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Vibration and Modal Analysis Basics
Vibration and Modal Analysis Basics
Analysis Basics
Joseph Matalevich
USPAS Course:
SRF Technology: Practices and Hands-On Measurements
January 2015
J. Matalevich
Vibration and Modal Analysis Basics
April 1940
November 1940
Vibrations
Undamped Damped
• Idealized • Real Structures
• No friction • Energy is dissipated
• No energy dissipation • Viscous Damping (linear models)
• Perpetual Motion – Damping Force proportional to velocity
Newton
Equation of Motion
𝑑2𝑥
𝑚 2 = −k𝑥
𝑑𝑡
Solution
𝑣0
𝑥 𝑡 = 𝑥0 cos 𝜔𝑡 + sin 𝜔𝑡
𝜔
𝑥 𝑡 = 𝐴 cos 𝜔𝑡 − 𝜙
𝑣0 2 𝑣0
𝐴=
2
𝑥0 + 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
J. Matalevich USPAS SRF Course Jan. 2015 8
SDOF System Model
𝑓 𝑡 =0
Damped Free Vibrations
𝑑2𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 0
𝑑𝑡 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 = ± −𝑚
2𝑚 2𝑚
3 Distinct Solution Sets
𝑐 𝑐 Correspond to the Damping Ratio
𝜁= = Damping Ratio 1. Underdamped 𝜁<1
2𝑚𝜔 𝑐𝑐𝑟𝑖𝑡𝑖𝑐𝑎𝑙
2. Overdamped 𝜁>1
3. Critically Damped 𝜁 = 1
r1, r2 = -ζ𝜔 ± 𝜔 𝜁 2 − 1
𝑣0+𝜁𝜔𝑥0
𝑥 𝑡 = 𝑒 − 𝜁𝜔𝑡 2 sin 𝜔𝑡 1 − 𝜁 2 + 𝑥 cos 𝜔𝑡 1 − 𝜁2
0
𝜔 1−𝜁
−𝜁+ 𝜁 2 −1 𝜔𝑡 −𝜁− 𝜁 2 −1 𝜔𝑡
Overdamped 𝜁>1 𝑥 𝑡 = 𝐴𝑒 + 𝐵𝑒
𝑣0 + 𝜁 + 𝜁 2 − 1 𝜔𝑥0 −𝑣0 − 𝜁− 𝜁 2 −1 𝜔𝑥0
𝐴= B=
2𝜔 𝜁 2 − 1 2𝜔 𝜁 2 −1
𝑑2𝑥 𝑑𝑥
𝑚 2 +𝑐 + 𝑘𝑥 = 𝐹0 sin 𝜔𝑓 𝑡
𝑑𝑡 𝑑𝑡
𝑥𝑝 𝑡 = 𝐷 sin 𝜔𝑡 − 𝜙 𝑐𝜔𝑓
𝜙= tan−1
𝑘 − 𝑚𝜔𝑓 2
𝐷 1
𝛽𝑑 = =
Damped Magnification Factor 𝐹0
𝜔𝑓 2 2 𝜔𝑓 2
𝑘 1− 𝜔 + 2𝜁 𝜔
𝐹𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑 𝜔𝑓 2
𝑇𝑅 = = 𝛽𝑑 1 + 2𝜁
𝐹𝑎𝑝𝑝𝑙𝑖𝑒𝑑 𝜔
𝜷𝒅
Amplification Ratio
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑡𝑟𝑎𝑛𝑠𝑚𝑖𝑡𝑡𝑒𝑑
𝐴𝑅 = = TR
𝑑𝑖𝑠𝑝𝑙𝑎𝑐𝑒𝑚𝑒𝑛𝑡𝑎𝑝𝑝𝑙𝑖𝑒𝑑
𝝎𝒇
Frequency Ratio
𝝎
• Matrix Formulation
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
J. Matalevich USPAS SRF Course Jan. 2015 14
MDOF System
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
An eigensolution yields eigenvalues (frequency) and
eigenvectors (mode shapes) for each mode of the system.
𝑀 𝑝 + 𝐶 𝑝 + 𝐾 𝑝 = 𝑈 𝑇 𝐹
𝑀 𝑥 + 𝐶 𝑥 + 𝐾 𝑥 = 𝐹
1. Natural Frequency
2. Damping
3. Mode Shape
𝐴𝑛 sin 2𝜋𝑓𝑛 𝑡 + 𝜙𝑛
𝑛=1
5 Hz 12 Hz
32 Hz 44 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)
1st Mode
Magnitude Real
2nd Mode
Phase Imaginary
Images from Peter Avitabile [2]
Imaginary
Images from Peter Avitabile [2]
2. Peter Avitabile
“Experimental Modal Analysis”, Modal Analysis and Controls Laboratory University of
Massachusetts Lowell