Vibration and Modal

Analysis Basics

J. Matalevich
Vibration and Modal Analysis Basics

April 1940

November 1940

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Vibration and Modal Analysis Basics
Objectives
• Why study vibrations?
– So my machine doesn’t get screwed up
• What is modal analysis?
▪ Analytical Modal Analysis (Calculations)
▪ Experimental Modal Analysis (Measurements)

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Vibration and Modal Analysis Basics
What is vibration?
• Stored energy within a structure is Max Potential Energy Max Kinetic Energy
transformed between potential
(elastic deformation) and kinetic
(moving mass) energy. The
oscillatory motion is vibration.

• The stored energy results in

standing waves (modes) at
inherent natural frequencies.

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 Types of Vibrations

Vibrations

Free (natural) Forced

f(t)= 𝐹0 cosωft

Undamped Damped Undamped Damped

Undamped Damped
• Idealized • Real Structures
• No friction • Energy is dissipated
• No energy dissipation • Viscous Damping (linear models)
• Perpetual Motion – Damping Force proportional to velocity

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 SDOF System Model
Single Degree of Freedom (SDOF) Mechanical System Model

Newton

Equation of Motion

Acceleration Velocity Displacement

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 SDOF System Model
➢ Undamped Free Vibrations 𝑐=0 𝑓 𝑡 =0

𝑑2𝑥
𝑚 = −k𝑥
𝑑𝑡2

➢ Solution
𝑣0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔
𝑥 𝑡 = 𝐴 cos 𝜔𝑡 − 𝜙

𝑣0 2 𝑣0
𝐴= 𝑥02 + 𝜙= tan−1
𝜔𝑥0 𝜔𝑥0

𝑘 𝑟𝑎𝑑
𝜔= Angular Natural Frequency 𝑠𝑒𝑐
𝑚 The initial conditions (displacement, velocity) do not
affect the natural frequency. (Just the amplitude)
𝜔
𝑓= Linear Natural Frequency ℎ𝑒𝑟𝑡𝑧
2𝜋
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 SDOF System Model
𝑓 𝑡 =0
➢ Damped Free Vibrations
𝑑2𝑥 𝑑𝑥
𝑚 +𝑐 + 𝑘𝑥 = 0
𝑑𝑡2 𝑑𝑡
Linear, 2nd order differential equation
▪ homogeneous

➢ General Solution
x (t) = 𝐴 e𝑟1𝑡 + 𝐵 e𝑟2𝑡 ➢ A & B from initial conditions

−𝑐 𝑐 2 𝑘
r1, r2 = ± −
2𝑚 2𝑚 𝑚
➢ 3 Distinct Solution Sets
𝑐 𝑐 Correspond to the Damping Ratio
𝜁= = 1. Underdamped 𝜁<1
2𝑚𝜔 𝑐 Damping Ratio
𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙
2. Overdamped 𝜁>1
3. Critically Damped 𝜁 = 1
r1, r2 = -ζ𝜔 ± 𝜔 𝜁2 − 1

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 SDOF System Model
𝑓 𝑡 =0
➢ Damped Free Vibrations
▪ Underdamped 𝜁<1

➢𝑥 𝑡 =𝑒 − 𝜁𝜔𝑡 𝑣0+𝜁𝜔𝑥 0 sin 𝜔𝑡 1 − 𝜁2 + 𝑥0 cos 𝜔𝑡 1 − 𝜁2

2
𝜔 1−𝜁

Damped Natural Frequency

𝜔𝑑 = 𝜔 1 − 𝜁 2

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 SDOF System Model
➢ Damped Free Vibrations
▪ Critically Damped 𝜁=1 𝑥 𝑡 = 𝑣0 + 𝜔𝑥0 𝑡𝑒 − 𝜔𝑡 + 𝑥0𝑒 − 𝜔𝑡

−𝜁+ 𝜁 2 −1 𝜔𝑡 −𝜁− 𝜁 2 −1 𝜔𝑡
▪ Overdamped 𝜁>1 𝑥 𝑡 = 𝐴𝑒 + 𝐵𝑒
𝑣0 + 𝜁 + 𝜁2 − 1 𝜔𝑥0 −𝑣0− 𝜁− 𝜁2−1 𝜔𝑥 0
𝐴= B=
2𝜔 𝜁2 − 1 2𝜔 𝜁2−1

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 SDOF System Model
➢ Damped Forced Vibrations
𝑑2𝑥 𝑑𝑥
𝑚 +𝑐 + 𝑘𝑥 = 𝐹0 sin 𝜔𝑓𝑡
𝑑𝑡2 𝑑𝑡

➢ Solution consists of a complementary (transient) and a particular

(steady state) solution
➢ Complementary F0=0; homogeneous DE 𝐹0
𝐷=
2 2
𝑥 𝑡 = 𝑥𝑐 𝑡 + 𝑥 𝑝 𝑡 𝑘 − 𝑚𝜔𝑓 2 + 𝜔𝑓

𝑥𝑝 𝑡 = 𝐷 sin 𝜔𝑡 − 𝜙 𝑐𝜔𝑓
𝜙= tan−1
𝑘 − 𝑚𝜔𝑓2

𝐷 1
𝛽𝑑 = =
Damped Magnification Factor 𝐹0
𝜔𝑓 2 2 𝜔𝑓 2
𝑘 1− + 2𝜁 𝜔
𝜔

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 SDOF System Model
➢ Forced Response of a SDOF System
▪ How much energy is leaving before next force input?

RESONANCE Energy is readily absorbed by a

system near its natural frequency
Transmissibility

𝐹𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑 𝜔𝑓 2
𝑇𝑅 = = 𝛽𝑑 1 + 2𝜁
𝐹𝑎𝑝𝑝𝑙𝑖𝑒𝑑 𝜔

𝜷𝒅
Amplification Ratio

𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑
𝐴𝑅 = = TR
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑎𝑝𝑝𝑙𝑖𝑒𝑑

𝝎𝒇
Frequency Ratio
𝝎

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 MDOF System
Multiple Degree of Freedom (MDOF) Mechanical System Model

• Equation of Motion for 2 DOF system

▪ Model Complex Systems

▪ Approximate Continuous Real Systems

• Matrix Formulation
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
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 MDOF System
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
➢ An eigensolution yields eigenvalues (frequency) and
eigenvectors (mode shapes) for each mode of the system.

➢ Modal Transformation Equation is used to uncouple the

𝑥 = 𝑈 𝑝
set of highly coupled equations

𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹 𝑀 𝑝 + 𝐶 𝑝 + 𝐾 𝑝 = 𝑈 𝑇
𝐹

Independent SDOF Systems

+ + +

1. Natural Frequency
2. Damping
3. Mode Shape

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 Vibration and Fourier Analogy
What is modal analysis?
• The process of characterizing the dynamic response of a
system in terms of its modes of vibration.
• Any periodic function can be represented
as a series of sinusoidal functions.
• Each individual sinusoid is define by its
amplitude, frequency and phase.

• Vibration of a real structure can be represented

as a series of modal contributions.
• Each mode is defined by its natural frequency,
damping, and mode shape.

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 Analytical Modal Analysis
➢ Modal Analysis is the process of characterizing the dynamic
response of a system in terms of its modes of vibration.

➢ Analytical Modal Analysis depends on the generation of the

equations of motion of a system through a finite element model.

▪ 3D model typically generated with CAD tool

▪ Import & mesh with FEA tool

▪ Requires good material property info

▪ Application of accurate boundary

conditions is vitally important for
reasonable results

1000’s of simultaneous equations are common for FEA modal models

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 Analytical Modal Analysis
➢ Output is an ordered list of frequencies and the corresponding mode shapes

5 Hz 12 Hz

32 Hz 44 Hz

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 Analytical Modal Analysis

100 Hz & 142 Hz

275 Hz & 572 Hz

➢ Note,
▪ The individual mode animations do NOT reflect an expected deflection shape

▪ The modes are a function of the inherent mass and stiffness of the structure (no loads are applied)

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 Experimental Modal Analysis
➢ Modal Analysis is the process of characterizing the dynamic
response of a system in terms of its modes of vibration.

➢ Experimental Modal Analysis depends on parameter estimation

techniques to extract modal information from experimental data.

Frequency Response Function (FRF)

▪ Ratio of the output response of a structure to the applied force
▪ The applied force and structure response are measured simultaneously
▪ Time domain data is transformed to frequency domain (FFT)

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 Experimental Modal Analysis
➢ Components used to take measurements Accelerometer - a(t)
▪ Want to accurately measure force and response simultaneously

Shaker - F(t) Hammer - F(t)

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 Experimental Modal Analysis
➢ FRFs are used to generate modal data
▪ Consider Simple 3DOF beam model
▪ 3 possible locations for force application
▪ 3 locations for response measurement
▪ 9 possible FRFs; organized in matrix form
▪ Notation convention
▪ hrow,column houtput,input

Drive Point FRF Cross FRF

-Excitation and measurement at same location -Excitation and measurement at different location

Images from Peter Avitabile [2]

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 Experimental Modal Analysis
➢ Due to the Fast Fourier Transformation the FRFs are complex valued quantities
▪ Magnitude & Phase or Real & Imaginary

➢ FRFs matrix used to determine

1. Natural Frequency
2. Damping
3. Mode Shape

1st Mode
Magnitude Real

2nd Mode
Phase Imaginary
Images from Peter Avitabile [2]

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 Experimental Modal Analysis
➢ FRFs
▪ Reference points cannot be located at the node of a mode.

Imaginary
Images from Peter Avitabile [2]

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 Experimental Modal Analysis
➢ FRFs
▪ Roving Impact ▪ Roving Response
• Force input is moved • Force input is stationary
• Transducer stationary • Transducer is moved

Images from Peter Avitabile [2]

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 Experimental Modal Analysis
➢ Practical Considerations
▪ Theoretically no difference between shaker test and impact (hammer) test
▪ Ideal
• No interaction between applied force and the structure
• Massless transducer
▪ Reality
• Collecting data on the structure plus all the measurement apparatus
• Structure supports
• Mass of transducers
• Stiffening effects of shaker attachment
▪ Impact tests
• Typically faster, lower cost, and easier to implement
• Hammer tip hardness must be matched to the frequency range of modes desired
• Windowing (zoom) required (less accuracy in predicting damping)
▪ Shaker tests
• Better precision, enables frequency sweep (targeted investigations)
• Setup is timely and can be difficult

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