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Effect of Crack Location and Crack Depth on Natural Frequencies of Fixed

Beam Using Experimental Modal Analysis

Chapter · January 2019

DOI: 10.1007/978-981-13-7643-6_8

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Chapter 8
Effect of Crack Location and Crack
Depth on Natural Frequencies of Fixed
Beam Using Experimental Modal
Analysis

Siva Sankara Babu Chinka, Balakrishna Adavi

and Srinivasa Rao Putti

Abstract In this paper, the dynamic characteristics of fixed beam with and without
crack are observed. A basic flexible aluminum fixed beam with surface crack at
various locations is considered for the dynamic investigation. The crack dimensions
and its location are the principle parameters to portray the well-being state of
beams. Modal analysis is commonly well thought-out as an effective tool to obtain
the intrinsic characteristics of structures including resonant frequencies and mode
shapes. These are significant indicators for monitoring the health status of engi-
neering beam like structures. Damage of beam deeply changes its natural fre-
quencies and its mode shapes at various crack locations and depths are observed
numerically and experimentally. Finite element modal analysis (FEMA) was per-
formed on damaged and intact beam using ANSYS workbench. An experimental
setup was developed for fixed beam with crack was excited by an impulse hammer,
and the response was obtained by PCB accelerometer through data acquisition
system (DAQ) using NI LabVIEW software. From frequency response functions
(FRFs), natural frequencies and mode shapes are extracted and validated with
FEMA results.

Keywords Fixed beam Frequency response functions (FRFs) Damage




analysis Dynamic characteristics Modal analysis NI Lab-View

S. S. B. Chinka (&)
Department of Mechanical Engineering, Lakireddy Balireddy College
of Engineering, Mylavaram, India
e-mail: sivachinka@gmail.com
B. Adavi
Department of Mechanical Engineering, SRKR College of Engineering,
Bhimavaram, India
S. S. B. Chinka
S. R. Putti
Department of Mechanical Engineering, Andhra University College
of Engineering (A), Visakhapatnam, India

© Springer Nature Singapore Pte Ltd. 2019 93

S. Pujari et al. (eds.), Recent Advances in Material Sciences,
Lecture Notes on Multidisciplinary Industrial Engineering,
https://doi.org/10.1007/978-981-13-7643-6_8
94 S. S. B. Chinka et al.

8.1 Introduction

The structures associated with aerospace, civil, and mechanical engineering must be
free from cracks to ensure safe operation. Crack or notch is the crucial part of the
damage which is responsible for breakdown of the structures. So, it is necessary to
study the effect of crack in the early stages for the physical health monitoring of the
structures.
Modal analysis is a process of describing a structure in terms of its dynamic
properties, namely the natural frequency, damping, and mode shape. These
parameters are essential in engineering analysis and design.
Xu [1] introduced a new type damage identification methodology in terms of
frequency response shapes (FRS) obtained by use of a continuously scanning laser
Doppler vibrometer (CSLDV). FRSs of beam using analytical expressions are
compared with FRFs of finite element model. Rao and Ratnam [2] applied statistical
process control in terms of acceleration time and response data on welded structures
to estimate health monitoring. Residual errors are extracted from the measured
acceleration time response data using an auto-regressive model. Shi [3] formulated
a new surface fractal dimension approach called edge perimeter dimension (EPD),
from that damages or irregularities of plate-type structures identified using an
EPD-based window dimension locus (EPD-WDL) algorithm.
Sarrafi [4] identified the damages of turbine blades using operational modal
analysis. Realistic damage identification is done by extracting resonant frequencies
and deflection shapes with the help of non-contact video measurements. Khiem and
Toan [5] have proposed a novel method for calculating the natural frequencies of a
multiple cracked beam and detecting unknown number of multiple cracks from the
measured natural frequencies. Gawande and More [6] have studied dynamic
properties of cantilever beams under the effect of notch at various positions along
the length. Gawande and More [7] have established a systematic analytical
approach and successfully applied NI LabView software to evaluate the modal
parameters. And also validate these modal parameters with modal parameters cal-
culated by analytical approach. Liu et al. [8] studied reinforced concrete beams for
damage identification based on the mode shapes. Castel [9] calculated the overall
stiffness of cracked reinforced concrete beams using finite element modeling. Chen
[10] performed the experimental measurements of modal parameters of beam for
damage detection and structural health monitoring using impact testing. Colombi
and Fava [11] carried out an experimental study on the fatigue behavior of cracked
and repaired steel beams. Chinka [12] observed the crack influence on natural
frequency of cantilever beam using FEMA and experimental modal analysis in NI
LabView environment. Altunõsüõk [13] analyzed the steel cantilever beam with
circular section in ANSYS. They have done operational modal analysis of beam to
extract the dynamic characteristics of multiple cracked beam and intact beam. And
finally, they validated the ANSYS data with analytical and experimental data. Ma
[14] analyzed the effects of excitation loads such as gravity, magnitude, and
direction of applied force and crack parameters. Crack parameters like slant crack
8 Effect of Crack Location and Crack Depth … 95

angles, crack depths, and crack locations also influence the system. Finally, non-
linear behavior of the vibrating system investigated by them. Rao [15] extracted
damage-sensitive features using auto-regressive modal and also calculated residual
errors.
Extensive research has been carried out by many researchers on the damage
analysis of structures to estimate various dynamic parameters. But very few worked
on effect of crack or notch on modal parameters. In this paper, the effect of crack
depth and crack position on natural frequencies of fixed beam was studied based on
frequency response functions (FRFs) in virtual instrumentation environment. Mode
shapes of the beam with various crack depths at different crack locations are also
observed.

8.2 Theoretical Vibration Analysis (Modal Analysis)

In this section, analytical model for fixed beam is considered to determine the first
six natural frequencies. The dimensions and properties of the fixed beam mentioned
in Table 8.1.
The partial differential equation of motion of continuous beam according to
Euler-Bernoulli beam theory is

@2y @4y
qA þ EI 4 ¼ 0
@t 2 @x

Applying boundary conditions in the solution of the above partial differential

equation for the fixed beam, then the natural frequency equation is
coskiL.coshkiL = 1; Where ki ¼ ð2i  1Þ p2
From the above equation,
k21 = 22.373, k22 = 61.67, k23 = 120.91, k24 = 199.86, k25 = 298.56, k26 = 416.99,
etc.

ki2 a
xi ¼
L2
sffiffiffiffiffiffi
EI
a¼
qA

Table 8.1 Material Young’s Density Length Width Thickness

properties modulus
E (N/m2) q (kg/m3) L (m) B (m) T (m)
6.89  1010 2700 0.8 0.025 0.01
96 S. S. B. Chinka et al.

sffiffiffiffiffiffiffiffiffiffiffi
EI
xi ¼ ki2
qAL4

xi
Natural frequencyðfi Þ ¼ Q
2

The first six natural frequencies of the fixed beam are calculated and represented
in Table 8.4.

8.3 Finite Element Modal Analysis (FEMA)

ANSYS 18.0 workbench has been used for FEMA of the fixed beam with and
without crack. Fixed beam was drawn and set the material properties as per
specification provided in Table 8.1. Get the natural frequencies of beam for every
50-mm crack location from one end to other end with 20% (2 mm), 40% (4 mm),
and 60% (6 mm) of crack depth to total depth ratio of the beam. The natural fre-
quencies of the fixed beam with and without crack are represented in Tables 8.2 and
8.3 for every 50-mm crack location up to 400-mm crack location. The reason for
representing up to 400-mm crack location is the fixed beam is symmetry about
lateral axis at its midspan.
The frequency changes as the crack depth and crack location are changes. The
frequency shifts of the fixed beam are represented in Fig. 8.1. But at nodal points,
there is no change in frequency as the crack depth changes. The frequency will not
change at two nodal points for first natural frequency and at three nodal points for
second natural frequency. The nodal points are represented with arrowhead for first
two natural frequencies in Fig. 8.1.

Table 8.2 First three natural frequencies of fixed beam with various crack locations and crack
depths (a)
Crack 1st mode 2nd mode 3rd mode
location Crack depth (mm)
(mm)
a=2 a=4 a=6 a=2 a=4 a=6 a=2 a=4 a=6
0 80.82 79.203 75.27 222.49 218.35 209.35 435.42 427.85 412.99
50 81.05 79.714 76.575 223.8 222 218.04 438.7 437.37 434.49
100 81.39 81.042 79.813 224.57 224.57 224.54 439.15 438.59 438.94
150 81.55 81.502 81.33 224.31 223.57 221.12 437.64 432.48 418
200 81.57 81.559 81.497 223.76 221.2 214.53 437.67 432.39 420.2
250 81.49 81.239 80.438 223.48 220.2 211.38 438.96 437.57 434.04
300 81.38 80.786 79.267 223.78 221.48 216.13 439.26 438.93 438.25
350 81.28 80.421 77.939 224.3 223.58 221.54 437.79 433.45 422.09
400 81.25 80.261 77.431 224.57 224.57 224.56 436.92 429.85 411.69
8 Effect of Crack Location and Crack Depth … 97

Table 8.3 Fourth, fifth, and sixth natural frequencies of fixed beam with various crack locations
and crack depths (a)
Crack 4th mode 5th mode 6th mode
location Crack depth (mm)
(mm)
a=2 a=4 a=6 a=2 a=4 a=6 a=2 a=4 a=6
0 718.2 706.56 685.65 1067 1053.9 1027 1489.9 1468.9 1436
50 724.38 724.17 723.13 1069.7 1068.3 1067.1 1501.8 1500.8 1499.2
100 722.89 718.61 703.25 1070.1 1065.2 1033.5 1496.3 1483.4 1444.3
150 721.57 712.88 692.05 1069 1064.5 1054.3 1503.1 1503 1503.3
200 724.24 722.76 722.58 1068.9 1068.2 1067.9 1496 1475.3 1429.3
250 723.84 720.98 720.31 1069.9 1057.2 1017.8 1500.2 1499.5 1498.4
300 720.79 709.84 686.23 1070.1 1069.6 1068.3 1500 1492.7 1478
350 722.23 715.93 700.64 1069 1065 1056.7 1494.6 1475.6 1434.2
400 724.66 724.63 724.72 1068.3 1057.6 1020 1502.9 1502.8 1502.8

8.4 Experimental Modal Analysis

In order to observe the effect of crack on natural frequency of fixed beam, the
required experimental setup was developed and shown in Fig. 8.2. It contains
instruments like data acquisition hardware-DAQ-NI 9234 along with high speed
USB carrier NI 9162, accelerometer PCB 352C33, impact hammer PCB086C03, NI
software with sound and vibration toolbox loaded in personal computer (pc), test
specimens, power supply for the pc and vibration analyzer, connecting cables for
the impact hammer and accelerometer with DAQ. The experimental analysis was
carried out for the fixed beam to find the modal parameters of transverse vibration.
Beam samples are prepared with crack depth sizes 2, 4, and 6 mm for every
100-mm crack locations along the length of the beam. The cracks have been
generated by using 1 mm precise using electron discharge machine (EDM).

8.4.1 Experimental Procedure

1. Prepare the fixed beam: Measure the length on the fixtures that holds the
aluminum beam and leave a margin of that length on the beam as per the
required specifications. Fix the accelerometer to the beam at midspan. Ensure
that face of beam with markings and node numbers up, and fix the beam into the
slot on the fixtures so that a fixed beam is formed.
2. Connect the wires and cables: Make proper connections of accelerometer,
impact hammer, data acquisition hardware, and pc or laptop, as shown in
Fig. 8.2.
98 S. S. B. Chinka et al.

α=2mm 2nd Mode

1st Mode α=4mm 230
α=6mm
82 225

frequency(Hz)
frequency(Hz)

80 220

78 215

76 210

74 205
0 200 400 600 800 0 200 400 600 800
crack location(mm) crack location(mm)

450 3rd Mode 4th Mode

730
440 720
frequency(Hz)

frequency(Hz)

710
430
700
420 690
410 680
0 200 400 600 800 0 200 400 600 800
crack location(mm) crack location(mm)

5th Mode 6th Mode

1080 1520
1070
1500
frequency(Hz)

frequency(Hz)

1060
1050 1480
1040 1460
1030
1020 1440
1010 1420
0 200 400 600 800 0 200 400 600 800
crack location(mm) crack location(mm)

Fig. 8.1 First six natural frequency shifts of the fixed beam with various crack locations and crack
depths (a)
8 Effect of Crack Location and Crack Depth … 99

Fig. 8.2 Experimental setup for modal analysis

3. Software setup: Open the NI LabVIEW software of vibration analysis and

experimental modal analysis installed on the pc/laptop. Provide the necessary
inputs and make necessary settings in the software. Ensure that there is proper
supply and communication between the devices connected.
4. Testing: Hit the hammer on the nodes marked on the beam one by one. Impacts
will be given on nodes and the signals are received from the impact hammer and
the accelerometer through data acquisition hardware. The response has been
taken in time response and frequency response shown in Fig. 8.3.
During modal analysis of the beam, the beam was mounted in benchwise and the
accelerometer is glued at midspan of the beam. An impulse loading was applied at
various grid points of the beam. The response generated by this impulse loading
was sensed through sensor and after processing this signal in LAB-View software,
the results were analyzed. The uncracked and cracked beams were tested using

3 25 Frequency resopnse
Time response
2 20
1
Response

Response

15
0
10
-1
-2 5

-3 0
0 0.01 0.02 0.03 0.04 0.05 0 300 600 900 1200 1500
Time Frequency

Fig. 8.3 Time response and frequency response of fixed beam with crack depth of 2 mm at one
fixed support
100 S. S. B. Chinka et al.

Fig. 8.4 Frequency response of the fixed beam at crack location 100 mm and crack depth 4 mm

Table 8.4 First six natural frequencies of fixed beam without damage
Type of Natural frequency (Hz)
analysis 1st 2nd 3rd 4th 5th 6th
mode mode mode mode mode mode
Theoretical 81.192 223.8 438.79 725.3 1083.5 1513.3
FEMA 81.583 224.61 439.62 725.26 1070.2 1505.3
Experimental 78.5 219.2 430.9 716.2 1058.3 1491.7

experimental modal, and frequencies were extracted from frequency response

spectrum by peak searching method. The frequency response function (FRF) of the
beam at crack location 100 mm and crack depth 4 mm represented in Fig. 8.4. The
natural frequencies of the intact fixed beam estimated using theoretical, FEMA and
experimental modal analysis and displayed in Table 8.4.

8.5 Results and Discussion

The natural frequency changes majorly at large crack depth for various crack
locations. And, there is no change in natural frequency at nodal points even though
beam has crack. The first six natural frequencies of intact fixed beam using FEMA
and experimental analysis are closure to theoretical frequencies and represented in
Table 8.4.
8 Effect of Crack Location and Crack Depth … 101

Table 8.5 Comparison of frequencies with FEMA and experimental analysis

Crack Type 1st mode 2nd mode 3rd mode
location analysis Crack depth (mm)
(mm)
a=2 a=4 a=6 a=2 a=4 a=6 a=2 a=4 a=6
0 or 800 FEMA 80.81 79.20 75.272 222.49 218.35 209.35 435.42 427.85 412.99
Exp 77.92 77.23 73.093 217.25 216.01 206.9 428.25 421.43 408.96
Error 3.58 2.49 2.89 2.36 1.07 1.17 1.65 1.50 0.98
100 or FEMA 81.39 81.04 79.81 224.57 224.57 224.54 439.15 438.59 438.94
700 Exp 78.28 78.01 77.36 218.2 218.4 218.3 428.02 428.15 428.8
Error 3.82 3.74 3.06 2.84 2.75 2.78 2.53 2.38 2.31
200 or FEMA 81.57 81.55 81.49 223.76 221.2 214.53 437.67 432.39 420.2
600 Exp 77.5 77.6 77.36 217.56 214.8 209.8 421.56 419.23 411.32
Error 5.00 4.85 5.08 2.77 2.89 2.20 3.68 3.04 2.11
300 or FEMA 81.38 80.78 79.26 223.78 221.48 216.13 439.26 438.93 438.25
500 Exp 77.23 77.12 76.13 218.23 216.8 213.42 420.2 420.2 420.5
Error 5.10 4.54 3.96 2.48 2.11 1.25 4.34 4.27 4.05
400 FEMA 81.24 80.26 77.43 224.57 224.57 224.56 436.92 429.85 411.69
midspan Exp 78.31 77.5 75.09 215.52 215.5 214.32 427.25 418.18 400.12
Error 3.61 3.44 3.02 4.03 4.04 4.56 2.21 2.71 2.81

From experimental modal analysis, the natural frequencies are exactly identified
by peak searching method and the first natural frequency values vary from 73 to
78 Hz at different crack locations and crack depth of 6 mm. Experimental values
are validated with FEMA values and represented in Table 8.5, for first three natural
frequencies at various crack locations and crack depths.
The effect of crack location and crack depth on natural frequency of fixed beam
and the relation between these three parameters shown in Fig. 8.5. The natural
frequency changes as crack location changes, and it decreases largely if crack depth
increases. First three natural frequencies decrease as crack depth increases from 0 to
6 mm are represented experimentally and FEMA analysis for fixed beam has crack
at one fixed end shown in Fig. 8.6.

Fig. 8.5 Comparison of

FEMA and experimental 85
frequency (Hz)

values of first natural

80
frequencies
crack location (mm)

75
70 400
65 200
FEMA Exp 0
FEMA Exp
2 FEMA Exp
4
6
crack depth (mm)
102 S. S. B. Chinka et al.

1st natural frequency FEMA 2nd natural frequency FEMA

Exp 230 Exp
84
225

frequency (Hz)
82
frequency (Hz)

80 220
78
215
76
74 210
72 205
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7
crack depth(mm) crack depth(mm)
FEMA
3rd natural frequency Exp
445
440
frequency (Hz)

435
430
425
420
415
410
405
0 1 2 3 4 5 6 7
crack depth(mm)

Fig. 8.6 Comparison of FEMA and experimental natural frequencies of fixed beam has crack at
one fixed end with respect to various crack depths

8.6 Conclusions

As increasing the crack depth, the stiffness of beam decreases and this causes a
decrease in the natural frequency of the beam. In free vibrations, the frequency of a
beam with a crack is lower than that of the beam without a crack. Mainly observed
that, the crack depth and crack position are influence the dynamic behavior of fixed
beam in terms of natural frequencies and mode shapes. At nodal points, there is no
change in frequency of the beam even it has crack. From the numerical and
experimental investigations, it is observed that natural frequency of vibrating
structure is susceptible under the influence of crack within 1–5% deviation.
 8 Effect of Crack Location and Crack Depth … 103

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