinity of the targeted frequency:
For frequencies close to mode k,
the response is dominated by mode k

Mass m1 to take into

Account in the design
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Wide-band isolator: Various isolator architectures for spacecraft

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 James Webb Space Telescope ( ~ 2015?)

1 Hz
Isolator

RWA
Isolator
7 Hz
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 Effect of the isolator on the transmissibility of disturbances

Reaction wheel speed

Range 10-100 Hz Hz
10 100

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 V i
Various iisolation
l ti concepts
t

« Classical » Sky-hook
Sky hook Relaxation
passive Damper isolator
isolator (active)

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Linear Isolator

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 Relaxation Isolator

The poles are solutions of the characteristic equation:

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The characteristic equation may be rewritten

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 Six-axis isolator

Kinetic energy:

Jacobian of the isolator

(depens on the topology):

Strain energy:

Eigenvalue problem:
normalized according to
(6 isolator modes)

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 If the springs k are replaced by relaxation isolators, the
spring stiffness must be replaced by the dynamic stiffness:

U
Upon eliminating
li i ti x1 from
f

Dynamic
y stiffness of one leg:
g

(pure spring) (relaxation isolator)

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 Relaxation isolator:

Change of coordinates (using the modes of the isolator with pure springs)

One finds a set of

decoupled equations:

With the notation:

or

(identical to a single axis isolator.

However, there is a single scalar
parameter: k1/c)

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 Isolation by kinematic coupling

Harmonic disturbance with a constant frequency :

Control strategy = introducing a transmission zero
at the excitation frequency.

Kinematics:

Lagrange equation:

Transfer function:

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The system is tuned in such a way
that the frequency z of the zero
Matches that of the disturbance.
disturbance

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