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Modal Analysis of Structural Vibration

Conference Paper · November 2013

DOI: 10.1115/IMECE2013-62533

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M. L. Chandravanshi A. K. Mukhopadhyay
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 Proceedings of the International Mechanical Engineering Congress & Exposition
IMECE2013
November 15-21-2013, SAN DIEGO, CA

IMECE2013-62533

MODAL ANALYSIS OF STRUCTURAL VIBRATION

M.L. Chandravanshi and A.K. Mukhopadhyay
Department of mechanical Engineering & Mining Machinery Engineering
Indian School of Mines, Dhanbad- 826004 - India

ABSTRACT
Modal analysis is a powerful tool to identify the
dynamic characteristics of structures. Every structure
vibrates with high amplitude of vibration at its resonant
frequency. It is imperative to know the modal
parameters- resonant frequency, mode shape and
damping characteristics of the structure at its varying
operating conditions for improving its strength and
reliability at the design stage. The paper elucidates the
behavior of a two storey metallic structure modeled to
understand its dynamic characteristics of structure with
the help of vibration dynamic signal analyzer,
accelerometer, impact hammer and post-data analysis
software. Single reference testing method has been used
for the experimental analysis. Frequency response
functions (FRFs) have been analysed with the help of
modal analysis software. The theoretical modal analysis
technique has also been investigated using finite element
method (FEM). The results obtained from the theoretical
and experimental analysis have been compared to draw
the conclusion.
NOMENCLATURE
A cross sectional ara
E Young’s modulus
K global stiffness
L lenth
M global mass
U displacement
k stiffness
m mass matrix
t time
φ phase angle
ρ density
1 Copyright © 2013 by ASME
INTRODUCTION
It is essential that every component of a machine must
fulfill its design requirement to prevent an unaccounted
failure. This can be achieved by modal analysis
technique by predicting dynamic behavior of the
structure at different operating conditions. It provides all
valuable information for strengthening the structure at its
design-stage.
The comprehensive review of research articles as
mentioned beneath explained the insight technical details
for conducting the experimental modal analysis as well
as modal analysis through analytical methods used in
various applications. The analysis of structural dynamics
using finite element analysis is extensively used as a tool
by many scientists and researchers. The behavior of the
structure in its operating state can be predicted,
controlled and optimized [1]. Modes are inherent
properties of a structure and associated with structural
resonances. They don’t depend on the loads acting on the
structure. Modes change if the material properties such as
density, stiffness and damping of the structure change
[2]. Experimental modal analysis developed steadily in
popularity since the advent of the digital FFT spectrum
analyzer in early 1979’s. At present, impact testing has
become a common practice to find modes of vibrating
structure of machine [3-5]. An analytical approach can be
used for modal analysis of multi-degree of freedom
systems with repeated frequencies. In an undamped
system having distinct eigenvalues, every eigenvalue
corresponds one unique eigenvector [6]. The
experimental modal and stability analysis of motorcycle
was carried out, which provided information about riding
safety, handling capabilities and enhanced the riding
comport ability [7]. The natural frequency and damping
ratio can be obtained by using experimental modal
analysis [8]. A research on metallic beams was carried
out using impact hammer excitation technique over a
frequency range of 0-2000 Hz to find out the vibration
characteristics of beams made of different metals [9].
Research conducted for modal testing to improve
stiffness, natural frequency and damping capability of
machine tool bed using composite material [10]. The
modal analysis of a two storey steel rigid frame was done
assuming the frame as lumped mass system through
keeping structural weight on each floor [11]. The
structure under investigation as shown in Figure 1 can be
assumed as of two equal-length finite elements (two
floors), who’s one end is fixed to the ground.
Figure 1. Structure assumed as two degrees of freedom.
The theoretical detailed analysis for the natural frequency
for the structure of two degree of freedom has been done
using the finite element method [12]. In the first step,
assuming that the structure has an equal stiffness on first
floor and second floor k (1) =k (2)). Where k can be
represented as
(1)
Therefore, the element (floor) stiffness matrices are
written as
(2)
Let assuming that the mass of each element (floor) is
(3)
It has been assumed that the masses are equally
distributed on the floor. Therefore, the structural mass
matrix expressed as in equation (4).
(4)
Using the direct assembly procedure, the global stiffness
matrix is presented as
(5)
And the global consistent mass matrix is given as
2 Copyright © 2013 by ASME
(6)
The global equations of motion can be assembled as
(7)
The equation (7) is second-order, linear, ordinary
differential equations. Applying the boundary conditions
where displacement at the fixed end is zero, therefore U1
= 0, the equation (7) can be written as
(8)
The sinusoidal responses of the structure due to free
vibrations can be written as
(9)
Now diffrentiating equation (9) and substituting the
results in equation (8), which gives the following
equation
(10)
Where, A2 and A3 are the vibration amplitudes of first
floor (node 2) and second floor (node3). Also,
ω2 is a harmonic circular frequency of motion and φ is
the phase angle in equation (10), which is also known as
the characteristic equation of the physical structure. This
is a homogeneous algebric equation that have notrivial
solutions. Assuming that λ= 24E/ρL2 , then the frequency
equation is given by the determinant becomes.
(11)
Simplyfying the equation (11),
7ω 4 −10λω2 + λ2 = 0 (12)
Treating the frequency equation as a quadretic in ω2, the
roots of equation are obtained as
(13)
Substituting the value of λ in equation (13), the obtained
circular natural frequencies of the structure can be
represnted as
(14)
The frequency ω1 is also known as fundamental natural
frequency of the structure. The computed natural circular
frequencies ω1 and ω2 are also known as the eigenvalues
of the structure and the amplitude ratio as A2/A1 represent
the eigenvectors or mode shapes. Such a solution is
known as theoretical modal analysis. To find out the
number of natural frequencies corresponding to modes
shapes of interest of the structure at its different loading
conditions with 5 kg weight, the experimental and
theoretical modal analysis through FEM methods have
been used.
EXPERIMENTAL STUDY
In this study, a two storey mild steel structure was
fabricated. It comprised of three horizontal flat plates of
dimension 30 cm length x 15 cm width x 0.5 cm plate
thickness and four columns of 80 cm length x 2.50 cm
width x 0.5 cm column thickness. For recording the
vibration parameters - two channel (OROS25) Dynamic
Signal Analyzer (DSA), an accelerometer (PCB 353B03)
of sensitivity 10.025 mV/g with frequency range of 1-
7000 Hz and an impact hammer (PCB 086C03) of
sensitivity of 2.25 mV/N with total weight of 0.225 kg
including the extended weight were used for the
experiment. Post analysis of the vibration data was
performed through ME’scope analysis software.
Figure 2. Modeled structure for post-data analysis
indicating all the 78 hitting points
ME'scopeVESTM is a post-test analysis software tool,
which can analyze and document vibration parameters of
a vibrating structure. It also displays spatially acquired
vibration data on a 3D model of the structure. With the
help of this software, Operating Deflection Shapes
(ODS's) and Mode Shapes can be animated[3].
For capturing the vibration data of interest, a total
number of 78 points were marked on the structure.
Accelerometer was fixed at point 13 which was taken as
reference point as shown in Figure 2 and excitation was
imparted by impact hammer on all the 78 points
individually. The corresponding response of impact was
measured through accelerometer in term of frequency
response functions (FRFs) measured at 78 points using
the dynamic signal analyzer. The experiment comprised
3 Copyright © 2013 by ASME
of three sets of observation: (a) structure under no load
condition, (b) structure loaded at first floor with 5 kg
weight and (c) structure loaded at second floor with
5 kg weight. Frequency range for FRFs measurement
was selected between 0-100 Hz after examining
sufficient number of modal parameters during trial run.
Before collecting the FRFs on the dynamic signal
analyzer; coherence was measured to insure the degree of
linear relationship between the output signal from
response accelerometer and input signal from force
transducer. Coherence value varies from zero to one.
Zero means no relationship between the input signal and
output signal, whilst one means a perfectly linear
relationship between the two signals which is an
indication of good quality measurement. Response
signals were sampled at the rate of 1600 lines of
resolution. Linear averaging was performed to reduce the
random noise components in a spectrum which helped to
identify the discrete frequency components clearly.
The model of the structure was developed by ME’scope
software and the collected vibration data from the test
set-up in the form of FRFs were imported in it. The FRFs
were selected in an overlay format to ensure the
particiaprtion of all FRFs for evaluating the modal
parametes of the structure. Considering the structure as
three dimensional, degree of freedom (DOF) was
assigned to each FRF data point corresponding to hitting
point on the structure. The imported FRFs provide all the
necessary informations to modal analysis software to
predict the behavior of actual vibrating structure in mode
shape table which consists of number of modes, natural
frequencies and damping characteristics.
The mode shape table was obtained by curve fitting
technique adopted on FRFs in an overlay format for
finding the mode peaks corresponding to natural
frequencies during analysis step. The curve fitting was
done using global polynomial, which is a frequency
domain curve fitting method and utilize the complex
(real and imaginary) FRFs in the cursor band for curve
fitting. The mode shape table was synthesised for
obtaining the mode peaks diagram as shown in
Figure 3. The vertical axis represents magnitude of
vibration in dB and horizontal axis represents natural
frequency of structure in Hz.
(a)
 M#1 M#2 M#3 M#4 M#5 M#11 M#12 M#13 M#14 M#15 M#16 M#17

60
Magnitude dB (m/s²/N)

40

20

-20

0.0 10 20 30 40 50 60
Hz

(b)
M#1 M#2 M#3 M#4 M#5 M#6 M#7 M#8 M#9 M#10 M#11 M#12 M#13 M#14 M#15 M#16 M#17 M#18 M#19 M#20 => (a)
60
M a gnitude dB (m /s² /N )

40

20

-20

0.0 5 10 15 20 25 30 35 40 45 50 55 60 65
Hz

(c)

Figure 3. The mode peaks of all 78 hitting points in

overlay format obtained from mode shape table
synthesis: (a). Unloaded structure, (b). Structure loaded
(b)
at first floor and (c). Structure loaded at second floor.

The results obtained from mode shape table synthesis

are shown as in Figure 3(a), 3(b) and 3(c) for different
loading conditions. A total six number of modal
parameters was included in this modal analysis to
undertand the dynamic characteristics of the structure for
different loading conditions. The modal parameters
comprise of natural frequenceis, mode shapes and
damping (%) obtained from each set of observations
reflect the dynamic characteristics of the structure. To
verify all mode shapes of the structure under different
loading conditions, each mode shape was animated (c)
individually from mode shape table for differnet loading
conditions. The data of Table 1(c) presents modal parameters of the
structure loaded at second floor. The table illustrates the
Mode shape Table1(a) represents the modal parameters first mode shape corresponding to natural frequency of
of the unloaded structure, where the first mode shape 5.1 Hz and the sixth mode shape was found at natual
observed at fundametal frequency of 5.7 Hz and the sixth frequency of 60.2 Hz. the lowest magnitude of damping
mode shape has occurred at 60.2 Hz. The highest (%) was observed as .027 in first mode shape and of
damping (%) was observed as 0.162 in the first mode damping (%) was 54.4E-3 in the sixth mode shape. The
shape and the least damping (%) was seen as 38.3E-3in observation shows that no order were followed by
the sixth mode shape of the structure. obtained damping (%) values for various loading
conditions of the structure.
Table1(b) shows of modal parameters of the structure
when loaded at first floor. In this case, natural The comparision of experimental results for all three
frequencies of the first and the sixth mode shapes were loadings of the structure was carried out to identify the
observed as 7.1Hz & 64.2 Hz respectively. In this variation in the modal parameters as shown in figure 4.
experiment also, The highest damping (%) was observed The modal parameters observed in unloaded structure
in first mode shape equal to 0.244 and least damping (%) was entirely due to the weight of the structure itself.
was obereved as 24.1E-3 in sixth mode shape. Modal parameters of structure loaded at first floor and
second floor were compared with the unloaded structure.
Table1. Mode shape table for various loading conditions: Modal parameters of the structure loaded at first floor
(a). Unloaded structure (b). Structure loaded at first floor were obsreved higher in magnitude as compared to the
and (c). Structure loaded at second floor. modal parameters of unloded structure. The natural

4 Copyright © 2013 by ASME

frequency vs. mode number graph as shown in figure 4
reveals this fact clrarly.
(15)
Where, x1 and xn+1 are two successive amplitudes of
vibrations of the structure during the n number of modes
formation. The damping ratio (%) is given by the
equation

(16)
Theoretical equations (15) & (16) reveal that if the
amplitude or deformation of the structure decreases at the
time of mode formation, the damping (%) would also
decreases. The results of damping (%) depicted in the
figure 5, shows the damping (%) values of every mode
shape for different loading conditions. Damping (%) was
observed high only in very few selected mode numbers
in different loading conditions. The figure 5 shows that
Figure 4. Comparison of natural frequency vs. mode damping (%) in unloaded structure was observed
number for different loading conditions of a structure. minimum as compared to structure loaded at first floor
and second floor. Damping (%) in the structure when
The natural frequencies of a structure when loaded at
loaded at first floor was observed higher than unloaded
second floor were observed from 5.1 Hz to 60.2 Hz . It
structure in first mode shape only. The damping (%) was
indicates that when the structure loaded at second floor,
observed higher in number of modes when structure
its natural frequencies are observed less in magnitude as
loaded at second floor. Another observation confirms the
compared to the unlaoded strucutre as well as structure
fact that damping (%) increases with the addition of load
loaded at first floor. The exceptinal natural frequencies of
on the structure as shown in the Figure 4, in which, the
loaded structure loaded at first floor corresponding to the
highest damping (%) is observed when structure loaded
Mode2 and Mode3 in which, differences are observed
at second floor. The unloaded structure has shown the
much higher as compared to both unloaded structure and
least overall damping (%), which means it has produced
structure loaded at second floor. Also it was noted that
minimum vibrations. Since every structure has to be used
natural frequency of Mode6 was observed similar both
for some applications, therefore unloaded structure
unloaded structure and loaded structure at second floor. It
cannot be useful until and unless it is loaded. The
could be occured due some errors in boundary
damping (%) values provide an indirect information that
conditions and the non-linear behavior of the structure.
in real applications, the structure loaded at first floor will
The overall values of damping (%) for different loading produce less vibration than the structure loaded at second
conditions of the structure were observed very less, as floor.
the structure was undamped and clamped on heavy
foundation during the test from ground floor. Therefore
the damping characteristics were obtained only because
of the energy-dissipation properties of a material from
which the structure was made up. The damping
characteristics represent the energy dissipation within the
vibrating structure due to the cyclic stress/strain or due to
fatique during the movement of the structure at the time
of formation of mode shapes. Therefore, vibration in the
structure is responsible for damping (%) in the undamped
structure. Theoretically it has been proved that the
damping (%) increases if the amplitude of vibtation and
additional weight on the structure increase [13].
Damping (%) analysis can be done conveniently through
theoretical analysis using the logarithmic decrement
method, which is defined as the natural logarithm of the Figure 5. Comparison of damping (%) values for
amplitude reduction factor is explained in details [14]. different loading conditions of the structure.
The basic equation for the logarithmic decrement δ is
given by equation:- The results of damping (%) for different loading
conditions confirmed that, with inceasing the load on the

5 Copyright © 2013 by ASME

structure give rise to the amplitude of the vibrations in
the structure. Therefore the higher the amplitude of
vibration, more will be the damping (%). The results
displayed in the Figure 5 disclosed the fact that with
addition of weight at second floor of the structure
increases the amplitude of vibration in the structure.
These modal parameters of the structure of different
loading conditions indicate that vibration amplitude of
the structure get increased when loaded at first floor and
second floor

THEORETICAL ANALYSIS (a) (b)

The structure was made from mild steel having Figure 6. Structure loaded with 5 kg: (a) structure loaded
following properties: at first floor and (b) structure loaded at second floor

Young’s Modulus = 210 GPa, OBERVATIONS

Density = 7800 kg/m3
Poisson’s ratio = 0.295 Theoretical modal parameters comprise of natural
frequencies (Hz) and number of mode shapes for all three
Table 2. Modal parameters of theoretical analysis loading conditions of the structure as shown in Table 2.

Mode Frequency Frequency Frequency Comparing the natural frequencies of first mode shape,
no. (Hz) of (Hz) loaded (Hz) of loaded it was found that the 5.34 Hz, 6.37 5.25 Hz were
unloaded of structure at structure at observed corresponding to unloaded structure, structure
structure first floor second floor loaded at first floor and structure loaded at second floor
1 5.34 6.37 5.25 respectively. The highest natural frequency of 6.37 Hz
2 12.82 18.86 12.54 was observed when the structure loaded at first floor and
3 18.89 24.99 18.50 the lowest natural frequency of 5.25 Hz was found in the
structure when loaded at second floor.
4 30.72 34.87 30.09
5 38.84 54.96 37.98 The variations in theoretical natural frequencies were
6 61.31 62.41 59.89 observed for different loading conditions of the structure
as depicted in Table 2. Observations show that similar
pattern have been followed by all natural frequencies of
For theoretical modal analysis, a 3D model of a the six mode shapes of the structure at three loading
structure was developed with help of ANSYS conditions. The mode shapes of the unloaded structure
Workbench 14. Element type was selected as solid Brick obtained from theoretical analysis through FEM are
8 node185 and triangle element was selected while shown in Figure 7, where, the mode 1 and mode 3 are
meshing. The Black Lancos mode extraction method was having bending effect. The mode 2 is indicating the
used for extacting the modal parametres of the structure. torsional behavior of the structure. It happens usually due
The frequency range of 0-100 Hz was selected and all to the low natural frequencies of the structure. The first
the modes remained within these range of frequencies few mode shapes are by and large responsible for the
were expanded. The entire properties and boundary high amplitude of the vibrations in the structure and
conditions remained same for the unloaded structure, occurred at low natural frequencies. For example such
loaded structure at first floor and structure loaded at modes are Mode1, Mode2, Mode3 and Mode4 as
second floor. Direction of loading was selected depicted in the Figure 7, which are creating the
downward, that is, in negative direction of Y-axis. deformation in the whole structure. It is usually not
Weight of the structure was included as gravitational necessary to calculate all the natural frequencies of a
effects, which is based on structural geometry and structure; this is because many of these frequencies will
different loadings condition. The 500 N (5 x 10 N = not be excited and in any case they may give small
approx. 5kg ) weight on the structure was applied on amplitudes of vibration [11].
each key points of the vertical coloumn of the structure at
first and second floor individually by applying force of
125 N during the modal analysis through FEM as shown
in the Figure 6.

6 Copyright © 2013 by ASME

 Mode1, (5.34 Hz ) Mode 2, (12.82 Hz)
Figure 8. Comperision of theoretical and experimental
natural frequencies of unloaded structure

The comparision between theoretical and experimental

observation of modal paramters of the structure when
loaded at first floor is shown in Figure 9. In this case
also, the experimental natural frequencies are observed
higher than theoretical. Deviations between theoretical
and experimental modal parameters are usual as
theoritical analysis is purely based on the material
Mode 3, (18..89 Hz) Mode 4, (30.72Hz) properties, geometory and boundary conditions of the
structure. Moreover, while carrying out the solution by
analysis software, it is always assumed that the matrials
behaves linearly in nature. Experimentally, it is very
difficult to satisfy all the conditions for analysis as
assumed in the FEM analysis.

Mode 5, (38.84Hz) Mode 6, (61.31Hz)

Figure 6. Theoretical mode shapes of unloaded

The experimental and theoretical natural frequencies

corresponding to mode shape numbers illustrate similar
trends which is clear from figures 8, 9 and 10. The
comparative study between theoretical and experimental
analysis have demonstrated identical natural
frequencicies corrsponding to the mode shape numbers
for unloaded structure as found in Figure 8. The
exception in this case is resonant frequency of mode
shape number 6, where slight deviations was observed
being expeimental frequency on lower side.
Figure 9. Comparision of theoretical and experimental
natural frequencies when structure loaded at first floor.
The modal parameters of theoretical and experimental
results of structure when loaded at second floor is shown
in Figure 10. The maximum difference of natural
frequency by 14 Hz was observed in Mode 5 between
experimental and theoretical analysis. This error could
be due to the differences between experimental and
theoretical boundry conditions of the structure.

7 Copyright © 2013 by ASME


Figure 10. Comparision of theoretical and experimental
natural frequencies when structure loaded at second
floor.
CONCLUSION
• The study was intended to find out the modal
parameters experimentally and theoretically using
ANSYS without invloving in the rigorous and lengthy
mathematical solutions for a metallic structure under
different loading conditions. The findings through both
experimental and theoretical analysis reveal that:
• When the structure loaded at first floor, its natural
frequencies and damping (%) corresponding to mode
shape numbers were found higher than the unloaded
structure.
• When structure loaded at second floor, its natural
frequencies were found lower in magnitude as
compared to the structure loaded at first floor as well as
in unloaded structure, but the overall damping (%) was
found highest in the structure when loaded at second
floor.
• The increased damping (%) of structure when loaded
at first floor and second floor is an indirect indication of
high amplitude of vibrations in the structure and
damping (%) is related to the amplitude of vibrations of
the structure.
• Damping (%) was observed highest in three mode
numbers of structure when loaded at second floor. It
clear sign of indications that when structure loaded at
second floor will exibit highest amplitudes of
vibrations in the structure.
• Damping (%) of unloaded structure was found lowest
when compared to the structure loaded at first floor
and second floor, which reveals that damping (%) is
also depends on the addition of load on the structure.
• In experimental modal parameters, more variations were
observed than in theoretical analysis.
8 Copyright © 2013 by ASME
• During the experiments, errors in boundary conditions
of structure, inaccurate excitation at a particular point
with impact hammer, non-linear behavior of the
structure etc might be the reasons for variations in
modal parameters of experimental and theoretical
vibration data.
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