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**What's the difference between a complex mode and real normal mode? Copyright 2002
**

SEM Experimental Techniques - April 2002 Page 1 Pete Avitabile

MODAL SPACE - IN OUR OWN LITTLE WORLD by Pete Avitabile

What's the difference

between a complex mode

and a real normal mode ?

There's a lot to explain

simple examples

but let's start with some

Illustration by Mike Avitabile

What's the difference between a complex mode and a real normal mode?

There's a lot to explain but let's start with some simple examples.

Now that's a question that comes up often and gets many people

confused. So let's discuss this in a little detail to explain the

differences. Unfortunately, we are going to have to include a

little math and some theory here to help explain this.

Let's start with an undamped set of equations and proceed on to

a damped case with proportional and then non-proportional

damping. It is here where the differences will become apparent.

A simple example will be used to illustrate some points here.

The equations describing a general system can be written as

| |{ } | |{ } | |{ } { } F x K x C x M = + + & & &

where [M], [C], [K] are the mass, damping and stiffness

matrices respectively, along with the corresponding

acceleration, velocity, displacement and force.

The transformation to modal space will yield

{ } { } { } | | { }

\

\

&&

\

\

&

\

\

M p C p K p U F

T

¸

(

¸

(

(

(

+

¸

(

¸

(

(

(

+

¸

(

¸

(

(

(

=

with diagonal matrices of modal mass, modal stiffness and,

under certain conditions, modal damping. The mode shapes

will uncouple the mass and stiffness matrices and for certain

specific types of damping, these mode shapes will also uncouple

the damping matrix. In order to understand some of these

conditions, a simple example will be shown.

For the example here, the matrices will be defined with

| | | |

(

¸

(

¸

−

−

=

(

¸

(

¸

=

1 1

1 2

K ;

3 0

0 2

M

| | | | | |

(

¸

(

¸

−

−

=

(

¸

(

¸

−

−

=

(

¸

(

¸

=

1 . 0 1 . 0

1 . 0 4 . 0

C ;

4 . 0 1 . 0

1 . 0 4 . 0

C ;

0 0

0 0

C

N P 0

First, the undamped case is considered. The mass, [M], and

stiffness, [K], will be used with the [C

0

] matrix. The

eigensolution of this set of matrices will yield frequencies,

residues and shapes as:

)

`

¹

¹

´

¦

=

)

`

¹

¹

´

¦

=

)

`

¹

¹

´

¦

+

+

= + = λ

72 . 1

1

4232 . 0

2459 . 0

u ;

j 2116 . 0 0

j 1230 . 0 0

a ; j 3737 . 0 0

1 1 1

)

`

¹

¹

´

¦

−

=

)

`

¹

¹

´

¦

−

=

)

`

¹

¹

´

¦

−

+

= + = λ

387 . 0

1

1447 . 0

3735 . 0

u ;

j 0724 . 0 0

j 1868 . 0 0

a ; j 0926 . 1 0

2 2 2

Notice that the mode shape is a sign valued (+ or -) real number.

The first mode has both DOFs with the same sign indicating

that both of these DOFs are in phase with each other differing

only in magnitude. The second mode has both DOF with

differing signs indicating that both DOFs are out of phase with

each other and have differing magnitudes.

Now let's consider the second case with damping which is

proportional to either the mass and/or stiffness of the system.

The damping here is [C

P

] to be used with the [M] and [K]. The

eigensolution of this set of matrices will yield frequencies,

residues and shapes as:

)

`

¹

¹

´

¦

=

)

`

¹

¹

´

¦

=

)

`

¹

¹

´

¦

+

+

= + − = λ

72 . 1

1

4282 . 0

2488 . 0

u

j 2141 . 0 0

j 1244 . 0 0

a j 3693 . 0 0579 . 0

1 1 1

)

`

¹

¹

´

¦

−

=

)

`

¹

¹

´

¦

−

=

)

`

¹

¹

´

¦

−

+

= + − = λ

387 . 0

1

1455 . 0

3754 . 0

u

j 0727 . 0 0

j 1877 . 0 0

a j 0871 . 1 1097 . 0

2 2 2

_________________________________________________________________________________________________________________________

What's the difference between a complex mode and real normal mode? Copyright 2002

SEM Experimental Techniques - April 2002 Page 2 Pete Avitabile

Notice that the eigensolution yields the same mode shapes as

the undamped case. This is due to the fact that the damping is

proportional to the mass and /or stiffness of the system. This

results in modes that are referred to as "real normal modes". So

it is clear that the mode shapes for the undamped and

proportionally damped cases are exactly the same.

Now let's consider the third case with damping which is not

proportional to either the mass and/or stiffness of the system.

The damping here is [C

N

] to be used with the [M] and [K]. The

eigensolution of this set of matrices will yield frequencies,

residues and shapes as:

)

`

¹

¹

´

¦

+

+

=

)

`

¹

¹

´

¦

+ −

+ −

= + − = λ

j 0095 . 0 4232 . 0

j 0143 . 0 2456 . 0

u

j 2116 . 0 0048 . 0

j 1288 . 0 0071 . 0

a j 3736 . 0 0162 . 0

1 1 1

)

`

¹

¹

´

¦

+

+ −

=

)

`

¹

¹

´

¦

− −

+ −

= + − = λ

j 0096 . 0 1451 . 0

j 0142 . 0 3771 . 0

u

j 0726 . 0 0048 . 0

j 1885 . 0 0071 . 0

a j 0872 . 1 1005 . 0

2 2 2

Now for this case, the mode shapes are seen to be different than

the previous cases. First of all, the mode shapes are complex

valued. Upon closer inspection of these shapes, it can be seen

that the relative phasing between each DOF for each of the

modes is NOT either totally in-phase or out-of-phase. This

results in modes which are described as "complex modes". This

is very different from the two previous cases. This will

typically occur when the damping for the system is not related

to the mass and/or stiffness of the system and is referred to as

non-proportional damping. In order to perform the eigen

solution, a slightly different form is used where the equations

are cast in state space in order to perform the solution.

Basically all the equations get more complicated when

considering complex modes. Some simple statements between

a real normal mode and a complex mode can be summarized as

follows:

MAGNITUDE

PHASE

Figure 1a - Proportional (Real Normal) Mode Schematic

MAGNITUDE

PHASE

Figure 1b - Non-Proportional (Complex) Mode Schematic

REAL NORMAL MODE

Some characteristics of a real normal mode are:

1. The mode shape is described by a standing wave which has

the presence of a fixed stationary node point

2. All points pass through their maxima and minima at the same

instant in time

3. All points pass through zero at the same instant in time

4. The mode shape can be described as a sign valued, real

number

5. All points are either totally in-phase or out-of-phase with any

other point on the structure

6. The mode shapes from the undamped case are the same as the

proportionally damped case. These shapes uncouple the

[M],[C], and [K]

COMPLEX MODE

Some characteristics of a complex mode are:

1. The mode shape is described by a traveling wave and appears

to have a moving node point on the structure

2. All points do not pass through their maxima at the same

instant in time - points appear to lag behind other points

3. All points do not pass through zero at the same instant in time

4. The mode shape can not be described by real valued numbers

- the shapes are complex valued

5. The different DOFs will have some general phase relationship

that will not necessarily be in-phase or 180 degrees out-of-

phase with other DOF

6. The mode shapes from the undamped case will not uncouple

the damping matrix

In order to further visualize some of these statements. A simple

mode shape is plotted for a real normal mode and a complex

mode for one of the modes of a cantilever beam. In the real

normal mode (Figure 1a), the relative phasing between the DOF

is either totally in phase (as in the case of the blue and red DOF)

or totally out of phase by 180 degrees (as in the case of the

green DOF relative to the blue and red DOF). A complex mode

does not have this simple phasing relationship and the mode

shape must be described by both amplitude and phase, or real

and imaginary components (Figure 1b). The plots in Figure 1

are intended to visualize this relationship of the phase.

Now it is very important to point out that phasing can be seen in

FRF measurements all the time. Sometimes this may be an

indication of complex mode behavior, but be careful to jump

conclusions. The data acquisition, instrumentation, signal

processing, FFT, and modal parameter estimation are all stages

that can distort a measurement and force a mode shape to

"appear" as if it is complex.

While there is a lot more to it all, I hope this simple explanation

helps to put everything in better perspective. Think about it and

if you have any more questions about modal analysis, just ask

me.

0071 + 0. The mode shapes from the undamped case are the same as the proportionally damped case. All points pass through their maxima and minima at the same instant in time 3. A complex mode does not have this simple phasing relationship and the mode shape must be described by both amplitude and phase.April 2002 Page 2 Copyright 2002 Pete Avitabile . So it is clear that the mode shapes for the undamped and proportionally damped cases are exactly the same. a slightly different form is used where the equations are cast in state space in order to perform the solution. the mode shapes are complex valued.1005 + 1. Now it is very important to point out that phasing can be seen in FRF measurements all the time.1288 j 0.Proportional (Real Normal) Mode Schematic PHASE MAGNITUDE Figure 1b .points appear to lag behind other points 3.4232 + 0.0048 − 0.0142 j λ 2 = −0.0726 j 0. This results in modes that are referred to as "real normal modes". Basically all the equations get more complicated when considering complex modes.the shapes are complex valued 5.0048 + 0. The mode shape can be described as a sign valued. This is very different from the two previous cases. Now for this case. the relative phasing between the DOF is either totally in phase (as in the case of the blue and red DOF) or totally out of phase by 180 degrees (as in the case of the green DOF relative to the blue and red DOF). These shapes uncouple the [M]. The damping here is [CN] to be used with the [M] and [K]. but be careful to jump conclusions. Now let's consider the third case with damping which is not proportional to either the mass and/or stiffness of the system. This is due to the fact that the damping is proportional to the mass and /or stiffness of the system. instrumentation. Sometimes this may be an indication of complex mode behavior. All points do not pass through zero at the same instant in time 4. residues and shapes as: − 0. FFT.0096 j REAL NORMAL MODE Some characteristics of a real normal mode are: 1. real number 5. First of all.3771 + 0.0143 j λ 1 = −0. A simple mode shape is plotted for a real normal mode and a complex mode for one of the modes of a cantilever beam.0071 + 0. The mode shape can not be described by real valued numbers . or real and imaginary components (Figure 1b). While there is a lot more to it all. just ask me.3736 j a 1 = u1 = − 0. This will typically occur when the damping for the system is not related to the mass and/or stiffness of the system and is referred to as non-proportional damping.1451 + 0.Non-Proportional (Complex) Mode Schematic _________________________________________________________________________________________________________________________ What's the difference between a complex mode and real normal mode? SEM Experimental Techniques . Some simple statements between a real normal mode and a complex mode can be summarized as follows: PHASE MAGNITUDE Figure 1a .2456 + 0. The different DOFs will have some general phase relationship that will not necessarily be in-phase or 180 degrees out-ofphase with other DOF 6. Upon closer inspection of these shapes. This results in modes which are described as "complex modes". and modal parameter estimation are all stages that can distort a measurement and force a mode shape to "appear" as if it is complex.0095 j − 0. All points do not pass through their maxima at the same instant in time . and [K] COMPLEX MODE Some characteristics of a complex mode are: 1. In the real normal mode (Figure 1a).Notice that the eigensolution yields the same mode shapes as the undamped case. The mode shapes from the undamped case will not uncouple the damping matrix In order to further visualize some of these statements. The eigensolution of this set of matrices will yield frequencies.0872 j a 2 = u2 = − 0. Think about it and if you have any more questions about modal analysis.2116 j 0.0162 + 0. it can be seen that the relative phasing between each DOF for each of the modes is NOT either totally in-phase or out-of-phase. The mode shape is described by a standing wave which has the presence of a fixed stationary node point 2. The mode shape is described by a traveling wave and appears to have a moving node point on the structure 2. All points are either totally in-phase or out-of-phase with any other point on the structure 6. the mode shapes are seen to be different than the previous cases. The plots in Figure 1 are intended to visualize this relationship of the phase. signal processing.[C]. All points pass through zero at the same instant in time 4. The data acquisition.1885 j − 0. In order to perform the eigen solution. I hope this simple explanation helps to put everything in better perspective.

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