Vol.10, No.

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June, 2011

Earthq Eng & Eng Vib (2011) 10: 219-227

DOI:10.1007/s11803-011-0060-6

Extraction of real modes and physical matrices from modal testing

Wang Tong1, Zhang Lingmi1, Tee Kong Fah2
1. MOE Key Lab of Structural Mechanics and Control for Aircraft, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China 2. Department of Civil Engineering, University of Greenwich, United Kingdom

Abstract: A technique to extract real modes from the identied complex modes is presented in this paper, which enables the normalized real mode shapes, modal masses, and full or reduced mass and stiffness matrices to be obtained. The theoretical derivation of the method is provided in detail. An 11-DOF vibration system is used to validate the algorithm, and to analyze the effects of the number of modes utilized and measurement DOFs on the extraction results. Finally, the method is used to extract real modes from both experimental modal analysis and operational modal analysis. Keywords: modal analysis; complex mode; real mode; normalized mode shape; modal mass 1 Introduction
Structural dynamic optimization consists of three main procedures: nite element modeling, modal testing and model updating. The key idea is that the nite element model can be veried and improved by correlating the modes estimated from modal testing with those obtained from nite element analysis (FEA). However, these two types of modes from different sources are mismatched. In FEA, damping is not usually considered, and therefore, real modes, i.e., the undamped natural frequencies and mode shapes, are obtained. On the other hand, the modes identied from modal testing are mostly complex due to the existence of damping in real-world mechanical structures, which is caused by different mechanisms such as hysteretic behavior, contact, aerodynamics, and so on. To solve this problem, real modes need to be extracted from identied complex modes. Some researchers simply take the damped natural frequencies and the real part of complex mode shapes as an approximation of the actual modal parameters. If the damping is assumed to be of the Rayleigh type, i.e., the damping matrix is proportional to the mass and stiffness matrices, or the damping levels are very small, the approximation is acceptable. Unfortunately, modern structures have become increasingly complex, and such assumptions are difcult to satisfy. Since the 1980s, at
Correspondence to: Wang Tong, Institute of Vibration Engineering, Nanjing University of Aeronautics and Astronautics, 29 Yudao Street, Nanjing 210016, China Tel (Fax): +86 25 8489 2103 E-mail: wt78@nuaa.edu.cn Assistant Professor; Professor; Associate Professor Supported by: NUAA Research Funding Under Grant No. V1022-013 Received October 28, 2010; Accepted March 28, 2011

least four algorithms have been developed to extract the real modes. The rst method, also the traditional one, is to simply adjust the phase angles of the modal vectors to 0 or 180 degrees (Ibrahim, 1983) according to experience. In the second method, proposed by Ibrahim (1983), the responses of the displacement, velocity and acceleration are synthesized from the modal parameters; and then the state-space equations are formulated to obtain a transition matrix which includes the matrix M-1K (the product of inverse mass matrix and stiffness matrix). The real modes can then be estimated by solving the eigenvalue problem of the system matrix. In the third method (Chen et al., 1996), the real modes are directly extracted from the frequency response functions. Based on the eigensystem equations, Fuellekrug presented the fourth method (2008), which is very simple and easy to implement. The problem of modal truncation is solved by dening a transformation matrix which uses data from the complex modal vectors. The eigensystem equations are then solved for the reduced system, and the real modes are obtained by a backward transformation. However, in all the above-mentioned methods, the modal mass or stiffness is not considered, which means that the real mode shapes obtained have not been normalized. However, normalized mode shapes are very important in many cases, such as reconstruction of the dynamic response and frequency response function, or calculation of the effective modal mass, etc. Based on Fuellekrugs basic idea and making use of the state-space representation of the vibration system, a fast algorithm for extracting the real modal parameters (real modes) from the modal testing is presented in this paper. By using the algorithm, the undamped natural frequencies and real mode shapes, along with the modal masses, the full or reduced mass matrix and stiffness

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matrix, can all be obtained. Furthermore, the effects of the number of modes and measurement DOFs on the extraction results are discussed.

2 Theoretical background
2.1 Basic theory The dynamic equations of a structural system with -DOFs are expressed as Mx + Cx + Kx = f (1)

0 r T A s = ar 0 r T B s = br

(r s) (r = s) (r s) (r = s)

(6)

where ar and br are numbers dened as modal A and modal B, respectively, and are very important for modal scaling. For a real mode vibration system, it can be proven that modal A of each mode is a pure imaginary number. Equation (6) can be rewritten in the matrix form:
a1 aN T A = b1 bN T B = a 0 = * 0 a * aN

where M, C and K are NN symmetric mass, damping, and stiffness matrices, respectively; and x and f are N1 displacement response and excitation force vectors. Equation (1) can be reformulated in state-space to yield a new system of 2N equations: where: C A= M Ay + By = f M , 0 K B= 0 0 , M (3) (2)

* a1

(7)

x f y = , f = x 0

b1*

Equation (2) can be solved as a classical eigenvalue problem: (4) r A r + B r = 0 where r is the rth eigenvalue, and r is the rth eigenvector of N1 size. For an underdamped system, N pairs of conjugate eigenvalues and eigenvectors are present. It is easy to nd the relationship between the modal matrix (mode shape matrix) and eigenvector matrix from the eigensolution: = * *
*

a 0 = a * * 0 * bN (8)

From Eq. (7), the following equation can be obtained:

a 0 A1 = T 0 a* * a 1 = * * 0
1

0 T (a 1 )* H

T * H

(5)

2 Re( a 1 T ) 2 Re( a 1 T ) = T T 1 2 1 2 Re( a ) 2 Re( a )

(9)

Where the superscript denotes complex conjugate and

*

where superscript H denotes the conjugate transpose, and Re( ) represents the real part of a matrix. From Eq. (3), another expression of A-1 can also be obtained:
0 A1 = 1 M M 1 1 1 M CM

= [1 N ] = 1 N 1* N *

(10)

1 = N The eigenvectors have the following weighted orthogonal relationships with respect to matrix A and matrix B:

By comparing Eq. (9) with Eq. (10), the mass and damping matrices can be readily obtained:
M = 0.5[Re( a 1 T )]1 C = 2 M Re( a 12 a 1 T ) M

(11)

An additional equation can also be derived:

Re( a 1 T ) = 0

(12)

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Actually, Eq. (12) can be used to check the modes integrality of the modal identication (Chen and Jiao, 2004). If all the complex modes of a structure are identied, the matrix a 1 T should be purely imaginary. However, if only part of the modes is identied, Eq. (12) cannot be satised. To derive the stiffness matrix, the same procedures can be applied to Eq. (8) and Eq. (3).
0 a B 1 = T a * * 0 T * 1a 1 0 = * * (1a 1 )* H 0 2 Re(1a 1 T ) 2 Re( a 1 T ) = 1 T 1 T 2 Re( a ) 2 Re( a ) K B =
1 1 1

(Fuellekrug, 2008). A common method is to scale the modal matrix with the maximum value in each column, and as a result, the largest component in each column is equal to unit. Then the modal vector can be reduced from a size of m1 to n1: r = T T r (19) The reduced mass and stiffness matrices can be obtained by applying the reduced modal matrix to Eq. (11) and Eq. (15). Then undamped natural frequencies and the reduced real mode shapes can be computed from the two reduced matrices according to the eigenvalue equation (16a) or (16b). It is easy to normalize the reduced real mode shapes to obtain unity modal masses by using Eq. (17). Finally, the reduced real mode shapes should be expanded to physical coordinates as follows:
r = T r

T * H

(13)

1 M

(20)

(14)

3
(15)

Therefore,
K = 0.5[Re(1a 1 T )]1

Numerical verication of an 11-DOF vibration system

3.1 Description of 11-DOF vibration system An 11-DOF lumped-mass system shown in Fig. 1, presented by Fuellekrug (2008), is used to validate the algorithm. However, for better illustration, the physical mass parameters are modied to avoid the identity mass matrix. Table 1 provides the systems physical parameters. Table 2 lists the major modal parameters of the complex modes and the real modes, including: (1) the damped natural frequencies fr, the damping ratios r, the modal A ar, and the mean phase deviation (MPD) (Fuellekrug, 2008) in the rst four columns. Note that the values of ar and MPD reveal the complexity of the modes, which is caused by the nonproportional damping matrix due to the strongly different damping in the right and left sides of this 11-DOF system; (2) the undamped natural frequencies f0r and the modal masses mr (which is set to be 1.0 here) in the fth and sixth columns; and (3) the modal assurance criterion (MAC) values between the complex modes and the real modes in the last column.
M1 K1 C1 K2 C2 K3 C3 K4 C4 K5 C5 K7 K6 C6 K8 C7 K9 C8 K10 C9 M2 M3 M4 M5 M6 M7 M8 M9 M10 K11 C10 M11 Cn

Then the undamped natural frequencies and real mode shapes can be obtained by solving the following eigenvalue problem: or
(r2 M + K ){ r } = 0 M 1 K r = r2 r

(16a) (16b)

The real mode shapes can be normalized to obtain unity modal masses: r = r /( rT M r ) (17) 2.2 Modal reduction In the above derivation, an assumption of the complete modal model has been introduced, i.e., the number of the identied modes is equal to the number of DOFs of the system. However, in the modal testing, the number of measurement DOFs or sensors is always much less than the DOFs of the system; also the number of identied modes is usually less than the number of measurement DOFs. Modal reduction (Fuellekrug, 2008) via singular value decomposition is the best solution to match the number of modes and measurement DOFs. A transformation matrix T can be obtained as the following: (18) Re( ) = TSV T in which is the identied modal matrix with a size of mn (m>n), where m and n are, respectively, the number of measurement DOFs and mode number. Before the decomposition, the modal matrix should be scaled to contain sufcient information in the real part

Fig. 1 An 11-DOF lumped-mass vibration system

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Note that the minimum MAC value is as low as 50.4% (for Mode 10), which shows the vast difference between the complex and real modes. The accuracy of the algorithm is assessed by comparing the calculated values from the above procedures with the theoretical values of real modes. Note that the latter are determinate because of the normalization by unity modal mass. The effects on the computation precision of utilizing different modes and measurement DOFs are also discussed below. 3.2 Effects of modes selection In this section, different complex modes are selected to extract the corresponding real modes. First, all the 11 complex modes are utilized. In this case, the exact mass and stiffness matrices as well as the exact real modes

Table 1 Physical parameters of the 11-DOF vibration system Index 1 2 3 4 5 6 7 8 9 10 11 M1 (kg) 1.00 1.20 1.40 1.60 1.80 2.00 1.80 1.60 1.40 1.20 1.00 K1 (kg/s2) 2420.00 2990.00 3690.00 4560.00 5630.00 18000.00 5630.00 4560.00 3690.00 2990.00 2420.00 C1 (kg/s) 9.69 11.96 14.76 18.23 22.50 18.00 5.63 4.56 3.69 2.99 2.42

Table 2 Modal parameters of the 11-DOF vibration system Mode 1 2 3 4 5 6 7 8 9 10 11 fr (Hz) 2.48 2.70 6.23 6.67 10.04 10.18 13.02 13.10 15.06 15.12 20.24 Complex modes ar r (%) 1.73 49.5+i194.3 2.13 4.24 5.44 4.84 10.55 4.84 15.32 5.19 18.26 11.51 46.0+i188.4 190.3+i306.3 202.8+i313.2 41.9+i457.6 69.4+i458.8 4.8+i469.5 3.7+i460.7 15.1+i767.7 -21.6+i741.4 -27.8+i585.8 MPD() 6.76 8.08 16.92 18.67 31.19 32.57 20.35 21.66 15.79 15.50 16.67 Real modes f0r (Hz) mr 2.47 2.70 6.17 6.73 9.78 10.42 12.80 13.29 14.91 15.25 20.37 1.00 1.00 1.00 1.00 1.00 1.00 1.00 1.00 1.00 1.00 1.00 MAC (%) 98.5 98.3 90.2 89.1 61.1 58.5 54.9 52.4 53.1 50.4 97.3

Table 3 Results of real modes extraction of the 11-DOF vibration system Utilized modes (1) 3,4,5,6,7,8,9,10 5,6,7,8,9,10 1,2,3,4 3,4,5,6 5,6,7,8 7,8,9,10 1,2 3,4 5,6 7,8 9,10 (A) All DOFs Max. freq Max. norm Min. MAC error error (%) (%) (%) (4) (2) (3) 99.7(10) 0.28(10)* 0.42(10) 0.28(10) 0.05(4) 0.15(6) 0.26(8) 0.27(10) 0.00(-) 0.05(4) 0.13(6) 0.18(8) 0.12(10) 0.42(10) 0.06(3) 0.24(5) 0.64(7) 0.50(8) 0.01(2) 0.06(4) 0.22(5) 0.59(7) 1.12(10) 99.7(10) 100.0(-) 99.9(6) 99.6(8) 99.7(10) 100.0(-) 100.0(-) 99.9(6) 99.6(8) 99.4(9) (B) DOFs 1, 3, 5, 7, 9, 11 Max. freq Max. norm Min. MAC error error (%) (%) (%) (7) (5) (6) 0.15(9) 0.04(4) 0.29(6) 0.23(7) 0.27(8) 0.01(2) 0.05(3) 0.13(6) 0.29(8) 0.06(10) 0.79(10) 0.10(3) 0.48(6) 2.01(7) 0.99(7) 0.01(1) 0.09(3) 0.70(6) 2.34(7) 1.23(10) 98.8(10) 100.0(-) 100.0(-) 99.2(8) 99.1(10) 100.0(-) 100.0(-) 99.9(6) 99.2(8) 99.4(10) (C) DOFs 1, 2, 3, 4, 5 ,6 Max. freq Max. norm Min. MAC error error (%) (%) (%) (10) (8) (9) 11.67(10) 0.52(4) 2.52(6) 7.80(8) 8.52(10) 0.06(2) 0.44(4) 1.19(6) 2.04(8) 2.08(10) 91.53(10) 26.8(10) 21.91(4) 57.26(6) 72.52(8) 55.93(7) 0.74(2) 5.20(4) 20.08(6) 44.35(8) 100.0(-) 97.7(6) 57.9(8) 40.8(10) 100.0(-) 100.0(-) 99.5(5) 96.5(8)

Set

1 2 3 4 5 6 7 8 9 10 11

58.43(10) 91.5(10)

Note: * the number in the parentheses corresponds to the mode which has the maximum error.

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are extracted. Next, the 11 mode sets including a fewer number of complex modes are designed to check the effects of mode selection on the computation of the real modes. The modes in each set are selected so that pairs of symmetric and associated anti-symmetric modes are included. Starting with 8 modes, the number of modes is reduced by removing pairs of modes. Also, for the sets with 4 and 2 modes, different pairs are utilized to compute the real modes. The detailed results are listed in the rst four columns of Table 3, in which for a given set of complex modes, the maximum error in frequency, the maximum error in norm of mode shape, and the minimum MAC value between the extracted real modes and the theoretical real modes are given. The number of the mode which has the maximum error is marked in the parentheses. Note that in all cases, the extracted results agree well with the theoretical real modes, even if only two complex modes were utilized. The results of Set 10, i.e., the undamped frequencies and normalized real mode shapes extracted from complex Modes 7 and 8, are shown in Fig. 2. The complex mode shapes (modulus with adjusted signs as dashed lines), the theoretical real mode shapes (solid lines), and the extracted real ones (crosses) are illustrated. From the results of Sets 7 to 11, it can be concluded that the lower the mode order the
30 Frequency (Hz) 20 10 0 0.2 Theoretical Extracted

better the estimation, because the mode shapes become more and more complex as the mode order increases. An interesting question is: what result will be obtained if only a single mode is utilized in performing this procedure. It can be proven that in such a case, the real mode shapes obtained will be exactly proportional to the real part of the complex mode shapes. As a result, the computation precision is denitely related to the complexity level of a complex mode. 3.3 Effects of measurement DOFs selection In the above cases, all 11 measurement DOFs were utilized. However, in most cases, only a part of the tested structures DOFs are available for measurement since only a limited number of sensors or channels can be used for this purpose. Therefore, it is necessary to evaluate the effects of the locations of the measurement DOFs. In this section, two groups each with the same DOFs of six are utilized to extract the real modes: (1) DOFs 1, 3, 5, 7, 9 and 11 (Group B), and (2) DOFs 1, 2, 3, 4, 5 and 6 (Group C). The measurement DOFs in Group B are distributed evenly along the entire vibration system, while the DOFs in Group C are located on the left half of the system. The real modes are extracted

Error (%)

0.1

6 Mode

7
0.5 0.4 0.3 0.2

10

11

0.5 0.4 0.3 0.2

Complex Theoretical Extracted

Amplitude

Amplitude

0.1 0 -0.1 -0.2 -0.3 -0.4 -0.5

0.1 0 -0.1 -0.2 -0.3 -0.4 Complex Theoretical Extracted

6 7 DOF

10 11

-0.5

6 7 DOF

10 11

Fig. 2 Comparison between extracted real modes and theoretical real modes

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from different combinations of complex modes as in the previous section. The results are listed in columns (5) to (10) of Table 3. In Set 1, the number of modes (8) is larger than the number of DOFs (6), so the algorithm cannot be used to extract the real modes. The extraction precision in Group B is slightly different from Group A, in which all the DOFs are utilized. However, the result in Group C is much worse than Group A and Group B: the maximum error of frequencies reaches 11.67%, and the minimum MAC is only 26.8% (for Set 2). In Group B, from the results of each set utilizing a different number of modes, it can be concluded that utilization of two modes (Sets 7 to 11) are not worse or even better than utilization of more modes (Sets 2 to 6). It is also observed again that the lower order modes can be better extracted. Therefore, to achieve a satisfactory extraction of the real modes, it may be better to distribute the measurement points evenly on the entire tested structure, as this helps to obtain better reduced mass and stiffness matrices. Moreover, it is simple but effective to extract real modes by dividing all the identied complex modes into several groups, with only two or three closelyspaced modes included in each group.

disk, including three reference points where vibration responses in the Z direction are measured by three accelerometers. An impact hammer is used to excite all 80 measurement points in the Z direction one by one. At each point, three impacts are performed in order to obtain better frequency response functions (FRFs) by averaging. Figures 4 and 5 show the estimated three driving-point FRFs and a pair of typical cross-point FRFs, respectively. Figure 6 shows the modal indicator function (MIF) plot, which detects 12 modes clearly, including 4 pairs of repeated or closely-spaced modes (marked with dashed line ellipses). Two classical MIMO identication algorithms, RFOP (rational fraction orthogonal polynomial) (Shih et al., 1989) and CMIF (complex modal indicator function) (Shih et al., 1988; Wang and Zhang, 2003), were employed to identify the complex modes. Table 4 shows that the modal results from the two methods agree well with each other, where the rst three are rigid-body modes, representing the rotation around the X-axis, translation along the Z-axis, and rotation around the Y-axis, respectively. Listed in the fth column are
180 Phase () Magnitude (dB)

4 Experimental examples
4.1 Extracting real modes from experimental modal analysis of an aluminum disk The presented algorithm is rst applied to extract the normalized real modes of an aluminum disk (Fig. 3), which is placed on an inner tube of a motorbike tire to simulate the free-free boundary condition. Known as a classical and effective Multiple Input / Multiple Output (MIMO) modal analysis technique, Multiple Reference Impact Testing (MRIT), which has the advantage of estimating heavily closely-spaced or even repeated modes for complicated engineering structures, is utilized to identify the complex modes. As shown in Fig. 3, a total of 80 measurement points are set on the

0 -180 60 40 20 0 -20 -40 -60 -80 0 100 200 300 400 500 Frequency (Hz) 600
22 Z+ 53 Z+ 78 Z+

700

800

Fig. 4 Driving-point FRFs of the aluminum disk

180 Phase () Magnitude (dB) 0 -180 50

-50 0 100 200 300 400 500 Frequency (Hz) 600

22 Z+, 78 Z+ 78 Z+, 22 Z+

700

800

Fig. 3 Modal test on an aluminum disk

Fig. 5 Typical cross-point FRFs of the aluminum disk

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70 60 50 Magnitude (dB) 40 30 20 10 0 -10 -20 0 100 200 300 400 500 Frequency (Hz) 600
MIF1 MIF2 MIF3

225

the MPD values of each mode, in which the maximum is 22.52 degrees. According to the conclusion drawn from the 11-DOF simulation example, the 12 identied modes are divided into ve groups to perform the extraction process: (1) Modes 1 to 3, (2) Modes 4 and 5, (3) Modes 6 to 8, (4) Modes 9 and 10, and (5) Modes 11 and 12. The MAC values between the identied modes and real modes are all larger than 98% except Modes 1, 7, and 8, among which the latter two are a pair of blending modes with almost the same frequencies and orthogonal mode shapes, as shown in Fig. 7. The MPD of these modes are all rather high, which means that these modes are very complex. Therefore, the extracted real mode shapes are signicantly different from the complex mode shapes.

700

800

Fig. 6 Modal indicator function plot of the aluminum disk

Table 4 Results of real modes extraction of the aluminum disk Mode 1 2 3 4 5 6 7 8 9 10 11 12 Complex modes fr (Hz) 11.86 12.27 34.62 166.13 166.56 280.91 377.43 377.81 622.32 627.35 660.47 661.02 Real modes MPD() 14.75 3.48 1.32 8.14 2.59 3.23 17.15 22.52 0.98 5.43 12.48 16.79 f0r (Hz) 11.86 12.27 34.62 166.13 166.56 280.89 377.48 377.79 622.32 627.35 660.47 661.02 mr 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000 1.000

r (%)
2.86 3.25 6.04 0.96 0.95 0.13 0.12 0.13 0.45 0.55 0.07 0.07

ar 1.0+10.4i -0.4+10.0i 0.6+15.8i -24.8+96.2i -36.1+117.0i 4.7+80.0i -9.2+289.6i -59.3+446.4i 9.1+298.7i -5.4+250.3i 201.1+869.1i -116.6+391.3i

MAC(%) 95.6 99.5 99.9 99.7 99.9 99.2 95.5 84.6 100.0 99.8 98.4 98.4

Fig. 7 Identied complex mode shapes of modes 7 and 8 with repeated modal frequencies

4.2 Extracting real modes from operational modal analysis of a 15-story ofce building structure The fast algorithm is now applied to a middle-rise 15-story ofce building of 53.4 m high , located in Ichigaya, Tokyo (Zhang et al., 2004). The building has columns of concrete lled steel tube (CFT) and beams with wide ange shapes. The box-shape steel tube is lled with high-strength concrete, thus realizing high

stiffness and high strength due to the conning effects of the steel tube on the concrete. A test model (Fig. 8) with 80 nodes was established to perform the operational modal analysis. A total of 53 eld ambient acceleration responses in the horizontal direction are measured using 14 accelerometers in four setups, with two sensors as references and 12 to 14 channels for each setup. The sampling frequency of the measurement is set to 100 Hz, and the sampling time span is 30 min. With a reasonable

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MIF1 MIF2 MIF3

5.0

Fig. 9 Modal indicator function plot of the CFT building Fig. 8 The CFT building and its test model

assumption that the oor is subjected to lateral rigid body motion, 101 virtual measurements are added from constrain equations. The FSDD (Frequency Spatial Domain Decomposition) identication algorithm (Wang et al., 2005) is employed to identify the modes. Due to the absence of modal scaling factors in the operational modal analysis, only real but not normalized mode shapes are obtained. On the basis of resampling the sequence at 1/8 times in signal processing, nine modes (Table 5) are identied within the frequency range of 0 to 5 Hz, which are clearly located in the modal indicator function plot (Fig. 9). The identied complex mode shapes are depicted in Fig. 10, in which the maximum MPD value is 13.31 degrees (Mode 9). The complex modes are divided into three groups of three to extract the real modes. The MAC values between the identied modes and real modes are all larger than 98% except Modes 8 and 9, which show more complexity with MPD values higher than 10 degrees.

Table 5 Results of real modes extraction of the CFT building Mode 1 2 3 4 5 6 7 8 9 0.76 0.86 1.11 2.23 2.47 2.93 3.84 4.25 4.50 Complex modes fr (Hz) Real modes f0r (Hz) 0.76 0.86 1.11 2.23 2.47 2.93 3.84 4.24 4.51 MAC (%) 100.0 100.0 99.9 99.9 99.6 99.2 98.3 96.0 94.9 Fig. 10 Identied complex mode shapes of the CFT building

r (%)
0.53 0.83 0.91 0.87 1.44 1.52 2.03 1.67 1.36

MPD() 3.91 2.94 1.22 3.42 7.68 5.44 8.40 12.47 13.31

Conclusions

A new method for extracting real modes from modal testing is presented in this paper. Based on Fuellekrugs basic idea, an effective algorithm, which can be completed in seconds, is developed to obtain the normalized real mode shapes, modal masses, as well as full or reduced mass and stiffness matrices. The effects of mode number and measurement DOFs selection are discussed with a numerical simulation example of an 11DOF vibration system. It is found and as is well known, that the low frequency modes are easier to correctly extract than the high ones. It is recommended that the

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measurement DOFs should be located along the entire structure, and the real modes should be computed in a group with only two or three closely-spaced modes. Finally, the algorithm is applied to extract real modes from both experimental modal analysis and operational modal analysis, using an aluminum disk and an ofce building as examples, in which the method is shown to be simple, easy and efcient. It is able to obtain more abundant and accurate result than previous commonly used methods, and will be quite helpful in nite element updating and calculation of the dynamic response.

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