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Introduction to Dynamics
Introduction
Welcome! Training Manual
DYNAMICS 7.0
• Welcome to the Dynamics Training Course!
DYNAMICS 7.0
By the end of this course, you will be able to use ANSYS to:
DYNAMICS 7.0
• The Training Manual you have is an exact copy of the slides.
• Copies of the workshop files are available (upon request) from the
instructor.
DYNAMICS 7.0
A. Define dynamic analysis and its purpose.
DYNAMICS 7.0
What is dynamic analysis?
DYNAMICS 7.0
• A static analysis might ensure that
the design will withstand steady-
state loading conditions, but it may
not be sufficient, especially if the
load varies with time.
DYNAMICS 7.0
• A dynamic analysis usually takes into account one or more of the
following:
– Vibrations - due to rotating machinery, for example.
– Impact - car crash, hammer blow.
– Alternating forces - crank shafts, other rotating machinery.
– Seismic loads - earthquake, blast.
– Random vibrations - rocket launch, road transport.
DYNAMICS 7.0
Consider the following examples:
– An automobile tailpipe assembly could shake apart if its natural
frequency matched that of the engine. How can you avoid this?
– A turbine blade under stress (centrifugal forces) shows different dynamic
behavior. How can you account for it?
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– An automobile fender should be able to withstand low-speed impact,
but deform under higher-speed impact.
– A tennis racket frame should be designed to resist the impact of a
tennis ball and yet flex somewhat.
DYNAMICS 7.0
– Rotating machines exert steady,
alternating forces on bearings and
support structures. These forces
cause different deflections and
stresses depending on the speed of
rotation.
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– Building frames and bridge structures in an
earthquake prone region should be designed to
withstand earthquakes.
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– Spacecraft and aircraft components must withstand random loading
of varying frequencies for a sustained time period.
Courtesy:
NASA
DYNAMICS 7.0
Topics discussed:
• Solution methods
• Modeling considerations
• Mass matrix
• Damping
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• The general equation of motion is as follows.
M u C u K u F t
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How do we solve the general equation of motion?
Mode superposition
• Covered in Module 6.
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Direct integration
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Implicit Method Explicit Method
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Geometry and Mesh:
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Material properties:
• For density, specify mass density instead of weight density when using
British units:
– [Mass density] = [weight density]/[g] = [lbf/in3] / [in/sec2] = [lbf-sec2/in4]
– Density of steel = 0.283/386 = 7.3 x 10-4 lbf-sec 2/in4
DYNAMICS 7.0
Nonlinearities (large deflections, contact, plasticity, etc.):
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• Mass matrix [M] is required for a dynamic analysis and is
calculated for each element from its density.
UX 1 x 0 0 x 0 0 x 0 0 0 0 0
UY1 0 x x 0 x x 0 x 0 0 0 0
ROTZ 1 0
x x 0 x x
0
BEAM3 0 x 0 0 0
UX 2 x 0 0 x 0 0 1 2 0 0 0 x 0 0
UY2 0 x x 0 x x 0 0 0 0 x 0
ROTZ 2 0 x x 0 x x 0
0 0 0 0 x
Consistent [M] Lumped [M]
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Consistent mass matrix
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Which mass matrix should you use?
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What is damping?
• The energy dissipation mechanism that causes
vibrations to diminish over time and eventually
stop. Dampening of
• Amount of damping mainly depends on the a Response
material, velocity of motion, and frequency of
vibration.
• Can be classified as:
– Viscous damping
– Hysteresis or solid damping
– Coulomb or dry-friction damping
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Viscous damping
• Occurs when a body moves through a fluid.
• Should be considered in a dynamic analysis since the damping force
is proportional to velocity.
– The proportionality constant c is called the damping constant.
• Usually quantified as damping ratio (ratio of damping constant c to
critical damping constant cc*).
• Critical damping is defined as the threshold between oscillatory and
non-oscillatory behavior, where damping ratio = 1.0.
DYNAMICS 7.0
Hysteresis or solid damping
• Inherently present in a material.
• Should be considered in a dynamic analysis.
• Not well understood and therefore difficult to quantify.
Coulomb or dry-friction damping
• Occurs when a body slides on a dry surface.
• Damping force is proportional to the force normal to the surface.
– Proportionality constant is the coefficient of friction.
• Generally not considered in a dynamic analysis.
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ANSYS allows all three forms of damping.
• Viscous damping can be included by specifying the damping ratio
, Rayleigh damping constant (discussed later), or by defining
elements with damping matrices.
• Hysteresis or solid damping can be included by specifying
another Rayleigh damping constant, (discussed later).
• Coulomb damping can be included by defining contact surface
elements and gap elements with friction capability (not discussed
in this seminar; see the ANSYS Structural Analysis Guide for
information).
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• In ANSYS damping is defined as
NMAT NEL
[C] [M ] ( c )[K ] [K ] C
j1
j j
k 1
k [C ]
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• Damping is specified in various forms:
– Viscous damping factor or damping ratio
– Quality factor or simply Q
– Loss factor or Structural damping factor
– Log decrement
– Spectral damping factor D
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• Conversion between various damping specifications:
Loss Factor
Q D/(2 U) 1/A
Log
Decrement Q D/(2U)
Quality
Factor Q U/D
Spectral
Damping U U 2U U/Q D U
Amplification
Factor Q U/D
DYNAMICS 7.0
Alpha Damping
• Also known as mass damping.
Effect of Alpha Damping on Damping
• Specified only if viscous damping is Ratio (Beta Damping Ignored)
dominant, such as in underwater
applications, shock absorbers, or
objects facing wind resistance.
• If beta damping is ignored, can be
Damping Ratio
3
calculated from a known value of
(damping ratio) and a known 2
frequency : 1
= 2 0.5
Frequency
• Only one value of alpha is allowed, so
pick the most dominant response
frequency to calculate .
• Input using the ALPHAD command.
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Dynamics - Basic Concepts & Terminology
… Damping Training Manual
DYNAMICS 7.0
Beta Damping
• Also known as structural or stiffness
damping.
• Effect of Beta Damping on Damping
Inherent property of most materials.
Ratio (Alpha Damping Ignored)
• Specified per material or as a single,
global value. 0.004
Damping Ratio
(damping ratio) and a known frequency
: 0.002
= 2/
0.001
• Pick the most dominant response
frequency to calculate . Frequency
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Rayleigh damping constants and
• Used as multipliers of [M] and [K] to calculate [C]:
[C] = [M] + [K]
/2 + /2 =
where is the frequency, and is the damping ratio.
• Needed in situations where damping ratio cannot be specified.
• Alpha is the viscous damping component, and Beta is the
hysteresis (a.k.a. solid or stiffness) damping component.
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To specify both and damping:
Damping Ratio
damping ratio over the frequency 1 2
range 1 to 2. This gives two
simultaneous equations from which
you can solve for and .
= /21 + 1/2 Frequency
= /22 + 2/2
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• The Variable Viewer is a
specialized tool allowing one to
postprocess results with respect
to time or frequency.
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1 Add variable button
1 2 3 4 5 6 7 8 9 10 2 Delete variable button
11 3 Graph variable button
4 List variable button
12 5 Properties button
6 Import data button
7 Export data button
8 Export data type
9 Clear Time-History Data
13 14 10 Refresh Time-History Data
15 16 11 Real/Imaginary Components
12 Variable list
17 Calculator
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Dynamics - PostProcessing
…Variable Viewer Training Manual
DYNAMICS 7.0
k = 36kN/m
100kg
x
k = 36kN/m
25kg
y
F
4000 N , t 0
F
0, t 0
DYNAMICS 7.0
• In this workshop, you will run a
sample dynamic analysis of the
“Galloping Gertie” (Tacoma
Failure of Tacoma Narrows Bridge
Narrows bridge).
• Follow the instructions in your
Dynamics Workshop supplement
(
Introductory Dynamics - Gallopin
g
Gertie, Page W-5 ).
• The idea is to introduce you to
the steps involved in a typical
dynamic analysis. Details of
what each step means will be
covered in the rest of this
seminar.