Lecture 9

AE 568 Experimental Analysis of Vibrating Structures Dr. M.
AHN 2013 Spring

Modal Analysis Methods
Lecture # 9
5. Structural Modification
6. Finite Element Analysis and Model Updating
7. Applications and Remarks (Modal Testing)
AE 568 Experimental Analysis of Vibrating Structures Dr. M. AHN 2013 Spring
Aim is to disassociate structural resonances from excitation
frequencies

and therefore, to improve dynamic properties of a
structure.
This can often be achieved by relocating (or shifting) a
resonance of the structure away from the excitation frequency
range via performing modal analysis.
Therefore, modification implies changes in mass and stiffness
matrices (i.e. Property change)
(Local) Structural Modification
Its application on Modal Analysis is a technique to investigate
the effects of physical parameter changes of a structural system

on
its dynamic properties which are in the forms of natural
frequencies and mode shapes.
Changing natural frequency is perhaps the most common
objective of structural modification.
As natural frequency coinciding with or, at the vicinity of, the

ambient vibration frequency is common source of excessive
vibration that may lead to structural failure.
Two opposite paths!
Direct problem
Predicts dynamic property changes when mass, stiffness,
dimensional (i.e physical properties) changes are given. So called
Reanalysis

and provides analytical solution without a complete
re-eigensolution.

Needs system matrices or sufficient and accurate data from
modal testing (i.e. FRF data)
Two opposite paths!
Inverse Problem
Seeks to determine necessary structural changes to create a
targeted dynamic property change, such as natural frequencies.
Non-unique (difficult to solve!)
Non-existence (possibility!)

First, determine where the necessary structural changes should
occur so that the solution, if it exists, can be realistic.

Second, formulate the structural modification problem
analytically once the locations for modification have been
identified, so that the solution, if it exists, can be found.
Therefore, in most low frequency vibration problems, the
fundamental frequency and mode shape of a structure are
primarily responsible for its vibration response to an excitation.

Ability of shifting

the fundamental frequency

can significantly
reduce that response!

If the excitation frequency is a narrow banded range rather than
an individual frequency, structural modification can be used to
rearrange

the natural frequencies

so that no natural frequency
falls within the band.

Structural modification can help moving

an anti-resonance

to
mach the excitation frequency so as to create a nodal point at the a
selected location on the system.
Reminder:
Anti-resonance:

Refers to either a physical phenomenon or a
frequency. It is defined as the frequency at which the ratio of the
response at one point

to the force at another

becomes zero (for
the undamped systems) or approaches to zero (for the damped
systems). Physically, since antiresonance implies that structure

is
grounded

at that frequency, any structural changes at this location
will not make an impact on the response at this frequency.
Antiresonances are local

parameters of the system.
Reminder:
Resonance:

Physical phenomenon of maximum vibration or the
frequency at which maximum vibration occurs. It is a frequency of
excitation for which the same force amplitude will produce
maximum vibration response. Resonances are global

parameters of
the system.
Structural Modification involving only one DoF
Stiffness Modification
Concentrated Mass Modification
Stiffness Modification:

Stiffness changes can be introduced by
elastic elements such as springs
In experiments;
Attachment of any stringer
Distributed sensors (local stiffening effect), bonded PZTs
Stiffness Modification:

cont
Change of point RFR of a
cantilever beam at its free end
due to stiffness modification
Continuous increasing of the
stiffness will eventually push
the first resonance to meet
with the first antiresonance,
the second with the second
antiresonance, and so on.
Concentrated Mass Modification:

cont
Change of point RFR of a
cantilever beam at its free end
due to mass modification
As the mass increases, all the
resonances have to move to
lower frequencies.
Modal Parameters after Structural Modification (re-analysis):

For the modal and FRF properties of an n DoF structural
system, the solutions of the eigenvalue problem;
| | | |
( )
{ } { }
| |
| |
{ }
2
2
( )
= 0
where : stiffness matrix
: mass matrix
: eigenvalues ( , natural frequencies)
: mode shapes (eigenvectors)
Z
K M
K
M
e
e
e e
(

+
+

( )
( )
Displacement response
at coordinate i
Sole force applied at
at coordinate j
0, r = 1,2,....,N r
An individual receptance FRF ( ) is definde as;
( )
r
ij
i
ij
i
F j
X
F
o e
e
o e
e
= =
=

| | | |
| | | |
| |
1
2 2 2
Mass
normalised
mode shape
matrix
Receptance
FRF Matrix
Natural Frequency
Matrix
where
( ) ( ) : Dynamic stiffness matrix
( )
and also;
( )
T
r r
ir j
ij
Z e o e
o e e e e
| |
o e
=
( (
( (
= u u
( (
( (

=
2 2
1
n
r
r
e e


Regardless of the causes, the modification of the system is
denoted by a mass modification matrix and a stiffness
modification matrix. If no modifixcation: Null matrix!

If there is a change of physical parameters, mass and stiffness

matrices will be modified.
| |
| |
: a stiffness modification matrix
: a mass modification matrix
K
M
A
A
Re-analysis assumes that modification in the form of and
has been specified. Therefore, the dynamics of the modified
structure is governed by the following eigenvalue problem;
| | | |
K M A A
| | | | ( ) ( )
| | | | ( )
{ } { }
{ }
( )
2
*
*
= 0
where : mode shape of the modified structure
: natural frequency of the modified structure
Mode shape of the modified structure is the linear combination
of thos
K K M M Y
Y
e
e
(
+ A + A
(

{ } | |{ }
e from the unmodified one Y q = u
Modal Parameters after Structural Modification (re-analysis)
( )
| | | | | || |
( )
| | | | | || |
( )
{ } { }
*
*
2
2
*
*
Therefore;
= 0
or

T T
r
M
K
I M I K
K
e e q
(
(

(
(

(
(
( (
( (
+ u A u + + u A u
( (
( (

(
(

( )
( )
{ } { }
2
* *
= 0 M e q
( (

The previous equation forms a relationship between the
modification ( and ) and the modal parameters ( )
of the modified structure. The modal data of the original structure
( and ) can come from its modal testing and analysis.
| | | |
K M A A
| |
*
, Y e
| |

r
e u
Mass modification Stiffness modification
| |
0 M A
| |
0 K A
| |
( )
| |
( )
{ }
( )
| |{ } { }
{ }
( ) ( )
| |{ }
2 2
* *
2
* *
= 0
or

K M Y M Y
Y M Y
e e
e o e
A
(
= A

| |
( )
| |
( )
{ } | |{ } { }
{ }
( )
| |{ }
2
*
*
= 0
or

K M Y K Y
Y K Y
e
o e
+ A
(
= A

This equation dictates the relationship
between a prescribed natural frequency
and mass modification
This equation dictates the relationship
between a prescribed natural frequency
and stiffness modification
Mass modification Stiffness modification
( )
( )
( )
1
2
* *
1
2
2 2 *2
*
1
( )
or
1
k kk
N
kr
k
r
r
m
m
e o e
|
e e
e
=
A =
| |
A =
|
\ .
If mass change only occurs at

coordinate k;
If stiffness change only occurs at
coordinate k;
( )
1
*
1
2
2 *2
1
( )
or
k kk
N
kr
k
r
r
k
k
o e
|
e e
=
A =
| |
A =
|
\ .

Sensitivity Analysis:
Obtaining sensitivities of the dynamic characteristics of a system
w.r.t. the changes of its parameters is critical for achieving for
efficient design modification, and for predicting the optimal

structural modifications within a prescribed dynamic
characteristics changes.

Mathematical sensitivity: Differentiation on the modal or FRF
data of a dynamic system
Variables: System parameters (mass or stiffness elements)

Functions: Modal or FRF data (natural frequencies and mode
shapes of the system)
Assumption: Infinitesimal changes
The eigenvalue problem governing an N DoF linear dynamic
system is:
| | | | { } { }
2
= 0 where 1, 2,....,
r r
K M r N e |
(
=

The partial differentiation of the equation
w.r.t a mass element,
Premultiply by and recall that (mode shapes) are mass
normalised.
| | | | { } { }
2
= 0 where 1, 2,....,
r r
K M r N e |
(
=

ij
m
| |{ }
| |
{ } | |
{ }
| |
{ }
{ }
2
2 2
= 0
r r
r
r r r r
ij ij ij ij
M
M M K
m m m m
| |
e
| e | e
c c c
c
+
c c c c
{ }
r
| { }
T
r
|
{ }
| |
{ } { }
2
2
= 0
T
r
r r r
ij ij
M
m m
e
e | |
c
c
+
c c
is a symmetric matrix ( )
Then;
| |
M
2
2
th 2
2
2 2
2 0 for
Sensitivity of the
and r squared natural frequency,
w.r.t the change of the element,
0 for
i
r
r ir jr
ij
r
ij
r
r ir
ij
i j
m
m
i j
m
e
e | |
e
e
e |
c
+ = =

c

c

+ = =
c
)
n the mass matrix
ij ji
m m =
Likewise, the sensitivity of w.r.t. the changes of the
element in the stiffness matrix is given by;
2
2
2 2
2 0 for
0 for
r ir jr
r
ij
r ir
i j
m
i j
e | |
e
e |
= =
c
=

c

= =
2
2
2 0 for
0 for
ir jr
r
ij
ir
i j
k
i j
| |
e
|
= =
c
=

c

= =
ij
k
2
r
e
These two equations outline
the sensitivity of a natural frequency
w.r.t. a spatial parameter change.
These equations become invalid
if natural frequency changes
become large.
As mode shapes do not change appreciably for a small structural
modification, Rayleighs quotient can be given as;
A good approximation for natural frequency change.
( )
{ } | | | | { }
{ } | | | | { }
2
T
r r
r r
T
r r
K K
M M
| |
e e
| |
( + A

+ A =
( + A

Lecture # 9
Finite Element Analysis and Model Updating
The problematic areas associated with FEM:
Approximation of boundary conditions
Discritisation of distributed parameters system
Estimation of the physical properties of structural materials

Approximation/omission of damping representation, or assumption

of
proportional damping
Inedequate modelling of joints
Condensation of FEMs to make them compatible with the test DoFs
Potential problems relevant to model validation and updating:

The number of measured DoF is limited and may be different from the
analytical model
Difficulty of measuring rotational DoF
Limited number of identified mode shapes
Complex mode shapes obtained
Unmodelled errors in measurement (noise, nonlinearity, etc.)
Poor modal analysis of the experimental data
Some modes not excited or, if excited, then not identified.
A case study: Wing of an Unmanned Aerial Vehicle

The finite element model of the wing was generated by using
MSC

PATRAN

NASTRAN package program.

The modal analysis of the wing was done with Normal Mode
Analysis routine of MSC

NASTRAN.

The natural frequencies and the corresponding global bending
and torsion modes of the wing are obtained.
Solid Model
(Internal Structures)
Isometric view of internal structures
Geometric model of the spars
Geometric model of the ribs
Geometric model of the fittings
Solid Model
(Skin)
Material Properties
Isometric view of external geometry
Finite Element Model
FEM Properties
Boundary
Conditions
The mesh generated for
the finite element analysis
Number of elements: 18353
Number of nodes: 17537
1
st

Out-of-plane Bending

Mode Shape
1
st

Torsional Mode Shape
2
nd


Mode Shape
FEA results [Hz]
Test setup for white noise and sine sweep excitations
0 20 40 60 80 100 120 140 160 180 200
-100
-90
-80
-70
-60
-50
-40
-30
-20
-10
0
10
Accelerance (Accel 1)
Frequency (Hz)
M
a
g
n
i
t
u
d
e

d
B
[
(
m
/
s
2
)
/
N
]
X: 14.75
Y: -3.353
X: 67
Y: -25.62
X: 93.75
Y: -6.211
Accelerance

FRF obtained via white noise excitation
Accelerance

FRF obtained via sine sweep

excitation
0 20 40 60 80 100 120 140 160 180 200
-60
-50
-40
-30
-20
-10
0
10
20
X: 14.75
Y: 10.79
Accelerance (Accel 1)
Frequency (Hz)
M
a
g
n
i
t
u
d
e

d
B
[
(
m
/
s
2
)
/
N
]
X: 66.75
Y: 11.64 X: 93.25
Y: 8.438
Test setup for impact hammer excitation
Accelerance

FRF obtained via impact hammer

excitation

All measurements
0 20 40 60 80 100 120 140 160 180 200
-50
-40
-30
-20
-10
0
10
20
30
40
Accelerance (Everything)
Frequency (Hz)
M
a
g
n
i
t
u
d
e

d
B
[
(
m
/
s
2
)
/
N
]
Accelerance

FRF obtained via impact hammer

excitation

-

Composite FTR
0 20 40 60 80 100 120 140 160 180 200
-30
-25
-20
-15
-10
-5
0
5
10
15
Accelerance (All Average)
Frequency (Hz)
M
a
g
n
i
t
u
d
e

d
B
[
(
m
/
s
2
)
/
N
]
X: 14.75
Y: 9.563
X: 66.75
Y: 13.73 X: 93
Y: 11.76
X: 107.5
Y: -0.492
X: 138
Y: -7.395
X: 156.5
Y: 1.54
X: 176.3
Y: -2.224
1
st


Mode Shape
1
st

2
nd


Mode Shape
Experimantal Results [Hz]
Comparison of Experimantal and FEA results [Hz]
Scanning Laser Doppler Velocimeter Application
Scan grid
1
st


Mode Shape
1
st

2
nd


Mode Shape
Applications and Remarks
Residuals:
Taking into account of
modes which we do
not analyse directly
but
which nevertheless
exist and have an
influence on the FRF
data we use!
Contributions of various terms in modal series of FRF
Low-frequency modes
High-frequency modes
Identified modes
Lecture # 9
Residuals:
Contributions of various terms in modal series of FRF
Low-frequency modes
High-frequency modes
Identified modes
2
1
2 2 2
( )
jk
A
m
jk
r m
r r r
r
H
i
e
e e q e
=
=
+
1 2
1 1 2
1
2 2 2 2 2 2
1 1
( )
jk jk
A A
m m
N N
jk
r r m r m r m
r r r r r r
r r
H
i i
e
e e q e e e q e
= = = = +
| | | |
= = + +
| |
| |
+ +
\ . \ .

2
1
( ) : Residual Mass
jk
R
jk
H
M
e
e
=
1
( ) : Residual Stiffness
jk
R
jk
H
K
e =
Residuals:
Without Residuals With Residuals
2
1
2 2 2 2
1 1
( )
jk
A
m
jk
R R
r m
jk r r r jk
r
H
M i K
e
e e e q e
=
= + +
+
2
1
2 2 2
( )
jk
A
m
jk
r m
r r r
r
H
i
e
e e q e
=
=
+

Comparison of Modal Properties:

Comparison of natural frequencies

(measured vs. predicted) via simple

tabulation of the two sets of results but a more useful format is by plotting the
experimental value against the predicted one for each of the modes.
FEM Natural Frequency [Hz]
Experimental
Resonance Frequency [Hz]
Comparison of Mode Shapes: Graphical
To check whether the experimental and the
predicted frequencies relate to the same
mode of vibration.
On simple structures with well-seperated
modes this present no dificulty. On more
complex structures with closely spaced
natural frequencies these comparisons
become more difficult and require
additional information in each case of the
mode shape as well as the natura

l
frequency.
Comparison of Mode Shapes: Numerical
Techniques were developed for quantifying the comparison between

measured and
predicted mode shapes via computing simple statistical properties of a pair of
modes under investigation.
It is a quantity referred as Modal Scale Factor (MSF)

and it represents the
slope

of the best straight line trough the points.
( ) ( )
( ) ( )
{ }
{ }
{ }
{ }
*
*
1
*
*
1
( , )
n
T
X A
j j
X A
j
n T
A A
A A
j j
j
MSF X A
| |
| |
| |
| |
=
=
= =
The formula assumes that the mode

shape data may be complex, and
are based on a comparison between
an experimentally measured mode
shape, and a theoretically
predicted of analytical one, .
{ }
X
|
{ }
A
|
The Modal Scale Factor (MSF) does not provide any indication as

to the quality
of the fit of the points to the straight line; simply its slope.
But Mode Shape Correction Coefficient (MSCC) or Modal Assurance
Criterion (MAC)

provides a measure of the least squares deviation of the points

from the straight line correction and it is a scalar quantity even if the mode shape
data are complex.
( ) ( )
( ) ( ) ( ) ( )
2
*
1
* *
1 1
( , )
n
X A
j j
j
n n
X X A A
j j j j
j j
MAC A X
| |
| | | |
=
= =
=
| | | |
| |
\ . \ .

Modal Assurance Criterion (MAC)

can be expressed in the form of a matrix
which should indicate clearly which experimental mode relates to

which predicted
one. It is generally found that a value in excess of 0.9 should be attained for
correlated modes and a value of less than 0.05 for uncorrelated modes.
2-D presentation of MAC Values 3-D presentation of MAC Values
Reasons for values of MAC of
less than unity:
Non-linearities in the test
structure
Noise on the measured data

Poor modal analysis of the
measured data

Inappropriate

choice of DOFs

included in the

correlation
Non-linear Vibration:
Linear behaviour assumptions;
If a given loading is doubled, the resulting deflections are doubled

The deflection due to two simultaneously applied loads is equal

to the
summation of the deflections caused when the loads are applied one at a time.
Signs of non-linear behaviour;
Natural frequencies varying with position and strength of excitation
Distorted frequency response plots
Unstable or unrepeatable data.
Non-linear Vibration:
Check to be made;

Repeating a particular mobility
measurement a number of times using
different levels of excitation (and
hence response) each time. If the
resulting curves differ from each other
especially at around resonances, there
is strong possibility of nonlinearity.
Measurement of FRF Matrix:
One row, SISO:
One Roving Excitation
One Fixed Response (Reference)
More

rows, SIMO:
One Roving Excitation
Multiple Fixed Response (References)
One column

:
One Fixed Excitation
One Roving

Response (Reference), SISO
Multiple (Roving) Responses (References) SIMO
More

columns

:
Multiple Fixed Excitations
One Roving

Response, MISO
Multiple (Roving) Responses, MIMO
Measurement of FRF Matrix: Mode Shapes
All +ve
Both +ve
and ve
Both +ve
and ve

MODE #1
The Peak amplitude of
the imaginary part of
the FRF
(row of the FRF matrix)
The Peak amplitude of
the imaginary part of
the FRF
(row of the FRF matrix)

MODE #2
Vibration Control Applications:
Vibration

attenuation of aerospace vehicles can be listed as

follows;
Increasing the service life of aerospace structures
Decreasing ambient noise caused by aerospace vehicles,
Reducing pollution by increasing the efficiency of propulsion systems
Increasing the fuel efficiency of aerospace vehicle by reducing the drag

Increasing the precision pointing accuracy of aerospace vehicles

such as
satellites

Protection of the cabin crew and the avionics from the hazards of long-hour
exposition

to vibration environment.
Piezoelectric Materials for Active Systems:
Smart Beam Vibration Suppresion Application

Aim is to use each piezoelectric patch bonded on the smart beam

for excitation,
disturbance, and disturbance rejection of the smart beam independently.
Smart Beam
Piezoelectric
Patch
Piezoelectric Materials for Active Systems:
Smart Beam Vibration Suppresion Application
Smart Beam
Vibration Suppresion Application:
Excitation of Smart Beam
via Impact Hammer
Smart Beam
Vibration Suppresion Application:
Excitation of Smart Beam
via PTZ patches
Smart Beam Vibration Suppresion Application:
Resonance Frequencies of the Smart Beam via Impact Hammer Excitation
Resonance Frequencies of the Smart Beam via PZT patch Excitation
H

Controller Design
Suppression of the free vibration
Suppression of the first resonance frequency forced vibration
LQG controller Design
10 9 8 7 6 5 4 3
-60
-40
-20
0
Frequency (Hz)
M
a
g
n
i
t
u
d
e

(
V
/
V

d
B
)
10 9 8 7 6 5 4 3
-200
-150
-100
-50
0
50
Frequency (Hz)
P
h
a
s
e

(
D
e
g
)

Measurement
Analytical model
6 5 4 3 5 2 7 7
6 5 4 3 7 2 8 9
0.06449 13.42 288.7 54660 3.548 10 5.55 10 7.102 10
( )
191.6 6085 741800 1.211 10 7.179 10 7.89 10
s s s s s s
G s
s s s s s s
+ + + + + +
=
+ + + + + +
LQG controller Design
Suppression of the free vibration Suppression of the first resonance frequency forced vibration
Fractional Controller Design
10 9 8 7 6 5 4 3
-60
-40
-20
0
Frequency (Hz)
M
a
g
n
i
t
u
d
e

(
V
/
V

d
B
)
10 9 8 7 6 5 4 3
-200
-150
-100
-50
0
50
Frequency (Hz)
P
h
a
s
e

(
D
e
g
)

Measurement
Analytical model
6 5 4 3 5 2 7 7
6 5 4 3 7 2 8 9
0.06449 13.42 288.7 54660 3.548 10 5.55 10 7.102 10
( )
191.6 6085 741800 1.211 10 7.179 10 7.89 10
s s s s s s
G s
s s s s s s
+ + + + + +
=
+ + + + + +
Fractional Controller Design
Suppression of the free vibration Suppression of the first resonance frequency forced vibration
Fractional Controller Design -
Open Loop behaviour
Closed Loop behaviour
Suppression of the free vibration

Lecture 9

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AE 568 Experimental Analysis of Vibrating Structures Dr. M.

AHN 2013 Spring

AE 568 Experimental Analysis of Vibrating Structures Dr. M. AHN 2013 Spring

AE 568 Experimental Analysis of Vibrating Structures Dr. M. AHN 2013 Spring

If mass change only occurs at

AE 568 Experimental Analysis of Vibrating Structures Dr. M. AHN 2013 Spring

AE 568 Experimental Analysis of Vibrating Structures Dr. M. AHN 2013 Spring

The formula assumes that the mode

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