PME Introlab Dynamics Practical

M.E. Dondorp (1365509) & J.W. Feitsma (1358960) January 29, 2013

Dynamics Session
Question 1 Derive from the Equation of Motion ( 2 M jC + K)u = f the dynamic stiness (Z) and receptance matrix (Y ). Explain the dierence between both formulations if one were to identify a column experimentally. We want to nd an equation of the form of (1). Here the force is expressed in the terms of u. f = Z()u With the given Equation of motion the following stiness matrix Z() is found: Z() = K 2 M + jC This again results in the following receptance matrix Y (): Y () = Z()1 = (K 2 M + jC)1 (3) (2) (1)

Question 2 Explain how one can use the symmetry of the receptance matrix in performing an impact hammer measurement (moving hammer vs. moving sensor). In theory both measurement approach should yield the same results. Why will you nd dierences in practice though? There are two options when taking the measurement. The rst option is to position the sensor on a dierent spot during every measurement while applying the force on the same place. Or vise versa and apply the force on dierent locations while the sensor remains put. The second options is preferred. It is way easier to hit the frame on dierent locations than replacing the sensor which has to be glued to the frame. Of course one could use multiple sensors but that has its price and takes more time as well. A symmetric matrix means that when one knowns the entry of a column, one knows the values of the corresponding row. As said before, we want to do as less work as possible. The following two equations show why it is better to move the force around. f = Z()u u = Y ()f

f1 = Z1 u1 + Z2 u2 + Z3 u3 + ... u1 = Y1 f1 + Y2 f2 + Y3 f3 + ...

(4) (5)

Hence one can use the receptance matrix to determine the columns of the dynamic stiness matrix. In theory both yield the same result. In practice however it might slightly dier. This is because it is not possible to hit the system in exactly the specied node. Question 3 When using an impact hammer, one has the choice of dierent materials (Rubber, Nylon, Steel) on the sensors tip. What is the eect of using dierent type of tips in your measurement? Please explain the pros and cons. The duration and amplitude of the hammer contact are directly related to the frequency content of the force. When this contact is an ideal impulse, the force has an equal amplitude in the entire frequency domain. This implies that all modes are excited equally. This in the advantage of a hard sensor tip such as a steel tip. The disadvantages are the discontinuous nature of the impact has a tendency to damage the system. Therefor some attenuation of the force can be desired by using a softer tip. This reduces the noise produced by the measurement signicantly.

Question 4 Please comment on your choice of measurement positions on the vehicle frame. Why did you choose these locations and what type of modes do you expect? The best results a found when the sensor is in a place where the response is clearly observable. This means that care should be taken not to put the sensor on a nodes of the expected modes and preferably in the anti-nodes. The most obviously expected modes are symmetrical bending and torsion modes. Putting the sensor on a symmetry axis is not preferred. The observability of certain modes can be zero, for instance modes orthogonal to the measuring directions. Question 5 Determine the damping of the rst eigenfrequencies using the following formula: Damping = (fmax fmin )/(2feig ) Where: Feig = Fmax = Fmin = First for Y1 : (83.83 83.66)/(2 83.75) = 0.0010 (152.6 152.2)/(2 152.4) = 0.0013 Now for Y2 : (152.6 152.2)/(2 152.4) = 0.0013 (248.0 247.7)/(2 247.75) = 0.0006 (9) (10) (7) (8) Eigen frequency [Hz] Higher frequency which has 3dB(1/ 2) lower amplitude [Hz] Lower frequency which has 3dB(1/ 2) lower amplitude [Hz] (6)

(a) FFT of Y1

(b) FFT of Y2

(c) FFT of Y2

(d) FFT of Y2

Figure 1: FFT of both sensors

Question 6 Examine the eect of a double pulse on the structure on the FFT spectrum (MATLAB, t function). In the following Figures a comparison is made between a single pulse and a double pulse.

(a) Single pulse

(b) Double pulse

Figure 2: FFT

The single pulse should be constant in the frequency domain whereas the double pulse appears to be sinusoidal. For the dynamical response this implies that multiple eigenmodes will not be equally excited. That is why an double pulse results in an invalid measurement. Question 7 Present your measurement data and mode shapes and comment on possible improvement if you were to redo the measurement. The rst thing we could improve is the precision with which the computer frame is made. The positions of the nodes is estimated and this could be done in a more precise manner. Next, applying the force could be more accurate by hitting the frame on exactly the same place for each node. We point out the dierent results found with both sensors. One sensor was left on a symmetry axis on purpose to see what it would miss. A dierent hammer with a harder tip would also help. The suspension of the frame could also be better.