Structural Dynamics

Modal Analysis

Dr. Diego Ledezma

Universidad Autónoma de Nuevo León

Facultad de Ingeniería Mecánica y Eléctrica
 introduction

New trends, stronger, yet flexible and lighter structures. As a result, more
vibration prone.

Modal analysis, combination of theoretical and experimental techniques used to

describe a structure in terms of its natural frequencies, mode shapes and modal
damping.

Identify and study how these properties affect a structure when subjected to a
cyclic force.
 Concepts

Example, point excitation by a constant amplitud and varying frequency

sinuosidad force in a plate, the response is measured in a particular point.

Natural frecuencias within the frequency range are excited. A FFT analysis
reveals the frequency behaviour. The estructure presents a deformation pattern
ant each natural frequency.

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
 Frequency Response Function

Output Input ratio in the Frequency domain.

F(f),X(f) are the Fourier Transform of the input and the output
respectively. H(f) is the Frequency Response Function, a
complex function.
 FRF of a cantilever

Example, 3 DOF modelling of a beam

9 possible measurements: 3 excitation points and 3
response points. Elements of FRF matrix defined as:
Hout(r), in(c)

Point FRF

Transfer FRF

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
FRF of a cantilever
Complex function

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
 Mode shapes
Moe shape approximation using imaginary part of the FRF

Mode 1 from row 2 Mode 2 from row 2

Peak amplitude for different measurement Point 2 is a node. The second mode is not
points. observed in point 2.

Increase point density to avoid spatial alisiasing

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
FRF Matrix

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
 Modal analysis

Physical
coordinates

Modal coordinates

Response
coordinates

Source: Bruel and Kjaer https://www.bksv.com/en

 Modal analysis in practice.

Preparation of structure and mounting.

Excitation of structure
Response measurement
Signal processing.
Post processing, model reconstruction
Model validating and updating
 Structure mounting
The structure should be tested considering the closest condition to the actual
boundary conditions, in situ measurements preferable if possible.
Free-Free Fixed boundaries
The estructure is supported by elastic bands or
springs. Low frequency rigid body modes appear. The 6 rigid body DOF must be cancelled.
These modes should be low enough so the flexible Difficult to achieve in the lab.
modes are not affected.
 Structure excitation

Impact Hammer

•The structure is hit by an instrumented hammer (load cell).

•Broad frequency bands are excited quickly.

Electrodynamic Shaker

•The actuator provides a constant vibration source to the structure.

•Different waveforms and frequency ranges are available.

Operational Modal Analysis

•The normal vibration of the structure during operating conditions is used as excitation.
 Hammer excitation
Advantages Desventajas

•Input force might be different at different

•Quick and easy.
points,
•Relatively cheap.
•Requires practice, i.e. double hits.
•Doesn´t require special installation methods.
•Use of adequate tips.
 Hammer excitation
Use of adequate tip
Important to use the tip covering the frequency range of interest.

Soft tip, not enough frequency range to excite Hard tip, higher frequency bands excited.
all the modes of interest.

Correct tip, modes in the frequency band of interested are excited.

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
 Practical implications with hammer measurements

Source: Mike Brennan, UNESP

 Practical implications with hammer measurements

Source: Mike Brennan, UNESP

 Practical implications with hammer measurements

Source: Mike Brennan, UNESP

 Practical implications with hammer measurements

Source: Mike Brennan, UNESP

 Practical implications with hammer measurements

Source: Mike Brennan, UNESP

Practical implications with hammer measurements

Source: Mike Brennan, UNESP

 Practical implications with hammer measurements

Source: Mike Brennan, UNESP

Source: Mike Brennan, UNESP
 Shaker installation.
Modal shakers require the use of a stinger to connect
the estructure to the shaker. The stinger prevents
lateral forces that might damage the shaker.

The trust axil should be perfectly aligned with the

force transducer. The use of the stinger reduces this
problem. Essentially the stinger should be stiff axially
but flexible laterally.

The stinger acts like a mechanical fuse in between the

shaker and the structure in case of a problem.

Source: PCB Piezotronics https://www.pcb.com

 Shaker mounting

Light structures, free free

conditions. Reaction by
shaker support.

Big or heavy structures, use shaker

auxiliar suspension, Reaction by
shaker inertia.

Source: Bruel and Kjaer https://www.bksv.com/en

 Shaker mounting

Source: Mike Brennan, UNESP

 Signal types

Sine of varying frequency. Useful

for studying resonances and
Sine swept
nonlinearities. Slow.

Gaussian noise. Broadband frequency.

Random “Linearises” non linear systems with
averaging. Signal leakage.
Periodic signal with random amplitude
and frequency content, i.e. a same
Pseudo Random repeated block of random signal. No
leakage, for near Perfectly linear
systems, as it does not hide nonlinearities
Segment of true random signal
Burst Random within measurement block. avoids
leakage, good linear approximation.

Sinusoidal of varying frequency within

Chirp the measurement block. No leakage.
For perfectly nearly linear systems
 Practical implications with shaker measurements

Source: Mike Brennan, UNESP

 Practical implications with shaker measurements

Source: Mike Brennan, UNESP

 Practical implications with shaker measurements

Source: Mike Brennan, UNESP

 Practical implications with shaker measurements

Source: Mike Brennan, UNESP

Transducers
 Transducers

Accelerometers

•General use transducers, outputs a voltage

proporcional to the acceleration measured.
•Normally piezoelectric, but also capacitive.
•Important to consider their frequency
response, sensitivity and response at different
temperatures.
•Mounting affects the frequency response.

Source: Bruel and Kjaer https://www.bksv.com/en

 Transducers

Force Transducers

•Piezoelectris effect.
•Similar to accelerometer, but without
seismic mass.
•Can be attached to a hammer or to a shaker.
•Sometimes they have an integrated
accelerometer and called “impedance heads”
Transducers
Signal Conditioning
Overview of two channel measurement process

Source: Bruel and Kjaer https://www.bksv.com/en

 More signal processing…
Some definitions

x y
• Auto Power Spectrum (APS): Power spectra of the
signal, i.e. PSD. Gives magnitude of H, but not phase.

• Cross Power Spectrum(CPS): Product of the APS of

two signals, provides phase information.

• Auto Correlation: Degree of similarity (correlation)

between a signal and a time shifted version of itself.

• Cross Correlation: Degree of similarity (correlation)

between two different signals.

• Coherence: Degree of linear relationship between two

signals as a function of frequency.
Measurement of FRF

Source: Mike Brennan, UNESP

 FRF estimation using FFT

Source: Mike Brennan, UNESP

FRF estimation using FFT

Source: Mike Brennan, UNESP

 Theoretical fundamentals

FRF estimators

Source: Bruel and Kjaer, Introduction to Modal Analysis

 Coherence

Source: Mike Brennan, UNESP

 Coherence

Source: Mike Brennan, UNESP

Coherence

Source: Mike Brennan, UNESP

 General tips

Source: Mike Brennan, UNESP

 Parameter Extraction Methods
Find natural frequencies, modal shapes and damping.

Data aqcuisition Modal parameters

Model Reconstruction

Source: Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx
 Peak Pick Method
Peak values from FRF are selected to get the mode shapes. Damping is calculated
with the bandwidth method for each peak. Useful only as a first approximation in
lightly damped systems.

Source: Bruel and Kjaer https://www.bksv.com/en

 Theoretical fundamentals
Circle fit
Resonance peaks in Nyquist representation of FRF i.e. have a circular shape, then a circle fit function can
be used to estimate damping and modal constant in low damped and lightly coupled systems.

Loss factor

Modal constant calculation. Sign given by

SDOF Approximation, only frequencies around resonance
circle orientation in the complex plane considered, contribution of other modes remain a constant

Modal Analysis, He, and Fu, Butterworth, Heinemann, 2001

 Curve fitting methods.
Different methods exists in time and frequency domain as well as local (one FRF) or global (set of FRFs).

SDOF Methods, lightly coupled, well MDOF Methods heavily coupled and

separated modes. damped modes.

•Peak picking •Partial fractions

•Circle fit •Least Squares Complex Exponential
•Inverse FRF (LSCE)

•Complex exponential response •PolyMAX

•Polynomial •CMIF (Complex Model Indicator Function)
•MMIF (Multi variable mode indicator
function)
 References
Modal Analysis. Jimin He, Zhi Fang Fu, Butterworth Heinemann.

Encyclopaedia of Vibrations. S,.Rao, DJ. Ewins SG. Brown. Academic Press.

Practical Aspects of Shaker Measurements for Modal Testing, MA Peres, RW

Bono, DL Brown, The modal Shop, Proceedings of ISMA 2010.

Modal Space Articles, Pete Avitabile,

https://www.uml.edu/research/sdasl/education/modal-space.aspx

Experimental Modal Analysis, Bruel and Kjaer, http://www.bksv.com/