Damping

Code_Aster, Salome-Meca course material

GNU FDL licence (http://www.gnu.org/copyleft/fdl.html)
Outline

Damping in dynamic analysis

Types of modeling
Getting started with Code_Aster for dynamic analysis

Modal calculation with damping

Solving the quadratic problem : principles
Methods and algorithms implemented in Code_Aster

2 - Code_Aster and Salome-Meca course material GNU FDL Licence

Damping : generalities
Damping : energy dissipation within the different materials of the
structure, in the connections between structural elements, and
with the surrounding medium

Two simple models in code_aster

viscous proportional damping (Rayleigh)
Transient and harmonic analyses
hysteretic damping (structural damping)
Harmonic analysis only

Other damping models (not considered here)

Coulomb damping (contact friction)
Added damping due to fluids
Application
On the whole structure
On localised parts of the structure
3 - Code_Aster and Salome-Meca course material GNU FDL Licence
Damping : theoretical issues

Two simple models in code_aster

viscous damping : the dissipated energy is proportional to the speed of
movement
hysteretic damping : the dissipated energy is proportional to the
displacement & such that the damping force is of opposite sign to the speed

Variables to characterize damping

Loss rate : Ed par cycle Adimensional quantity
η=
2πE p max
Ed par cycle: dissipated energy during one cycle
Ep: maximum potential energy

Reduced damping :  =
2

4 - Code_Aster and Salome-Meca course material GNU FDL Licence

Viscous damping : modelling principles
Viscous damping : time or frequency definition

m u + c u + k u = f

Rayleigh damping

C= αK + βM 

Defined in the material properties DEFI_MATERIAU
Or easy to implement with the command COMB_MATR_ASSE
Useful for validating algorithms
Successfully introduced for transient analysis by modal recombination
Does not represent heterogeneity of the structure relative to the damping
Depends heavily on the identification of the coefficients  , 
Non physical model for dissipation, but required for some regulatory studies

5 - Code_Aster and Salome-Meca course material GNU FDL Licence

Viscous damping : identification of coefficients
Damping proportional to inertia characteristics

C = βM 
Damping proportional to stiffness characteristics

C= αK 
Full proportional damping

C= αK + βM 

6 - Code_Aster and Salome-Meca course material GNU FDL Licence

Viscous damping : identification of coefficients
Damping proportional inertia characteristics  = 0 ,  = i
C = βM 

Widely used for direct transient resolution

 can be identified with the experimental reduced damping  i of the
normal mode which contributes most to the response
Other eigenmodes:

Higher modes are very little damped

Low frequency modes are very damped

7 - Code_Aster and Salome-Meca course material GNU FDL Licence

Viscous damping : identification of coefficients
Damping proportional to stiffness characteristics  = i ,  = 0

C= αK 

Widely used for direct transient resolution

 can be identified with the experimental reduced damping  i of the
normal mode which contributes most to the response
Other eigenmodes:

Higher modes are very damped

Low frequency modes are very little damped
8 - Code_Aster and Salome-Meca course material GNU FDL Licence
Viscous damping : identification of coefficients
Full proportional damping  = i ,  = i

C= αK + βM 

 and  are identified from two independent
modes, using 2 methods:
1. Mean value  between w1 and w2
2. Enforcing  value at w1 and w2:

2
with eigenfrequency f=
w
Other eigenmodes:

 
In the interval wi , w j , the variation of the reduced damping remains low
 
Outside the interval wi , w j , modes are over-damped

9 - Code_Aster and Salome-Meca course material GNU FDL Licence

Viscous damping
Global damping
Coefficients are defined with the material properties in DEFI_MATERIAU
AMOR_ALPHA and AMOR_BETA
Use in harmonic and transient analysis, physical or reduced bases
DYNA_VIBRA with the keyword MATR_AMOR

Modal reduced damping

DYNA_VIBRA(BASE_CALCUL=‘GENE’ with the keyword AMOR_REDUIT
COMB_SISM_MODAL with the keyword AMOR_REDUIT
Localized or non-proportional damping
Discrete dampers are introduced with AFFE_CARA_ELEM
celem i = aelem i

Material damping coefficients defined in DEFI_MATERIAU with AMOR_ALPHA

and AMOR_BETA affected material by material in the model
celem i = αi kelem i + βi melem i

10 - Code_Aster and Salome-Meca course material GNU FDL Licence

Hysteretic (or structural) damping : principles

Valid only in frequential approach

− w 2 m u + k (1 + j )u = f K(1+j)
 is a constant for all eigenmodes m
OK with design rules
Representation of the dissipation suitable for metallic f u
materials
The coefficient  is determined from a test with cyclic
harmonic loading
To be used only for harmonic responses of structures

11 - Code_Aster and Salome-Meca course material GNU FDL Licence

Hysteretic damping
Used for harmonic analysis only
DYNA_VIBRA(TYPE_CALCUL=‘HARM’) keyword MATR_RIGI
Global or homogeneous damping, identical on the whole model
Kc = (1+ jη)K 
The damping coefficient is defined with DEFI_MATERIAU, keyword AMOR_HYST
The complex global matrix is built within ASSEMBLAGE
Localized or non-proportional damping
Discrete stiffness elements are defined with AFFE_CARA_ELEM, option AMOR_HYST
kc = (1+ jηdiscret i ) k discret i
discret i

Material damping is defined with DEFI_MATERIAU, keyword AMOR_HYST

kc = (1+ jηelem i ) kelem i
elem i
Transient analysis
calculation of eigenmodes and damping coefficient ( quadratic CALC_MODES)
and resolution on a real modal basis with identified modal damping coefficients
(DYNA_VIBRA(TYPE_CALCUL=‘TRANS’,BASE_CALCUL=’GENE’)

12 - Code_Aster and Salome-Meca course material GNU FDL Licence

Réponse dynamique des systèmes visqueux et
hystérétiques

Amortissement visqueux Amortissement hystérétique

13 - Code_Aster and Salome-Meca course material GNU FDL Licence

Réponse dynamique des systèmes visqueux et
hystérétiques
(soumis à régime permanent harmonique)

14 - Code_Aster and Salome-Meca course material GNU FDL Licence

Solving the quadratic problem

Initial quadratic problem : finding l & F such as

(K+ l M+ lC) F = 0

2

Linear form :
  − M 0   C K   l F 
− l  +     =0
  F
 0 K 
   K 0
  

Mquad K quad
Usual algorithm for normal modes

Meaning of eigenvalues
*T *T
 Ci  K i = 2
li = iwi  jwi 1 −  i
2 i
*T
= 2 Re l i i
*T
li
i M i i M i
wi is the pulsation i is the damping of mode i

15 - Code_Aster and Salome-Meca course material GNU FDL Licence

Some theory

Spectral transform => different strategies

Shift & Invert with complex shift s

K  u = l M 
quad quad 
u  (K quad − sM quad ) M u =

1
l
−s
−1
u 
A



1 1 1 
For high damping : real arithmetic Re (A )   =  + 
2  l −s l −s 
1  1 1 
For low damping : imaginary arithmetic Im(A )   =  − 
2 j  l −s l −s 

More generally : complex approach 1

A =
l −s

16 - Code_Aster and Salome-Meca course material GNU FDL Licence

In Code_Aster
Power iteration methods (inverse methods) in CALC_MODES
Only for a couple of frequencies
Subspace iteration methods in CALC_MODES
METHODE=‘TRI_DIAG’
Real approach
shift = 0 => OPTION = ‘PLUS_PETITE’ or ‘CENTRE’
Non-zero shift => OPTION=‘CENTRE’
Imaginary approach
Non-zero shift => OPTION=‘CENTRE’
METHODE=‘SORENSEN’
Real approach
shift = 0 => OPTION = ‘PLUS_PETITE’ or ‘CENTRE’
Non-zero shift => OPTION=‘CENTRE’
Imaginary approach
Non-zero shift => OPTION=‘CENTRE’
Complex approach
Non-zero shift => OPTION=‘CENTRE’

Decomposition method in the complex space METHOD=‘QZ’

Very robust
Only for small problems : computes all the modes !

Nota Bene : No OPTION=‘BANDE’ and no verifications on the number

of eigenvalues
17 - Code_Aster and Salome-Meca course material GNU FDL Licence
In three steps with modal reduction

(
Problem to solve : (lc,Fc) such as K  + lc M  + lc C F c = 0
2
)
First step : normal modes without damping
(l,F) such as
(K  + l M) F = 0
2

Second step : modal reduction by projection

K g = Ft KF M g = Ft MF Cg = Ft CF
Third step : quadratic problem on a reduced basis
 − M g 0  Cg K g   lc F g 
 − lc   +    =0
 
0   Fg 
  0 K g  K g

Only for low damping

Far more robust & effective method
use METHOD=‘QZ’ for the third step
Always use PROFIL=‘PLEIN’ for numbering (and assembly)
Default option in NUME_DDL and ASSEMBLAGE commands

18 - Code_Aster and Salome-Meca course material GNU FDL Licence

For more information

http://www.code-aster.org

Documentations
R5.05.04: Modeling of damping in linear dynamics
U2.06.03: Modeling the mechanical damping

19 - Code_Aster and Salome-Meca course material GNU FDL Licence

 End of presentation

Is something missing or unclear in this document?

Or feeling happy to have read such a clear tutorial?

Please, we welcome any feedbacks about Code_Aster training materials.

Do not hesitate to share with us your comments on the Code_Aster forum
dedicated thread.

20 - Code_Aster and Salome-Meca course material GNU FDL Licence