Seminar topic

On

"Modal, Transient and Harmonic Analysis of

Cantilever beam using ANSYS"

Malay M. Mehta
14BME053

Guide
Prof. Nipun Raval

Mechanical Engineering Department

Institute of Technology
Nirma University
Ahmedabad-382481

Certificate
 This is to certify that Mr. Malay M. Mehta, Roll No.14BME053, of B. Tech. Sem. IV has
successfully completed the report of seminar on “Modal, Transient and Harmonic Analysis of
Cantilever beam using ANSYS”.

Date: -
Guide:- Prof. Nipun Raval
Head of the Department: - Dr. R. N. Patel
 Contents

Page no.
Acknowledgement i
Abstract ii
List of Diagrams and Figures iii
List of Tables iv
Chapter 1: Dynamic Analysis 1
1.1 Introduction 1
1.2 Types of Dynamic Analysis 1
1.3 Equation of motion 1
Chapter2: Modal Analysis 2-4
2.1 Definition and purpose 2
2.2 Assumption and restriction 2
2.3Theory development 2
2.4Prestressed modal analysis 2
2.5Modal analysis of Cantilever beam 3-4
Chapter 3: Harmonic Analysis 5-8
3.1 Definition and purpose 5
3.2 Assumptions and restriction 5
3.3Theory 5
3.4comparition between FULL and MSUP method 6
3.5 Nature of Harmonic loads 6
3.6Harmonic Analysis of Cantilever beam 6-8
Chapter 4: Transient Analysis 9-10
4.1 Introduction to Transient Analysis 9
4.2 Preliminary Modal Analysis 9
4.3Transient Analysis of Cantilever beam 9-10
Chapter 5: Analysis of Wing 11-13
5.1Structural Analysis 11
5.2Pre-stressed Modal Analysis 12
5.3Mode superposition (MSUP) Harmonic Analysis 12-13
Chapter 6: Validation of Results and conclusion 14-17
6.1Validation of ANSYS results by Analytical Method 14-16
6.2conclusion 17
Reference 18
 Acknowledgement
I would like to thank the Director, Institute of Technology, and the Head of Department,
Mechanical Engineering, for introducing a course that helpful for enhancing the technical
knowledge. Next, I would be thankful to Prof. Nipun Raval, who acted as my guide and give
me proper direction for my seminar topic.

Malay Mehta

i
 Abstract

In some case machine parts are fails under high vibration or dynamic loading
condition. So it is required to simulate the machine part before going to manufacture it. For
this purpose high ended simulation software is used by various industries. ANSYS is most
widely used software for FEA analysis.

Here first basic knowledge of dynamic analysis and concepts of Modal, Transient and
Harmonic analysis is given with the example of cantilever beam. Simulation of cantilever
beam in ANSYS is described. In last comparison between analytical and FEA method is
explained.

ii
 List of figures
Fig. no. Title Page no.
2.1 FEA model of cantilever beam 3
2.2 Natural frequency in modal analysis 4
2.3 Total deformation in modal analysis 4
3.1 Frequency response 6

3.2 Total deformation in Harmonic analysis 7

3.3 Equivalent stress in harmonic analysis 7
3.4 Graph of Harmonic response 8
4.1 Graph of loading condition 9
4.2 Tabular loads 10
4.3 Total deformation in transient analysis 10
5.1 Linked analysis 11
5.2 Total deformation in static structural analysis 11
5.3 Natural frequency in pre-stressed modal analysis 12
5.4 Results 12
5.5 Total deformation in MSUP method 12
5.6 Equivalent stress in wing by MSUP method 13
5.7 Graph 13
6.1 mesh model 15
6.2 Natural frequencies in cantilever beam 15

iii
 List of Tables
Table no. Title Page no.
3.1 Differences 6
4.1 Deformation 10
6.1 Value of ai 14
6.2 Analytical results 15
6.3 Comparison 15

iv
 Chapter 1: Dynamic Analysis
1.1 Introduction
Dynamic Analysis includes inertia and damping. It is used for determination of dynamic
behaviour of structures under time varying loading condition.
1.2 Types of Dynamic Analysis
There are different type of dynamic analysis is
1) Modal Analysis
2) Transient Analysis
3) Harmonic Analysis
4) Random vibration Analysis
5) Response spectrum Analysis

1.3 Equation of motion

General equation of motion for dynamic analysis is
[ M ] { ü } + [ C ] { u̇ } + [ K ] {u }={F } *[1]
[M]=structural mass matrix {ü } =nodal acceleration
[C]=structural damping matrix {u̇} =nodal velocity
[K]=structural stiffness matrix {u} =nodal displacements
{F}=Applied load vector

 Mass properties
Density and point mass

 Damping properties [C]:

Viscous, material
It is required for mode superposition harmonic analysis

 Stiffness properties [K]:

Young’s modulus, poisson’s ratio, shear modulus

1
 Chapter 2: Modal Analysis
2.1 Definition and purpose
Modal analysis is used to determine the vibration characteristics of components. Modal
analysis is useful for further dynamic analysis. It is useful to determine the mode shapes and
natural frequency of component.
Natural frequency: At what frequency body is going to vibrate naturally.
Mode shapes: In what shape body is going to vibrate at natural frequency.
 Benefits of Modal analysis:
1) It is useful to determine natural frequency.
2) So, while designing a component designer can avoid resonance by comparing the
natural frequency and forcing frequency.
3) Modal analysis is useful for mode superposition harmonic analysis.
2.2 Assumption and restriction:
1) The structure is linear.
2) Damping should not be considered in Modal analysis.
3) There are no time varying loads, pressures and temperatures in modal analysis.
2.3 Theory development
ANSYS use FEA method for analysis purpose. So calculation used in FEA for modal is given
below.
In modal analysis damping and external force is assumed to be zero.
So, in general equation of motion [C] and {F} should be zero. *[1]
[ M ] { ü } + [ C ] { u̇ } + [ K ] {u }={F }
Putting [c] = [0] and {f} = {0};
[ M ] { ü } + [ K ] {u }={0}

Now, assume harmonic motion

{ u } =φi sin(ω i t +θ)
Now substitute the value of {u} and simplify the equation,

(−ω2i [ M ] +[K ]) { φi }={ 0 }

Now, this equation is satisfied if {φ } = {0}
det ⁡¿) = {0}
This equation has more than one variable so another equation is needed for solution of this
equation.

2
Another equation can be obtained by mode shape normalization and mode shape can be
normalized to mass matrix.

{φi } [ M ] { φi }=1
T

ANSYS workbench show the results normalised to mass matrix.

Results:
1) Square root of Eigen values are ω i and natural frequency can be obtained by
ωi
f i=
2π
2) Eigen vector {φ }i represents the mode shape of structure when it is vibrating at fi
frequency.

2.4 Pre-stressed Modal Analysis:

Pre-stressed Modal Analysis is used to determine the mode shapes and natural frequency of
structure which is already in stressed condition by external load.e.g. Spinning turbine blade.
The pre-stressed affects the stiffness of structure through the stress stiffening matrix
contribution.
2.5 Modal Analysis of Cantilever Beam:
Modal Analysis of cantilever beam in ANSYS:
 Specification of cantilever beam: *[2]
Cross section: 100*100 mm^2
Length: 2000 mm
Material: stainless steel
Young modulus = 2*10^5 MPa

Fig 2.1 FEA model of cantilever beam

 Results of modal analysis obtained in ANSYS:

3
1) Natural frequencies of cantilever beam obtained by Modal analysis in
ANSYS

Fig 2.2 Natural frequency in modal analysis

2) Total deformation of cantilever beam at frequency of 631.95 Hz
is 3.5725mm .

Fig 2.3 Total deformation in modal analysis

4
 Chapter 3: Harmonic Analysis
3.1 Definition and purpose:
Harmonic analysis is useful to determine the behaviour of structure under sinusoidal or
harmonic loading condition of known frequency. In harmonic analysis we need to apply
harmonic loads like displacements, forces, pressures, temperatures of known frequency and
magnitude. We can also apply multiple loads of same frequency. In output we get harmonic
displacements and stress.
 Application of Harmonic analysis:
Harmonic analysis is used for designing of airplane wings, turbine blade and turbo
machinery.
 Purpose of Harmonic analysis:

1) It is used to make sure that given structure can withstand harmonic loads at different
frequency.
2) It is used to detect resonance response of structure.
3) It is used to avoid the resonating condition by using dampers.

3.2 Theory:
General equation of motion used for FEA analysis is
[ M ] { ü } + [ C ] { u̇ } + [ K ] {u }={F }
Assume that {F} and {u} is harmonic with frequencyϑ . *[1]
[F]= {Fmax e iθ }e iϑt

= {Fmax (cos θ+ isin θ)}e iϑt

[u]= {umax e iθ }e iϑt

= {umax(cos θ+ sinθ )}e iϑt

Here ϑ =input frequency
ω=output frequency
Put this value of [u] and [F] in main motion equation,
We can get,

(−ϑ 2 [ M ] + iϑ [ c ] +[ K ])({u1} + i{u2})= ({F1} +i{F2})

This equation can be solved by one of the two methods in ANSYS.
1) FULL method
2) MSUP(mode superposition) method

5
3.4 Comparison between FULL and MSUP method:
FULL method MSUP method
It gives exact solution It gives approximate solution. Approximation
depends on participation factor.
Slower Fast
It supports all types of boundary condition It does not support non zero imposed
and loading condition. harmonic displacements.
It uses the sparse matrix solver for complex It solves the uncoupled system of equation by
arithmetic to solve the full system of linear combination of mode shapes which is
equation. obtained by modal analysis of structure.
Table no.3.1 Difference
3.5 Nature of Harmonic loads:
In ANSYS we can give multiple loads of different amplitude and phase angle as a input.
F i=X i sin(ωt +θ i)

Where,
X=amplitude
ω=frequency
θ =phase angle
Calculated displacement is complex if
1) Damping is to be considered
2) Applied loads are complex.
If the imposed forcing frequency approaches towards natural frequency of the structure then
resonance is occurred.
3.6 Harmonic Analysis of cantilever beam:
Dimension and material specification is mentioned in modal analysis.
Loading conditions for harmonic analysis of cantilever beam.*[2]
Amplitude of force=100N
Frequency range =1-100 Hz
 Results of harmonic analysis:

6
 Fig. 3.1 Frequency response
 Total deformation at 100 Hz frequency and 180 deg. phase angle is 0.009933 mm.

Fig. 3.2 Total deformation in harmonic analysis

 Equivalent stress at 100Hz frequency and 180 deg. phase angle is 0.59798 MPa.

Fig. 3.3 Equivalent stress in harmonic analysis

7
 Graph of amplitude verses frequency:

Fig 3.4 Graph of harmonic response

8
 Chapter 4: Transient Analysis
4.1 Introduction to Transient Analysis
Transient structural analysis is used to determine the behaviour of structure under time
varying loading condition. This is used when the inertial effect of structure is considerable.
If the inertia and damping is ignored then static analysis is used. In all other cases transient
structural analysis is used as it has wide application.
Important factor for performing the Transient analysis is time step size.
Transient structural analysis uses implicit time integration. So, the time step should be large.

4.2 Preliminary Modal Analysis:

The dynamic response can be considered as various mode shapes of structures being excited
by loading condition.
So the modes of system are used to determine initial time step.
The general equation for initial time step is:
1
∆ t initial=
20 f response

f response is the frequency of highest mode of interest.

Preliminary modal analysis must be performed to determine highest mode of interest.

So the modal analysis is input for all types of dynamic analysis.
4.3 Transient analysis of cantilever beam:
Transient analysis can be carried out by giving three types of loading condition:
1) Constant
2) Functional
3) Tabular
Loading condition for transient analysis

Fig 4.1 Graph of loading condition

9
 Fig.4.2 Tabular loads
 Results obtained by ANSYS:
1) Total deformation of cantilever beam under above loading condition at 15s is
0.08979mm
.

Fig.4.3 Total deformation in transient analysis

2) Total deformation of cantilever beam at the end of different time step:

Time[s] Max. deformation [mm]
5 0.011972
10 0.05986
15 0.08979
Table no.4.1 Deformation

10
 Chapter 5: Analysis of wing
5.1 Structural Analysis:
Wing of aeroplane is under certain pre defined loading condition like rotational velocity and
pressure. First static structural analysis is to be carried out in ANSYS. This analysis can be
used for further dynamic analysis like modal analysis and harmonic analysis.

Fig.5.1 Linked analysis

 Material specification for wing *[1]
Density: 7850 kg/m3
Poisson’s ratio: 0.03
Constant damping coefficient=0.02
 Loading condition for static structural analysis:
Rotational velocity=167 rad/s
Pressure=0.1 MPa
 Result of static structural analysis:
1) Total deformation obtained in ANSYS:

Fig. 5.2 Total deformation in static structural analysis

11
5.2 Pre-stressed modal analysis:
Results obtained in static structural analysis are used for pre-stressed modal analysis.
1) Natural frequency obtained by pre-stressed modal analysis in ANSYS:

5.3 Natural frequencies in pre-stressed modal analysis

5.3 Mode superposition harmonic analysis (MSUP method):
Mode superposition harmonic analysis is to be carried out by results obtained in
modal analysis.
Mode shapes obtained by modal analysis is super imposed in harmonic analysis.
 Results obtained by harmonic analysis in ANSYS:
1) Frequency response:

Fig.5.4 Results

2) Total deformation at 80 Hz frequency and 144.1 deg phase angle is 0.592546 mm.

Fig. 5.5 Total deformation in MSUP method

12
3) Equivalent stress developed in wing at 80 Hz frequency and 144.1 deg. phase angle.

Fig. 5.6 Equivalent stress in wing by MSUP method

4) Graph of amplitude verses frequency

Fig 5.7 Graph

13
 Chapter 6: Validation of results and conclusion
6.1 Validation of results:
Validation of results obtained by different analysis method is necessary.
ANSYS uses FEA (finite element analysis) method for analysis purpose. FEA method is
approximation method.
In this method entire structure is converted into number of nodes and equation is formed on
each node. According to that matrix equation is formed.
And to solve this kind of equation certain approximation is needed.
FEA method is numerical method.FEA method is highly flexible and it can be easily
programmable because it has systematic format.
Validation of FEA method can be done by analytical method.
Analytical method gives exact solution.
 Problem statement: *[3]
Cantilever beam of 1 m long, width is b=0.1 m and thickness t=0.01 m. Density of material
is 8000 kg/m3 and E=2*1011.calculate natural frequencies of cantilever beam.
Value of ai constant is given below.
Boundary condition Mode 1 Mode 2 Mode 3
Simply supported 9.872 39.476 88.8306
Cantilever 3.5156 22.0336 34.85
Fixed-fixed 22.3729 61.6696 120.912
Free-free
Table no. 6.1 Value of ai
 Solution:

1) Analytical Method:

Natural frequencies of cantilever beam can be determine by

√
30 ai EI
f i= Cpm
π ml 4

I=bt3/12
=0.1*0.013/12
=8.333*10-9 m4
M= ρ × A
=8000*0.1*0.01= 8 kg/m

14
 √ =
π ml 4 π √
30 EI 30 2 ×1011 ×8.33 ×10−9
8
=137.83

Natural frequencies ai In cpm In Hz

f1 3.5156 484.555 8.075
f2 22.0336 3036.89 50.61
f3 34.85 4804.68 80.078
f4 61.701 8504.24883 141.73
Table no.6.2 Analytical results
2) Results obtained in ANSYS (FEA method):
Same data is to be consider for modal analysis in ANSYS and given as input for analysis.

Fig 6.1 Mesh model

 Natural frequencies obtained in ANSYS are:

Fig.6.2 Natural frequencies in cantilever beam

 Comparison between Analytical and FEA method:

Natural frequency(Hz) Analytical ANSYS(FEA)

f1 8.075 8.1375
f2 50.61 50.964
f3 80.078 80.281
f4 141.73 142.7
Table no.6.3 Comparison

15
6.2 Conclusion:

This report includes major three type of dynamic analysis. Modal, Transient and Harmonic
analysis is necessary for designing a machine component. These three types of analysis give
idea about vibration of structure. From these analysis designer can decide whether resonance
is going to happen in the structure and try to avoid it. This analysis is necessary to determine
the behaviour of structure under dynamic loading condition. For this kind of analysis ANSYS
is widely used. ANSYS is used by various automobile and aerospace industries. As it gives
more accurate solution than other software and it has large number of environment for
different types of analysis.

16
 References

[1] ANSYS Training manual

[2] www.mece.ualberta.ca/tutorials
[3] Vibratory condition monitoring of machines by J.S.Rao

17
18
19