Dynamics

Vibroacoustic Response of Plates
and Shells

Francesco Marulo
pasta-Lab
Laboratory for promoting experiences in aeronautical structures and acoustics
Department of Industrial Engineering
Aerospace Unit
Universit degli Studi di Napoli "Federico II"
Via Claudio 21, 80125 Napoli, Italia
francesco.marulo@unina.it
Any public or commercial use requires the agreement of the author.
2

Introducing the topic
Vibration modes of a simple panel
Vibroacoustic modes of a constrained panel
Vibroacoustic effect on a glass
Visualizing is easier to Understand than Equationing
Unfortunately (for you) we are Professors
so, lets now play with equations
3

Outline
Basic Governing Equations
Natural Frequencies and Mode Shapes
Examples
Dynamic Response
Continous Methods
Discrete Methods
Experimental Modal Analysis
Beam
Plate
Random Vibration
Examples
4

Basic governing equations:

( ) 0
2 2
= + V u K
Acoustics
Euler-Bernoulli
Beam:
( ) 0
2 4
= V x K
Helmholz Equation:
wave number K = /c
A
Structures
wave number K = /c
S
The structural governing equations of motion can be derived for either
continuous or discrete systems.
Governing Equations
for Structures and Acoustics
5

{ }
n n
e ,
eigen vectors
(mode shapes)
Solution to Partial Differential Equation
(PDE) with Boundary Condition (BC) yields:
eigen values
(modal frequencies)
Orthogonality Conditions
}
=
L
j i
dx
0
0 j i =
then:
= ) ( ) ( ) , ( t q x t x y
n n
q
n
(t) = modal coordinate
0
2
= +
n n n
q q e n = 1,2,3
y(x,t)
1
2
3
y(x,t)
1
2
3
For simple systems, the structure can be described by:
Continuous Systems
6

| | | | { } F X = + K M
2
e
Mass matrix
Stiffness matrix
| | | | { } F X = + K M
2
e
Mass matrix
Stiffness matrix
{ }
n n
e ,
Generate a system of equations that need to
be solved simultaneously
Discrete Systems
7

The first and most important solution for a vibrating structure is to calculate
the eigenvalues (natural or modal frequencies) and eigenvectors (mode
shapes).

=
N
n
n n
C | x
The value of the constant Cn is determined according to the expansion
theorem.
| |x m C
T
n n

| =
Expansion Theorem
8

( )

)
`
+
=
) 1 (
) ( ) (
) (
2 2
n dn
F F n
n n r
i
x F x
x i x
q e e
e v
damped natural frequency
loss factor
vector
vector
scalar (C
n
)
For a compliant structure, express the velocity of the structure as a
linear combination of the eigenvectors.

The constants Cn are found by calculating the modal participation
factor for each mode.
Expansion Theorem
9

Described as the resistance of a structure to motion
A function of the mass, damping, and stiffness of a system
Derived from the governing equation of motion
If the displacement is
expressed as harmonic
vibration:
t i
e x x
e
0
=
The velocity:
x i e x i v
t i
e e
e
= =
0
And force:
t i
e F F
e
0
=
Impedance
10

Then, from the equation of motion:
| | | | | |
0
F
i
v
K v C v M i = + +
e
e
Impedance (Z) is then expressed as the system force divided by
the velocity
| | | |
| |
e
e
i
K
C M i
v
F
+ + = =
0
Z
Impedance
11

Analytical modeling (continuous methods)
Numerical modeling (Finite Element Analysis)
Experimental modal analysis.
The vibration of a structure, in terms of the natural frequencies
and mode shapes, can generally be determined by three
methods:

Determination of Natural
Frequencies and Mode Shapes
12

The solution is not limited to only the eigenvalue (natural
frequencies and mode shapes) solution.
A transient solution can be calculated to determine the structural
velocity pattern under non-harmonic excitation.
In most problems the harmonic solution is most useful.
Using modeling techniques, the structural equations are solved to
determine the natural frequencies and mode shapes of the
vibrating structure.
This result is then used with the simulated forcing function to
determine the vibrating velocity and phase of the structure as a
function of frequency.
The eigenvalue solution can be performed for continuous or discrete
systems
Determination of Natural
Frequencies and Mode Shapes
13

Continuous methods can be used to calculate the eigenvalue solution
for simple problems, such as beams, rods and plates with simple
boundary conditions.
The solution to the governing partial differential equation (including
boundary conditions) yields the natural frequencies and mode shapes
of the system.
In problems where acoustic modeling techniques are of interest,
continuous methods are usually not useful because of the inherent
complexity of the structure.
Continuous Methods
(Analytical Modeling)
14

First, the deflection of the beam is discretized into a finite number (four)
of nodal displacements (wi).
w
1
w
2
w
3
w
4
f(x,t)
w(x,t)
w
1
w
2
w
3
w
4
f(x,t)
w(x,t)
Shape functions are used to express an approximation of the beam deflection
in terms of the nodal displacements.
= ) ( ) ( ) , ( t w x N t x w
i i
Shape functions
Discrete Methods
(Finite Element Analysis)
15

Next, the shape functions are used to define the force, mass and stiffness
matrices that describe the structure. This results in the following:
| | K | | M
}
=
L
i i
dx x N t x f t F
0
) ( ) , ( ) (
The matrices can then be used to assemble a set of N equations of motion.
| | | | ( ){ } 0
2
= x M K e
Solve for:
n
(x
r
) and
n
Discrete Methods
16

Have pre-processors that enable the user to discretize a 2-D
or 3-D structure into a mesh of elements and nodes.
Program calculates the mass and stiffness matrices based on
the mesh, and solves for the natural frequencies and mode
shapes, or the static or transient solution.
The calculation is performed by the FEM program without
direct involvement by the program operator.
Commercial Finite Element codes
(NASTRAN, Pro/E, ANSYS, CAEFEM, etc.)
Discrete Methods
17

The mode shapes and natural frequencies can be determined
experimentally
Easiest way to determine the vibration of a structure
) 1 (
) ( ) ( ) (
) (
2 2
n dn
N
n
m m n r n
r
i
x F x x
i x v
q e e

e
+
=

n dn
m n
N
r n
m
r
x x
x F
x v
q e

e
) ( ) (
) (
) (
) (

= = Y
For a structure, the velocity has been expressed as:
At resonance, the mobility (Y()) is:

18

Using vibration measuring tools the velocity at points on the structure are
measured as a function of the excitation force.
F(x
m
)
v(x
1
)
1
2
3
1

2

3
v(x
1
)
11
22
33
1

2

3
v(x
2
)
1 2
3
1

2

3
v(x
2
)
11 22
33
1

2

3
v(x
3
)
1
2
3
1

2

3
v(x
3
)
11
22
33
1

2

3
v(x
2
) v(x
1
) v(x
3
) v(x
2
) v(x
1
) v(x
3
)
F(x
m
)
v(x
1
)
1
2
3
1

2

3
v(x
1
)
11
22
33
1

2

3
v(x
2
)
1 2
3
1

2

3
v(x
2
)
11 22
33
1

2

3
v(x
3
)
1
2
3
1

2

3
v(x
3
)
11
22
33
1

2

3
v(x
2
) v(x
1
) v(x
3
) v(x
2
) v(x
1
) v(x
3
)
The modal analysis velocity measurement results in a series of peaks at each
measurement point.
19

The amplitudes for all spatial points at each frequency can be
compiled to plot the mode shapes.
1
(x),
1
1
(x),
1
2
(x),
2
2
(x),
2
3
(x),
3
3
(x),
3
v(x
1
)
1
2
3
1

2

3
v(x
1
)
1
2
3
1

2

3
v(x
1
)
11
22
3
1

2

3
20

Calculations of the dynamic response of the system to initial conditions or
forcing functions can be performed using the matrix equations.

The modal matrix is created by combining each of the one-dimensional mode
shape vectors into a two-dimensional matrix.
| | { } { } { } | |
n
| | | ,... ,
2 1
= u
Next, return to the governing equation of motion for the system.
| | | | | |{ } { } 0
2
= u M K e
For each mode:
| |{ } | |{ }
i i i
K M | | e =
2
Dynamic Response Simulations
21

Because the mode shapes (eigenvectors) are orthogonal with
respect to the mass and stiffness matrices, the following can be
shown for any two unequal mode shapes.
{ } | |{ } j i M
j
T
i
= = u u , 0
{ } | |{ } j i K
j
T
i
= = u u , 0
Orthogonality
22

{ } | |{ } q x u =
{ } | |{ } q x

u =
Modal Coordinates
A very useful transformation into modal coordinates can then be
performed using the calculated eigenvectors.
First, define the physical displacements of the system in terms of
modal coordinates.

Taking two derivatives with respect to time:

23

Modal Coordinates
The governing equation of motion is now rewritten with the modal
coordinates:

Pre-multiplying the equations by the transpose of the modal
matrix (eigenvectors) demonstrates the importance of
orthogonality:

| || |{ } | || |{ } { } 0 = u + u q K q M

| | | || |{ } | | | || |{ } { } 0 = u u + u u q K q M
T T

24

Non-equal mode shapes are orthogonal with respect to the
mass and stiffness matrices.

Off-diagonal terms are zero, forming diagonal modal-mass
and modal-stiffness matrices.
{ } { }
=
(
(
(
(
+
(
(
(
(
0
...
0
0
... ...
22
11
22
11
q
k
k
k
q
m
m
m
nn nn

Modal Coordinates
25

Modal Coordinates
If mass-normalized eigenvectors are used, the equation of
motion becomes even clearer.

Now, each row of the matrix equation is an independent,
uncoupled differential equation of motion for each modal
coordinate. For the first and second rows,

{ } { }
=
(
(
(
(
(
+
(
(
(
(
0
...
0
0
...
1
...
1
1
2
2
2
2
1
q q
n
e
e
e

0
1
2
1 1
= + q q e
0
2
2
2 2
= + q q e

26

The response of each modal degree of freedom can then be
calculated as for a single degree of freedom system.
( )
1 1 1 1
sin | e + = t Q q
The initial conditions must be transformed into modal
coordinates
This is done by pre-multiplying by the inverse of the modal
matrix (eigenvectors).
{ } | | { }
0
1
0
x q

u =
{ } | | { }
0
1
0
x q

u =
Response to Initial Conditions
27

Response to Initial Conditions
The initial conditions can then be used to determine the constants
Q1 and 1.
The procedure is repeated to determine the solution for each
modal degree of freedom.
Finally, the transformation is performed to achieve the dynamic
response in terms of the physical degrees of freedom.

{ } | |{ } ) ( ) ( t q t x u =
28

To determine the system response to sinusoidal forcing, assume that a
sinusoidal force acts on the left mass of the two-mass example.

M M
k
k k
x
1
x
2
F = F
1
sin( t )
The equations of motion become non-homogeneous.
| |{ } | |{ }
( )
)
`
= +
0
sin
1
t F
x K x M
o

Steady State Response to
Sinusoidal Forcing
29

Or in modal coordinates:
| |
( )
)
`
u =
)
`
+
)
`
0
sin
1
1
1
2
1
2
2
2
1
2
1
t F
q
q
q
q
T
o
e
e

Here the right side of the equation is known as the modal forcing function.
It includes the effect of the force on each mode.
The value is known as the modal participation factor.

Once again, the result is a set of uncoupled differential equations
{ } | |{ } ) ( ) ( t q t x u =
In practice, damping must be included in the model to account for energy
dissipation in the system.
Steady State Response to
Sinusoidal Forcing
30

Vibration of Structures:
The Euler Bernoulli Beam
2
2
x
y
EI M
c
c
=
x
t x M
t x V
c
c
=
) , (
) , (
Moment
Shear Force
x
dx x +
x
x
x
M
M c
c
c
+
x
x
V
V c
c
c
+
x
y
From strength materials, the lateral deflection of element dx of a
beam y(x,t) given
(1)
(2)
31
Lateral Vibration of Beams
A beam of length l has two boundary conditions at
each end.
The state of every section of a beam is completely
specified if we specify:
Position
Slope
Moment
Shear
Two conditions relating the four are usually known at
every boundary section
) ( y
) / ( x y c c
( )
2 2
/ x y EI c c
( )
3 3
/ x y EI c c
Examples of Common Boundary Conditions for Lateral
Vibrations of Beams
Case
Boundary Condition
left, at x =0
Boundary Condition
right, at x =l
Clamped
(deflection,
slope = 0)
Sliding
(Slope,
shear = 0)
Pinned
(deflection,
moment = 0)
0 ) , 0 ( = t y
0 =
c
c
x
y
0 ) , ( = t l y
0 =
c
c
x
y
0 ) , 0 ( = t y
0 ) , ( = t l y
0 =
c
c
x
y
0 =
c
c
x
y
0
2
2
=
c
c
x
y
0
2
2
=
c
c
x
y
0
3
3
=
c
c
x
y
0
3
3
=
c
c
x
y
Examples of Common Boundary Conditions for Lateral
Vibrations of Beams
0
2
2
=
c
c
x
y
0
2
2
=
c
c
x
y
0
3
3
=
c
c
x
y
Case
Boundary Condition
left, at x =0
Boundary Condition
right, at x =l
Free
(moment,
shear = 0)
Mass m and
moment of
inertia
p
J
Damper c and
spring k
0
3
3
=
c
c
x
y
0
2
2
=
c
c
x
y
0
2
2
=
c
c
x
y
2
3
2
2
t x
y
J
x
y
EI
p
c c
c
=
c
c
2
3
2
2
t x
y
J
x
y
EI
p
c c
c
=
c
c
2
2
3
3
t
y
m
x
y
EI
c
c
=
c
c
2
2
3
3
t
y
m
x
y
EI
c
c
=
c
c
t
y
c ky
x
y
EI
c
c
=
c
c
3
3
t
y
c ky
x
y
EI
c
c
+ =
c
c
3
3
k c
p
J m,
34

Example of Boundary Conditions of a Cantilever Beam
, 0
0
=
= x
y 0
0
=
|
.
|
\
|
c
c
= x
x
y
L x
L x
y
t
y
c
t
y
m ky
x
EI
=
=
c
c
+
c
c
= +
c
c
2
2
3
3
(Length L and Flexural rigidity EI )
The displacement and slope are equal to zero at the built-in end, whereas at
the free end inertia force is equal to the shearing force:
0
2
2
=
c
c
=L x
x
y
EI
k
c
m
35

Example of Boundary Conditions of a Cantilever Beam
, 0
0
=
= x
y
0
0
=
|
.
|
\
|
c
c
= x
x
y
L x
R
L x
x
y
k
x
y
EI
=
=
c
c
=
c
c
2
2
(Length L and Flexural rigidity EI )
Similarly, the displacement and slope are zero at the built-in end whereas the
shearing force and bending moment are balanced by spring forces:
L x
L
L x
y k
x
y
EI
=
=
=
c
c
) (
3
3
L
k
R
k
36
Vibration: Modes and Eigenvalues
When excited with a harmonic force, say , every
surface of the structure vibrates in harmonic motion at the
angular frequency, (radians/sec).
The surface vibrates with an amplitude that varies spatially,
say as W(x)
Thus the response function y(x,t) can be written as

t i
Fe
e
e
t i
e x t x y
e
) ( ) , ( + =
(8)
2
2
2 4
4
1
t
y
c x
y
c
c
=
c
c
If the properties of the beam are constant along its length, the equation of motion
becomes
(7)
) / (
2 / 1
EI
c =
where
37
After time and spatial derivation are preformed and substitutes are made,
eq. 7 becomes

Where is an undetermined constant.
The substitution leads to the general solution, since

Where are as yet undetermined
constants. These constants will be determined by the boundary conditions.
0
2
=
|
.
|
\
|
W
c
W
IV
e
kx C kx C kx C kx C x W sin cos sinh cosh ) (
4 3 2 1
+ + + =
e
kx
e x W = ) (
2 / ) ( sinh , 2 / ) ( cosh
a a a a
e e a e e a

= + =
4 3 2 1
2 / 1
and , , , and ) / ( C C C C c k e =
(9)
(10)
38
Application of the boundary conditions to the solution (10) yields four
homogeneous equations for
Condition for the existence of a solution: coefficient determinant is zero.
Yields an equation for the determination of : the frequency
equation.
For example, for the simply supported beam, the boundary conditions are:
4 3 2 1
and , , , C C C C
0 ) ( ) 0 ( = = l y y
0 , 0
2
2
0
2
2
=
c
c
=
c
c
= = l x x
x
y
x
y
Displacements:
Bending moments: (11)
39
Application of these conditions to equation (10) yields

0 sin cos sinh cosh
0
0 sin cos sinh cosh
0
2
4
2
3
2
2
2
1
3 1
4 3 2 1
3 1
= +
=
= + + +
= +
kl k C kl k C kl k C kl k C
C C
kl C kl C kl C kl C
C C
40
0
sin
0
sin
0

cos
1
cos
1

sin
0
sin
0

cosh
1
cosh
1
=
kl
kl
kl
kl
kl
kl
kl
kl
0 sin = kl
n kl t =
This system has a solution only if
Expansion of this determinant yields
Therefore, the natural frequencies of the beam will be determined from
the solution of (14), , or
,... 3 , 2 , 1 ,
2
2 2
= = n
l
c n
n
t
e
(13)
(14)
(15)
41
For the values of the system (12) has solutions.
Three of can then be determined as functions of the
fourth.
4 3 2 1
and , , , C C C C
Because , the natural modes are
And the solution
The constants are as yet undetermined and should
be computed from the initial conditions.
n
e
0
3 2 1
= = = C C C
l n c k / ) / (
2 / 1
t e = =
l
x n
C x
n
t
sin ) (
4
= +
( ) ( ) | |
=
+ =
1
4 2 4 1
sin sin cos ) , (
n
n n n n
l
x n
t C A t C A t x y
t
e e
n n
C A C A ) ( and ) (
4 2 4 1
(16)
(17)
Beam Natural Modes
Equation for k
kx D kx C kx B kx A x
A
EI
l
kl
sin cos sinh cosh ) (
) (
' 2
2
+ + + = =
e
0 ) tanh (tan ) (
2
= kl kl kl
2
) (kl
0 sin = kl
0 cos cosh 1 = + kl kl
kl
1.875 3.52
4.694 22.03
7.855 61.70
3.141 9.87=
6.283 39.5=
9.425 88.9=
0 0
3.927 15.42
7.069 50.0
10.21 104.3
2
t
2
4t
2
9t
43
Cantilevered Mode Shapes
44
PINNED-PINNED MODE SHAPES
45
Pinned-Left Mode Shapes
46

Forced Vibration:
Distributed Harmonic Excitation
x t x p
t
y
x x F
y
c +
c
c
c = ) , ( ) (
2
2
If an external force of density p(x,t)

in the direction of positive y is
distributed along the one-
dimensional structural member (for
beams a lateral force per unit
length) equilibrium will demand that
The differential equation of motion will then be,
) , (
1 1
2
2
2 4
4
t x p
EI t
y
c x
y
+
c
c
=
c
c
) , ( t x p
(18)
(19)
47
t
A
x P
t
y
x
y
c e
sin
) (
2
2
4
4
2
c
c
=
c
c
A beam loaded with a distributed force has the equation of
motion
A particular solution of the form
Leads to
t x W t x y e sin ) ( ) , ( =
2
2
) (
) (
c A
x P
W
c
W
iv
e
=
|
.
|
\
|
(20)
(21)
(22)
t x P e sin ) (
48
, / for constant,
2
0
c k F P(x) e = = =
2
0
4 3 2 1
sin cos sinh cosh ) (
e A
F
kx C kx C kx C kx C x W + + + + =
kl
A
F
C
kl
A
F
C
A
F
C C
tanh
2
tan
2
2
2
0
4
2
0
3
2
0
2 1
e
e
e
=
=
= =
For a simply supported beam length l,
And the steady state vibration is
t kl
x l k
kl
x l k
A
F
t x y e sin ) 1 cosh(
2
) (
cosh cos
2
) (
cos ) , (
2
0
(
=
For
(23)
(24)
49
General Excitation: Modal Analysis
) , ( / /
2 2 4 4
t x f t y x y EI c c = c c
l
x n
ml
n
x x
m x x m
n
n
l
n
t
|
sin
2
) ( ,
) (
1
, 1 ) (
1
0
2
0
2
=
c
= = c
}
}
l x n C x
n
/ sin ) (
4
t =
The response of multi degree-of freedom systems to a general excitation can
be written as a series expansion of the system in orthogonal modes.
For the differential equation of motion
The natural modes are given as
They are normalized as so that
) ( ) ( x m x
n n
| =
(25)
(26)
(27)
50
General Excitation: Modal Analysis
) ( ) , (
1
t q t x y
n
n
n
=
= |
,... 3 , 2 , 1 ) (
2
= + n t q q
n n n
e
) ( ) ( ) , ( ) (
1
0
s F x x t x f t Q
n s n n
| | + c =
}
We set up the solution in the form
where are the modal coordinates (unknown functions of time)
Equation 28 is inserted into 25 and the latter is then integrated over the
length of the beam. Due to orthogonality and using 27
were the nodal force is
where f(x,t) is a distributed force and is a concentrated force at
x=s.
) (t q
n
s
F
(28)
(29)
51

Example: Dynamic Response of a Pipe in a
Pulsating Cross-Flow

A simply supported beam is in a pulsating stream of water
that acts on the pipe with a distributed lateral harmonic force
amplitude F per unit length constant along the beam and
circular frequency

Flow Vortex Shedding
t F e cos
Oscillating force =
L
EI
length mass/unit =
52

The natural frequencies for lateral vibration of the simply supported beam
are where
The natural modes are

The normal modes are

The uncoupled equations become

Where

,... 3 , 2 , 1 , /
2 2 2 2
= = n l c n
k
t e
2 / 1
) / ( EI c =
l x n
n
/ sin t =
l
x n
L
n
t
| sin
2
=
=
=
=
|
.
|
\
|
c = c = +
} }
,.. 4 , 2
,... 3 , 1

0
, cos
cos
2
sin ) ( ) , (
0 0
2
n
n t F
t F
L
x
l
x n
x x t x f q q
l L
n n n n
e
e
t
| e
t k l / / 2 =
L
EI
length mass/unit =
Flow Vortex Shedding
t F e cos Oscillating force =
(29)
53

The modal force is harmonic; therefore the response will be

With equation (28), the pipe response will be

The response is a sum of the contributions of all natural modes.
,... 4 , 2
,... 3 , 1

, 0
), /( cos
cos
2
sin
2 2
2 2
0
=
=
|
.
|
\
|
c =
}
n
n
t F
t
l
F
x
l
x n
q
n
n
l
n
e e e
e e
e
t
|
|
.
|
\
|
c
= =
}

=
=
t
|
e e t
|
e e
e
e e
|
| e |
3
) ( 1 ) ( 1
cos
) (
) ( cos ) ( ) , (
3
2 2
3
1
2 2
1
2 2
0
1 1
x x
t F
x x
x t F t q t x y
n
t
n
n
k n
n
n
54

Bending Vibration of Thin Plate
In many ways, a fundamental reference on the subject is Leissa. This workbesides being
a complete summary of all known results up to 1966 contains a comprehensive set of
results for the frequencies and mode shapes of free vibration of plates both according to
the so-called classical theory and with further complications such as anisotropy, variable
thickness, in plane forces etc.
Leissa, A.W., Vibration of Plates, NASA SP-160, 1969.
In essence, plates are the two-dimensional counterpart of beams. In other words,
plates do have bending stiffness and the additional complications arise not only from
the increased complexity of twodimensional wave motion but also from the complex
stresses that are set up when a plate is bent. In fact, when a plate element is bent, the
material inside the bend becomes compressed and tends to expand laterally while the
material outside the bend is stretched and tends to contract laterally, so that bending in
one direction necessarily involves bending in a direction at right angles to it.
It is well known that the ratio of the lateral extension (contraction) to compression
(tension) is Poissons ratio v, which is approximately equal to 0.20.3 for most materials.
This sideways effect was ignored in the case of beams because a beam element, in
comparison with its length, is generally assumed to be thin enough as to make lateral
bending negligible for most practical purposes.
55

Now, if we assume that our undisturbed plate lies in the xy plane, the basic assumptions
of the classical theory of plates vibrations can be summarized as follows:
1. Only the transverse displacement is considered, w=w(x,y,t).
2. The plate is thin, i.e., its thickness h is small compared to its lateral dimensions (say
h<0.1a, where a is the smallest in plane dimension of the plate).
3. The stress in the transverse direction
z
is zero. More specifically, since
z
must vanish
on the external layers at and h is small, then
z
is assumed to be zero for all values of z.
4. During bending, plane cross-sections remain plane and perpendicular to the midplane
(just as in the Euler-Bernoulli beam development).
5. Only small deflections and slopes are considered (a maximum deflection of one-fifth of
the thickness is generally considered the limit for small deflection theory).
Given the above assumptions, it can be shown that the equation of motion for the free
vibration of a plate is given by:
D
4
w+ h
2
w
t
2
0
or
(cartesian
coordinates)
D

4
w
x
4
+2

4
w
x
2
y
2
+

4
w
y
4
+ h
2
w
t
2
0
56

This equation of motion must be supplemented by appropriate boundary conditions in
order to define a complete eigenvalue problem. Again, the simplest types of boundary
conditions are simply supported, clamped and free. When all edges are simply supported,
the frequency equation becomes:
The corresponding eigenfunctions are:
nm

2
n
a
2
+
m
b
D
h
u
nm
x, y
( )
A
nm
sin
n x
a
sin
m y
b
Mode 1,1
57

Mode 5,8
Mode 2,3
58
Why use Finite Element Analysis?
CAN MODEL USING
CONTINUOUS METHODS
SOLVE BEAM EIGENVALUE PROBLEM
FIXED-FIXED
PINNED-PINNED
59
BUT WHAT ABOUT MORE
INTERESTING BOUNDARY
CONDITIONS (PINNED AT
MIDPONTS)
DISTRIBUTED MASSES
LOAD
Boundary Conditions
60
COMPLICATED SHAPES
REAL-LIFE
STRUCTURES ARE
OFTEN TOO
COMPLEX FOR
CONTINUOUS
METHODS
61
GOOD NEWS!
MODELING AND SOLVING FOR
COMPLICATED BOUNDARY
CONDITIONS AND STRUCTURES
IS EASY WITH FINITE ELEMENT
ANALYSIS
62

Process of Part Modeling and Vibration Solution
with FEA
Generate a structural element mesh and a set of
nodal velocities
Can be done with Finite Element Analysis or
experimental modal analysis
Finite Element Analysis (FEA)
Break a complicated structure into many small
elements which can modeled accurately
FEA useful for concepts, changes,
Automatic meshing
Model a system too complicated for continuous
methods
Many types of analysis are possible

63
Advantages to FEM (Vibration) Modeling
Analyze a design before prototyping
Make virtual design changes
Optimization
Perform many types of design solutions
Solutions more complicated than possible with
continuous / analytical methods
64

Limitations with FEA Modeling
(Focus on Vibration)
Modeling accuracy of a part (detail)
Accuracy of the FEM analysis
Boundary conditions
Load functions
Meshing accuracy vs. Computation time
Solution should be checked against experiment or
intuition
65

Finite Element Analysis (FEA)
Governing Equations
The finite element method (FEM) is a numerical
method used to analyze complex mechanical and
structural vibration problems.
Divide structure into small sections (elements)
Elements are connected at distinct points (nodes)
Elements are chosen based on assumed behavior
Solutions take form of local mass and stiffness
matrix
Solution is similar to techniques used in multidegree
of freedom systems
66
Element Types in FEM
MOST IMPORTANT ELEMENT TYPE FOR
VIBRO-ACOUSTICS?
PLATES AND BEAMS
WHY?
THIN STRUCTURES WITH LARGE AREA
RADIATE SOUND
1-D Elements
Rod
Bar
Beam
2-D Elements
Membrane
Plate
Shell
3-D Elements
Tetrahedral
Brick
67

Development of Beam Equations for Dynamic Finite
Element Analysis
PLATE ELEMENTS ARE
SIMILAR TO BEAMS, BUT
ELEMENTS HAVE AN EXTRA
DIMENSION
-NOTE: STRUCTURE
IS IN 3-DIMENSIONS
68
Build Stiffness and Mass Matrix
Element matrices are
used to build the structure
for a global solution
In a beam example,
consider the length of the
beam
For a given set of
boundary conditions, the
vertical displacement of
the beam can be
calculated at all points
along the length according
to the Euler-Bernoulli
Beam Theory.
w
1
w
2
w
3
w
4
w(x,t)
,A,I,E
x
L
69

Equations of Motion of the Complete System of
Finite Elements
Once the mass and stiffness matrices and the force vector are known, Lagranges
equations of motion for the complete structure can be expressed as:
[M
~
]U
~
+[K
~
]U
~
F
~
[M
~
]U
~
+[C
~
]U
~
+[K
~
]U
~
F
~
or including the dissipation matrix:
70
RECAPITULATION
WE WANT TO CALCULATE THE NATURAL
FREQUENCIES AND MODE SHAPES.

WHAT DO WE DO WITH THE STIFFNESS [K] AND
MASS [M] MATRICES?
71
RECAP: Multi-degree of Freedom Systems
M
1
M
2
k
1 k
2
k
3
x
1
x
2
( )
1 1 1 2 2 1 1
x m x x k x k = +
( )
2 2 2 3 1 2 2
x m x k x x k =
Drawing a free-body diagram on each mass (with forces equal to kx) and
applying Newtons Second Law (F = ma) results in two equations of motion:
A two degree of freedom system of masses and springs:
72

)
`
=
)
`
+
+
+
)
`
0
0
0
0
2
1
3 2 2
2 2 1
2
1
2
1
x
x
k k k
k k k
x
x
m
m

(
=
2
1
0
0
m
m
M
(
+
+
=
3 2 2
2 2 1
k k k
k k k
K
In matrix form, the two equations are represented as:
In this form, we refer to the two system-descriptive matrices as the mass
matrix (M) and the stiffness matrix (K)

Multi-degree of Freedom Systems
73

Eigenvalue solution determines the natural frequencies
(resonance) and mode shapes (vibration patterns or
eigenvectors) of the system.
Eigenvalue solution is independent of the system forcing.
Used to determine the frequencies of vibration of the system
and the motion of the structure at each frequency.
Mode Shapes and Natural Frequencies
(Eigenvectors and Eigenvalues)
| |{ } | | | |{ } { } 0 = X M X K
2
e =
where
Example FEA Hand Calculation of the Eigenvalue
Solution for a Simply Supported Beam
75

Example - Hand Calculation of the Eigenvalue Solution
for a Simply Supported Beam
Objective: Calculate the first three natural
frequencies and mode shapes of a simply
supported beam.
Material Properties (Isotropic Steel):

= 7834.67 kg/m3
E = 1.9995E11 N/m2
G = 7.5842E10 N/m2
= 0.32
76

Example - Hand Calculation of the Eigenvalue Solution for a
Simply Supported Beam
Beam Properties:

Dimensions = 1 x 0.1 x 0.01 m
Area = 0.001 m2
I1 = 8.33 E9 m4
I2 = 8.33 E-7 m4
77

Create Global Mass and Stiffness Matrices
The element mass and stiffness matrices are
used as building blocks to create a model of the
structure of interest
For the first example, only one element is used to
define the structure of the simply supported beam
w
1
w
2
w
3
w
4
78

For only one element, the global stiffness and matrices
are the same as the local element matrices
| |
(
(
(
(
=
2 2
2 2
3
4 6 2 6
6 12 6 12
2 6 4 6
6 12 6 12
L L L L
L L
L L L L
L L
L
EI
K
| |
(
(
(
(
=
2 2
2 2
4 22 3 13
22 156 13 54
3 13 4 22
13 54 22 156
420
L L L L
L L
L L L L
L L
AL
M

79

Since the beam in this example is simply-
supported, the displacements at the ends (w1 and
w3) must be set to zero.
This boundary condition is applied by removing
the rows corresponding to w1 and w3 for [K] and
[M].
| |
(
(
(
(
=
2 2
2 2
3
4 6 2 6
6 12 6 12
2 6 4 6
6 12 6 12
L L L L
L L
L L L L
L L
L
EI
K
w
1
w
3
(
=
2 1
1 2
2
L
EI
| |
(
(
(
(
=
2 2
2 2
4 22 3 13
22 156 13 54
3 13 4 22
13 54 22 156
420
L L L L
L L
L L L L
L L
AL
M

w
1
w
3
(

=
4 3
3 4
420
3
AL
80
Solve the Eigenvalue Problem
With the global mass and stiffness matrices known, the
equation of motion for the simply supported beam can be
expressed as for a multi degree of freedom system

By assuming a harmonic solution, the eigenvalue solution
can be solved
| |{ } | |{ } { } 0 = + w K w M

| |{ } 0
2
= w M K e
(
=
(
(
(
(
(
+
+
0
0
420
4 4
420
3 2
420
3 2
420
4 4
4
2
3
2
3
2
3
2
3
2
w
w
Al
l
EI Al
l
EI
Al
l
EI Al
l
EI
e
81
As with the multidegree of freedom solution, set the
determinate equal to zero and solve for , the natural
frequencies of the system
2
1
4
1
120
|
|
.
|
\
|
=
Al
EI
e
2
1
4
2
2520
|
|
.
|
\
|
=
Al
EI
e
82
By plugging in for the beam dimensions and material
properties, the first two natural frequencies are obtained.
The solution is inexact, because of assumptions made
in the finite element procedure.
However, it can be shown that the exact solution is
quickly approached by increasing the number of
elements used
83
The eigenvectors (mode shapes) of the vibrating beam can also be calculated
using the same techniques as with the multidegree of freedom example.
Simply substitute the first natural frequency back into the first row of the
characteristic equation:

Setting w2 = 1, the first mode shape is obtained.

(
=
(
(
(
(
|
|
.
|
\
|
+
|
|
.
|
\
|
0
0
420
3 120 2
420
4 120 4
4
2
3
4
3
4
w
w
Al
Al
EI
l
EI Al
Al
EI
l
EI

| |
(
=
1
1
1
W
84
Remembering the physical meaning of w2 and w4 (the
slope a the left and right end of the beam, respectively),
the solution agrees with the known solution for the first
mode shape of a simply supported beam (half sine wave).
Repeating the procedure for natural frequency number
two, the second mode shape is obtained. Again, this
agrees with the known solution for the second mode
shape (full sine wave).
| |
(
=
1
1
2
W
85
FEM Beam Example in MATLAB
In-Class demonstration for
FEM eigenvalue solution to the
beam problem with various
boundary conditions
86

Boundary Condition #1
FREE-FREE
NO CHANGES TO [K] OR [M]
87
FREE-FREE MODE SHAPES
88

RESTING ON SUPPORTS
PINNED-PINNED
89
Boundary Condition on Stiffness Matrix
PINNED-
PINNED

Which nodes
receive the
additional
stiffness?
[K] Matrix shown for 10-elemens
90
PINNED-PINNED MODE SHAPES
91

MOUNTED BETWEEN WALLS
FIXED-FIXED
92
Boundary Condition on Stiffness Matrix
FIXED-
FIXED

Which nodes
receive the
additional
stiffness?
93
FIXED-FIXED MODE SHAPES
94

PINNED AT MIDPOINTS
SOLVE WITH
CONTINUOUS
METHODS?
(DIFFICULT)
WITH FEM EASY!
95
Boundary Condition in FEM
PINNED AT
MIDPOINTS

Which nodes
receive the
additional
stiffness?
96

PINNED AT MIDPOINTS MODE
SHAPES
97
Commercial FEM Example
Vibrating Modes of a Square Flat Plate
in NASTRAN
98
Center-Excited Square Plate
Mode#1 106.8 Hz
Mode#2 217.9 Hz
101
Mode#3 218.3 Hz
102
Mode#4: 322.2 Hz
103
Mode#5 392.4 Hz
104
Mode#6: 394.3 Hz
105
Mode#11 656.7 Hz
106
Mode#17: 932.2 Hz
107
Random Vibration of Structures
So far in this course we have dealt with Deterministic Loading Types using either
Transient Response or Frequency Response.
We now look at Random Loading and the subset, which is the Stationary, Ergodic type.
Classification of Dynamic Environments
Stationary Random: The mean is constant and the nature of the signal remains the same

Non-Stationary Random: The mean may vary and the nature of the signal changes
108
Random Vibration of Structures
Example of Stationary Ergodic Random Data
In the example there are bursts of
loading, and the characteristics of
each burst are different.
A sample can be taken out of any signal, or
across a signal and it will be representative of
the event.
This example could be aircraft turbulence
across 4 flights in similar conditions with
similar aircraft
Example of Non-Stationary Random
109
Random Response Analysis
Random vibration is vibration that can be described only in a statistical sense. Its
instantaneous magnitude at any time is not known; rather, the probability of its
magnitude exceeding a certain value is given.

Examples include earthquake ground motion, ocean wave heights and frequencies, wind
pressure fluctuations on aircraft and tall buildings, and acoustic excitation due to rocket
and jet engine noise.

FEM analysis usually performs random response analysis as postprocessing to frequency
response.

Inputs include the output from a frequency response analysis as well as user-supplied loading
conditions in the form of Power Spectral Densities and Cross Spectral Densities.
Outputs are response Power Spectral Densities, Autocorrelation Functions, Number of Zero
crossings per unit time, and the RMS values of response.
110
What is a PSD (Power Spectral Density)
Imagine having a random loading which needs to be investigated
Assume the mean is zero
Define the loading as acceleration in g
Square the signal in order to get a non-zero mean
111
It can be shown statistically that the Square Root of the Mean Square Value (RMS) is
Equal to the standard deviation of a Normal distribution
One standard deviation or the RMS value of the signal is the value that has a 68.3%
probability of occurring
3 has a 99.73% probability of occurring
How the signal can be further characterized?
This is a measure of the mean amplitude of the signal in terms of its RMS
Apply a filter to the original signal, to eliminate all frequencies above, say f
1
Square the signal and compute the Mean Square
Mean square value below f
1
112
Continue to apply a reducing upper limit on f (always to the original signal)
As each frequency range is cut off, the Mean Square Value will be decreasing
2
3
4
113
It is now possible to plot the variation of the Mean Squares versus f
i
This type of plot is called Cumulative Mean Square (CMS) plot, or, if the root terms are
taken, then it is the CRMS plot

It shows the frequency content of the random signal
In the case presented, for example, the MS value jumps considerably between f
3
and f
2
114
If one takes the gradient of the Mean Square plot, obtains:

This type of plot is called Power Spectral Density (PSD)

It shows the frequency content of the random signal, more directly than CMRS
Again the g
2
/Hz value jumps considerably between f
3
and f
2
The square root of the area under the curve is the RMS value
115
Example #1
Random Vibration Analysis of a 2-dof
Base Excited System

116
Example of a Random Vibration Analysis
Lets consider the response of a general multi degree of freedom system subjected to a
random disturbance. This could be a random force applied at one of the degrees of
freedom or a random acceleration applied to the base of the structure.

M
[ ]
u
{ }
+ C
[ ]
u
{ }
+ K
[ ]
u
{ }
p t
( ) { }
It must be emphasized that only a sinle random disturbance is considered. For random
multipoint excitation the response can be obtained by summation only if all the cross-
spectral densities, and consequently all the cross correlation functions, between pairs of
exciting forces are zero.

Assumptions: Stationary and ergodic random process with Gaussian distribution
A random force P
j
(t) is applied at the degree of freedom j with a spectral density S
p
().
The displacement x
s
(t) at degree of freedom s is of interest and this has a spectral density
(to be computed) S
x
().

117
In terms of equations:

x
s
2
t
( )

1
2
S
x

( )
d
0
1
2
H
sj

( )
0
2
S
P

( )
d
where H
sj
() is the complex frequency response or receptance of the system at s, when
forced in j. Typical expressions for H
sj
() are:

S
x

( )
H
sj

( )
2
S
P

( )
and the mean square value of the response is given by:

H
sj

( )

r
s
( )

r
2

2
2i
r
( )
r
j
( )
r
2

2
( )
2
+4
r
2
r
2
r1
n
H
sj

( )

r
s
( )

r
2

2
i
r
r
2
( )
r
j
( )
r
2

2
( )
2
+
r
2
r
4
r1
n
for viscous damping

for hysteretic damping

118
Lets consider the following structure having the base EF subjected to a random
displacement x
0
whose spectral density is:

S
0

( )
10
6
1 0.0001
2
( )
m
2
sec
0 100
S
0

( )
0 >100
Assuming the non-dimensional hysteretic damping factors
1
and
2
both equal to (a)
0.01, (b) 0.1, the mean square values of the response of two masses are requested.
The equation of motion, including the hysteretic damping, is written as:

m
1
0
0 m
2
x
1
x
2
+
h
1
+h
2
h
2
h
2
h
2
x
1
x
2
+
k
1
+k
2
k
2
k
2
k
2
x
1
x
2
x
0
(k
1
+ih
1
)
0

119
Assuming m
1
=m
2
=10
4
[Kg] and k
1
=k
2
=10 [MN/m] and calculating the hysteretic damping
based on the previous assumption, the equation of motion becomes:
The applied force and the resulting spectral density are:
m
1
0
0 m
2
x
1
x
2
+ 1+i
( )
k
1
+k
2
k
2
k
2
k
2
x
1
x
2
k' x
0
0
H
[ ]
m
[ ]
+ k
[ ]

r

r
2
+
1

2
0
therefore
with
k' k
1
1+
2
k' k
1
1+
2
x
0
S
( )
k
1
2
1+
2
( )
S
0

( )
while the frequency response function (force applied at degree of freedom #1 is:
H
s1

( )

r
x
s
( )

r
2

2
i
r
2
( )
r
1
( )
r
2

2
( )
2
+
2
r
4
r1
2
s1, 2
and, finally
x
s
2
t
( )

1
2
H
s1
( )
2
k
1
2
1+
2
( ) S
0
( ) d
0
s1, 2
120
Substitution of the assumed values into the equations, it results:
1
19.54 rad / sec
[ ]
2
51.17 rad / sec
[ ]
Numerical integration yields the following mean square responses:
[ ]

0.5257 0.8506
0.8506 0.5257
10
2
0.01
x
1
2
t
( )
318.7 mm
2
x
2
2
t
( )
672.7 mm
2
0.1
x
1
2
t
( )
32.45 mm
2
x
2
2
t
( )
67.32 mm
2
For comparison the mean square value of the input displacement is:
x
0
2
t
( )

1
2
S
0

( )
d
0
1
2
1 0.0001
2
( )
d
0
100
10.61 mm
2

121
Example #2
Vibroacoustic Analysis of a Uniform,
Simply Supported Plate

122

The purpose is the estimation of the random acceleration response at the center of the
panel, where a small instrument of a negligible mass is mounted.
The problem may be solved in three steps:
Step 1: Calculate the plates modal parameters
Step 2: Convert the SPL curve to a Pressure Spectral Density Curve
Step 3: Compute the required response spectral density
Input Data

115
120
125
130
135
140
145
2
0

3
1
,
5

5
0

8
0

1
2
5

2
0
0

3
1
5

5
0
0

8
0
0

1
2
5
0

2
0
0
0

S
P
L

[
d
B
]

Freq [Hz]
Dimensions
a = 1.016 [m]; b = 1.372 [m]; ts = 0.0201 [m]; tf = 0.00051 [m]; E = 69.0 x 109 [N/m2];
v = 0.33; Weight per unit area, W = 103 [N/m2]; Damping ratio, , = 0.01
Boundary conditions: Simply supported (pinned) at all edges
123

Step 1: Calculate the plates modal parameters
The modal frequencies for a uniform simply supported rectangular plate are:
f
n,m

2
n
a
2
+
m
b
Where a and b are the plates in-plane dimensions, is the mass per unit area and D is
the plate bending constant, defined as follows:
D
Et
3
12(1
2
)
D
Et
f
(t
s
t
f
)
2
2(1
2
)
for a uniform homogeneous plate whose thickness is t and Youngs modulus E
for a sandwich panel with face sheets of equal thickness; t
f
is the thickness of
each face sheet and t
s
the total thickness of the panel
n,m
(x, y) sin
n x
a
sin
m y
b
The vibration mode shapes for a uniform simply supported plate are of the form:
The modal displacement amplitude at the center of a rectangular plate is simply:
n,m
(
a
2
,
b
2
) sin
n
a
a
2
sin
m
b
b
2
sin
n
2
sin
m
2
124

For the specific example, the bending plate constant and the mass per unit area are:
D
69 10
9
5.1 10
4
2.01 10
2
5.1 10
4
( )
2
2 1 0.33
2
( )
7578 [Nm]

W
g

103
9.81
10.5 [
Kg
m
2
]
therefore the frequency of the first mode is:
f
1,1

2
1
1.016
2
+
1
1.372
7578
10.5
63.3 [Hz]
and the modal amplitude at the plates
center, for the first mode is:
1,1
(
a
2
,
b
2
) sin
(1)
2
sin
(1)
2
1.0
The next step is the calculation on the generalized mass, which, for a uniform rectangular
simply supported plate reduces to:
n,m

n,m
2
(x, y)dxdy
0
b
0
a
general expression simply supported plate

ab
4
For each mode it needs to compute the net volume swept by the vibration mode shape,
which refers to as the generalized force coefficient. Multiplying it by the pressure results
in the generalized force. Two methods of predicting a pressure distribution are employed.
One for low-frequency pressure and the other for high-frequency pressure.
Correspondingly two equations to calculate the generalized force coefficient.
125

For the low-frequency band, where pressure is assumed to be correlated over the entire
panel surface, the equation for the generalized force coefficient is:
n,m
LF

n,m
(x, y)dxdy
0
b
0
a
ab
nm
2
1 cosn
( )
1 cosm
( )
For the high-frequency band, the pressure is assumed to be correlated over each quarter-
panel region, therefore the equation for the generalized force coefficient is:
n,m
HF
4
n,m
(x, y)dxdy
0
b
2
0
a
2
4ab
nm
2
1 cos
n
2
1 cos
m
2
Having, for convenience, mass normalized the mode shapes as:
n,m
(x, y)

n,m
(x, y)
The frequency for establishing the transition from low to high-frequency band may be set
equal to the frequency of sound that has a wavelenght as long as the plates width :
f
a

c
340
1.016
335 [Hz]
Thus, for pressure frequencies below 335 [Hz], the first equation, for the determination
of the generalized forces, is to be used, regardless of the modal frequency; for pressure
frequencies greater than 335 [Hz], the second equation should be considered.
126

Step 2: Convert the SPL curve to a pressure spectral density curve
The most important relationships are here collected:
SPL( f ) 20log
10
p( f )
p
ref
p( f ) p
ref
10
SPL( f )
20
f
c2
f
c1
2
3
;
f
2
f
c1
f
c2
f
2
D f ( f
c
) 2
1
6
2

1
6
( )
f
c
0.2316 f
c
PSD p( f )
[ ]

p( f )
2
D f
Center
Frequency, Hz
SPL [dB]
RMS
Pressure, Pa
Frequency
Bandwidth, Hz
PSD
Pa
2
/Hz
127

115
120
125
130
135
140
145
2
0

3
1
,
5

5
0

8
0

1
2
5

2
0
0

3
1
5

5
0
0

8
0
0

1
2
5
0

2
0
0
0

S
P
L

[
d
B
]

Freq [Hz]
1
10
100
1000
10000
2
0

3
1
,
5

5
0

8
0

1
2
5

2
0
0

3
1
5

5
0
0

8
0
0

1
2
5
0

2
0
0
0

P
S
D

[
P
a
2
/
H
z
]

Freq. [Hz]
Step 2: Convert the SPL curve to a pressure spectral density curve
From To
SPL PSD
128

Step 3: Compute the response spectral density
To calculate the acceleration response spectral density, it is necessary to compute the
transfer function that relates acceleration response at the plates center to the applied
pressure. This is accomplished by taking the Fourier transform of the equation of motion:
H
LF
( f )
n,m
f
2
f
n,m
2
f
2
+i 2 f
n,m
f
( ) m1
M
n1
N
n,m
LF
H
HF
( f )
n,m
f
2
f
n,m
2
f
2
+i 2 f
n,m
f
( ) m1
M
n1
N
n,m
HF
Low frequency High frequency
where N and M are the mode number which have natural frequencies not over 2000 Hz,
which is the limit of the analysis range (the forcing pressure is known up to 2000 Hz).

The response acceleration spectral density and its companion the displacement spectral
density are computed by:
PSD z( f )
[ ]
H( f )
2
PSD p( f )
[ ]
PSD z( f )
[ ]

1
2 f
( )
4
PSD z( f )
[ ]
acceleration
displacement
129


The result is:
Response acceleration spectral density
Integrating numerically this curve and taking the square root of the result, the rms
acceleration is obtained:
z
rms
41.5[g]
130

additionally:
Response displacement spectral density
From the integration of this curve and taking the square root of the result, the rms of the
displacement results in 1.98 [mm]. This value is less than half the plates thickness, so the
used plate equations are valid.


Dynamics

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Vibroacoustic Response of Plates

If an external force of density p(x,t)

for viscous damping

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general expression simply supported plate

Having, for convenience, mass normalized the mode shapes as:

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