Modal Testing

(Lecture 1)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Overview
Introduction to Modal Testing
Applications of Modal Testing
Philosophy of Modal Testing
Summary of Theory
Summary of Measurement Methods
Summary of Modal Analysis Processes
Review of Test Procedures and Levels
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Introduction to Modal Testing
Experimental Structural Dynamics
To understand and to control the many vibration
phenomenon in practice
Structural integrity (Turbine blades- Suspension Bridges)
Performance ( malfunction, disturbance, discomfort)
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Introduction to Modal Testing (continued)
Necessities for experimental
observations
Nature and extend of vibration in operation
Verifying theoretical models
Material properties under dynamic loading
(damping capacity, friction,)
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Introduction to Modal Testing (continued)
Test types corresponding to objectives:
Operational Force/Response measurements
Response measurement of PZL Mielec Skytruck Mode
Shapes (3.17 Hz, 1.62 %), (8.39 Hz, 1.93 %)
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Introduction to Modal Testing (continued)
Modal Testing in a
controlled environment/
Resonance Testing/
Mechanical Impedance
Method
Testing a component or
a structure with the
objective of obtaining
mathematical model of
dynamical/vibration
behavior
Structural Analysis of
ULTRA Mirror
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Introduction to Modal Testing (continued)
Milestones in the development:
Kennedy and Pancu (1947)
Natural frequencies and damping of aircrafts
Bishop and Gladwell (1962)
Theory of resonance testing
ISMA (bi-annual since 1975)
IMAC (annual since 1982)
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Applications of Modal Testing
Model Validation/Correlation:
Producing major test modes validates the model
Natural frequencies
Mode shapes
Damping information are not available in FE models
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Applications of Modal Testing (continued)
Model Updating
Correlation of experimental/analytical
model
Adjust/correct the analytical model
Optimization procedures are used for
updating.
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Applications of Modal Testing (continued)
Component Model
Identification
Substructure process
The component model
is incorporated into the
structural assembly
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Applications of Modal Testing (continued)
Force Determination
Knowledge of dynamic force is required
Direct force measurement is not possible
Measurement of response + Analytical Model
results the external force
[ ] [ ] ( ){ } { } f x M K =
2

Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing

Philosophy of Modal Testing
Integration of three components:
Theory of vibration
Accurate vibration measurement
Realistic and detailed data analysis
Examples:
Quality and suitability of data for process
Excitation type
Understanding of forms and trends of plots
Choice of curve fitting
Averaging
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Summary of Theory (SDOF)
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Summary of Theory (MDOF)
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Summary of Theory
Definition of FRF:
[ ] [ ] [ ] ( )
.
) (
) (
) (
) (
1
2 2
1
2

= =
+ =
N
r
r
kr jr
k
j
jk
f
x
h
D i M K H

Curve-fitting the
measured FRF:
Modal Model is obtained
Spatial Model is obtained
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Summary of Measurement
Methods
Basic measurement system:
Single point excitation
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Summary of Modal Analysis
Processes
Analysis of measured FRF data
Appropriate type of model (SDOF,MDOF,)
Appropriate parameters for chosen model
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Review of Test Procedures
and Levels
The procedure consists of:
FRF measurement
Curve-Fitting
Construct the required model
Different level of details and accuracy in
above procedure is required depending
on the application.
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Review of Test Procedures
and Levels
Levels according to Dynamic Testing Agency:
Updating
Out of range
residues
Usable for
validation
Mode Shapes
Damping
ratio
Natural
Freq
Level
0
Only in few
points
1
2
3
4
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Text Books
Ewins, D.J . , 2000, Modal Testing; theory,
practice and application, 2
nd
edition,
Research studies press Ltd.
McConnell, K.G., 1995, Vibration testing;
theory and practice, J ohn Wiley & Sons.
Maia, et. al. , 1997, Theoretical and
Experimental Modal Analysis, Research
studies press Ltd.
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Evaluation Scheme
Home Works (20%)
Mid-term Exam (20%)
Course Project (30%)
Final Exam (30%)
Modal Testing
(Lecture 10)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
Analysis of weakly nonlinear structures
Approximate analysis of nonlinear
structures
Cubic stiffness nonlinearity
Coulomb friction nonlinearity
Other nonlinearities and other
descriptions
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Analysis of weakly nonlinear
structures
The whole bases of modal testing assumes
linearity:
Response linearly related to the excitation
Response to simultaneous application of several
forces can be obtained by superposition of
responses to individual forces
An introduction to characteristics of weakly
nonlinear systems is given to detect if any
nonlinearity is involved during modal test.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Cubic stiffness nonlinearity
) sin( ) 3 sin(
4
1
) sin(
4
3
) sin( ) cos( ) sin(
) sin(
) ( sin ) sin( ) cos( ) sin(
) sin( ) (
) sin(
3
3
2
3 3
3
2
3
3






=

+ + +
=
+ + +
=
= + + +
t F t t X k
t kX t X c t X m
t F
t X k t kX t X c t X m
t X t x
t F x k kx x c x m
& & &
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Cubic stiffness nonlinearity

=
= + +

+ + +
) sin(
) cos(
4
3
) sin( ) cos( ) cos( ) sin(
) 3 sin(
4
1
) sin(
4
3
) sin( ) cos( ) sin(
3
3
2
3
3
2





F X c
F X k kX X m
t F t F
t t X k
t kX t X c t X m
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Cubic stiffness nonlinearity
( )
2
3
2
2
2
3
2
4
3
4
3
1
X k k k
c X k k m
F
X
eq
+ =
+

+ +
=

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Cubic stiffness nonlinearity
Softening effect
Hardening effect
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Softening-stiffness effect
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Softening-stiffness effect
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Softening-stiffness effect
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Softening-stiffness effect
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Coulomb friction nonlinearity
( )

+ +
=
=

= =
+ =

X
c
c i m k
F
X
X
c
dt t x
E
c X c E
t x
t x
c t x c t f
F
F
eq F
F d

4
1
4
4
) (
) (
) ( ) (
2
/ 2
0
2
&
&
&
&
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Coulomb friction nonlinearity
X increasing

+ +
=
X
c
c i m k
F
X
F

4
1
2
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Other nonlinearities and other
descriptions
Backlash
Bilinear Stiffness
Microslip friction damping
Quadratic (and other power law
damping)
..
Modal Testing
(Lecture 2)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MODAL ANALYSIS THEORY
Understanding of how the structural
parameters of mass, damping, and stiffness
relate to
the impulse response function (time domain),
the frequency response function (Fourier, or
frequency domain), and
the transfer function (Laplace domain)
for single and multiple degree of freedom
systems.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
SDOF system
Time Domain: Impulse Response Function
Presentation of FRF
Properties of FRF
Undamped MDOF system
MDOF system with proportional
damping
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
SDOF System
Three classes of system:
Undamped
Viscously-damped
Structurally Damped
Response Models:

+
+

= =
id m k
ic m k
m k
F
X
H
2
2
2
1
1
1
) (
) (
) (

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

Time Domain: Impulse
Response Function
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Frequency Domain:
Frequency Response Function
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Alternative Forms of FRF
Receptance
Inverse is Dynamic
Stiffness
Mobility
Inverse is Dynamic
Impedance
Inertance
Inverse is Apparent
mass
) (
) (

F
X
) (
) (
) (
) (

F
X
i
F
V
=
) (
) (
) (
) (
2

F
X
F
A
=
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Graphical Display of FRF
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Graphical Display of FRF
The magnitude of the three mobility functions
(accelerance, mobility and compliance)
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Stiffness and Mass Lines
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Reciprocal Plots
The inverseor
reciprocalplots
Real part
Imaginary part

=
=

c
X
F
m k
X
F
)
) (
) (
Im(
)
) (
) (
Re(
2
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Nyquist Plot
For viscous damping the Mobility plot is a
circle.
For structural damping the Receptance and
Inertance plots are circles.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
3D FRF Plot (SDOF)
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Properties of SDOF FRF Plots
Nyquist Mobility for viscose damping
( )
( )
2
2
2 2 2 2
2
2 2 2
2 2
2 2 2
2
2 2 2
2
2
2
1
) ( ) ( 4
) ( ) (
) Im( ,
2
1
) Re(
) ( ) (
) (
) Im(
) ( ) (
) Re(
) (

=
+
+
= +
=

=
+

=
+
=
+
=
c
c m k c
c m k
V U
Y V
c
Y U
c m k
m k
Y
c m k
c
Y
ic m k
i
Y

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

Properties of SDOF FRF Plots
Nyquist Receptance for structural damping
( )
( )
( )
( ) ( )
2 2
2
2
2
2 2
2
2
2
2
2
2
2
2
2
1
2
1
,
1
) (

+ +
+
=
+

=
+

=
+
=
d d
V U
d m k
d
V
d m k
m k
U
d m k
id m k
m id k
H

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

A Demo
Basic Assumptions
The structure is assumed to
be linear
The structure is time invariant
The structure obeys Maxwells
reciprocity
The structure is observable
loose components, or degrees-of-
freedom of motion that are not
measured, are not completely
observable.
Modal Testing
(Lecture 3)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
Undamped MDOF Systems
MDOF Systems with Proportional
Damping
MDOF Systems with General Structural
Damping
General Force Vector
Undamped Normal Mode
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped MDOF Systems
The equation of motion:
The modal model:
The orthogonality:
Forced response solution:
[ ]{ } [ ]{ } { } ) ( ) ( ) ( t f t x K t x M = +
& &
[ ] ) , , , ( ,
2 2
2
2
1 N
diag K =
[ ] [ ][ ] [ ] [ ] [ ][ ] [ ]. , = = K I M
T T
[ ] [ ] ( ){ } { }
t i t i
e F e X M K

=
2
{ } [ ] [ ] ( ) { } { } [ ]{ } F X F M K X ) (
1
2
= =

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped MDOF Systems
(continued)
Response Model
[ ] [ ] ( ) [ ]
[ ] [ ] [ ] ( )[ ] [ ] [ ] [ ]
[ ] [ ] ( ) [ ] [ ] [ ]
[ ] [ ] [ ] [ ] ( )[ ]
[ ] [ ] [ ] [ ] ( ) [ ]
T
T
T
T T
I
I
I
M K
M K
=
=
=
=
=

1
2
1
2
1
1
2
1
2
1
2
) (
) (
) (
) (
) (





Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped MDOF Systems
(continued)
The receptance matrix is symmetric.

= =

=

=
= = =
N
r
r
jk r
N
r
r
kr jr
jk
j
k
kj
k
j
jk
A
F
X
F
X
1
2 2
1
2 2
) (
,




Modal Constant/
Modal Residue
Single Input
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Example:
[ ] [ ]
[ ] [ ]
.
6 4 . 2 11 8
6 2 . 1
6 2
05
5 4
5 . 0
) (
1 1
1 1
2
1
6 2
5 4
/
2 . 1 8 . 0
8 . 0 2 . 1
1
1
4 2
2
2 2
11
2

+

=

=
e e
e
e e
e
e
m MN K kg M
r
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
.
6 4 . 2 11 8
6 2 . 1
6 2
05
5 4
5 . 0
) (
4 2
2
2 2
11

+

=

=
e e
e
e e
Poles
Example (continued):
Zero
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Example (continued):
.
6 4 . 2 11 8
4 8
6 2
05
5 4
5 . 0
) (
4 2 2 2
12


+
=

=
e e
e
e e
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MDOF Systems with
Proportional Damping
A proportionally damped matrix is
diagonalized by normal modes of the
corresponding undamped system
[ ] [ ][ ] ) , , , (
2 1 N
T
d d d diag D L =
Special cases:
[ ] [ ]
[ ] [ ]
[ ] [ ] [ ].
,
,
M K D
M D
K D

+ =
=
=
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MDOF Systems with Structurally
Proportional Damping
Response Model
[ ] [ ] [ ] ( ) [ ]
[ ] [ ] [ ] [ ] ( )[ ] [ ] [ ] [ ]
[ ] [ ] ( ) [ ] [ ] [ ]
[ ] [ ] [ ] [ ] ( )[ ]
[ ] [ ] [ ] [ ] ( ) [ ]

+
=
+ =
+ =
= +
= +
= +
N
r
r r
kr jr
jk
T
r r
r r
T
T
r r
T T
i
I i
I i
I i
M D i K
M D i K
1
2 2 2
1
2 2 2
1
2 2 2
1
1
2 2 2
1
2
1
2
) 1 (
) (
) 1 ( ) (
) 1 ( ) (
) ( ) 1 (
) (
) (








Real Residue
Complex Pole
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MDOF Systems with Viscously
Proportional Damping
Response Model
[ ] [ ] [ ] ( ) [ ]
[ ] [ ] [ ] [ ] ( )[ ] [ ] [ ] [ ]
[ ] [ ] [ ] ( ) [ ] [ ] [ ]
[ ] [ ] [ ] [ ] [ ] ( )[ ]
[ ] [ ] [ ] [ ] [ ] ( ) [ ]

+
=
+ =
+ =
= +
= +
= +
N
r
r r r
kr jr
jk
T
r r r
r r r
T
T
r r r
T T
I i
I i
I i
M C i K
M C i K
1
2 2
1
2 2
1
2 2
1
1
2 2
1
2
1
2
2
) (
2 ) (
2 ) (
) ( 2
) (
) (








Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MDOF Systems with General
Structural Damping
The equation of motion:
The orthogonality:
Forced response solution:
[ ]{ } [ ] [ ] ( ){ } { } ) ( ) ( ) ( t f t x D i K t x M = + +
& &
[ ] [ ][ ] [ ] [ ] [ ][ ] [ ]. , = + = iD K I M
T T
[ ] [ ] [ ] ( ){ } { }
t i t i
e F e X M D i K

= +
2
{ } [ ] [ ] [ ] ( ) { } { } [ ]{ } F X F M D i K X ) (
1
2
= + =

Complex Eigen-values
Complex Mode Shapes
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Example:
[ ]

=
= =
= = =
142 . 0 493 . 0 635 . 0
318 . 0 782 . 0 536 . 0
318 . 1 218 . 0 464 . 0
,
6698
3352
950
6 ,..., 1 , / 3 1
5 . 1 , 1 , 5 . 0
1
3 2 1
Undamped
j m N e k
kg m kg m kg m
Model
j
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Example:
[ ] [ ]
[ ]
[ ]

+
+
+
=
= = =

+ =
=
) 1 . 3 ( 142 . 0 ) 3 . 1 ( 492 . 0 ) 0 . 1 ( 636 . 0
) 7 . 6 ( 318 . 0 ) 181 ( 784 . 0 ) 0 . 0 ( 537 . 0
) 181 ( 318 . 1 ) 173 ( 217 . 0 ) 5 . 5 ( 463 . 0
,
) 078 . 0 1 ( 6690
) 042 . 0 1 ( 3354
) 067 . 0 1 ( 957
6 ,..., 2 , 0 . 0 , 3 . 0
Pr
142 . 0 493 . 0 635 . 0
318 . 0 782 . 0 536 . 0
318 . 1 218 . 0 464 . 0
,
6698
3352
950
) 05 . 0 1 (
05 . 0
Pr
1 1
o o o
o o o
o o o
i
i
i
j d k d
oportional Non
i
K D
oportional
j
Almost real modes
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Example:
[ ]
[ ] [ ]
[ ]

+ =
=

=
= =
= = =
207 . 0 752 . 0 587 . 0
827 . 0 215 . 0 567 . 0
552 . 0 602 . 0 577 . 0
,
4124
3892
999
) 05 . 0 1 (
, 05 . 0
Pr
207 . 0 752 . 0 587 . 0
827 . 0 215 . 0 567 . 0
552 . 0 602 . 0 577 . 0
,
4124
3892
999
6 ,..., 1 , / 3 1
05 . 1 , 95 . 0 , 1
2
3 2 1
i
K D
oportional
Undamped
j m N e k
kg m kg m kg m
Model
j
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Example:
[ ]

+
+
+
=
= = =

) 50 ( 560 . 0 ) 12 ( 848 . 0 ) 2 ( 588 . 0
) 176 ( 019 . 1 ) 101 ( 570 . 0 ) 2 ( 569 . 0
) 40 ( 685 . 0 ) 162 ( 851 . 0 ) 4 ( 578 . 0
,
) 019 . 0 1 ( 4067
) 031 . 0 1 ( 3942
) 1 . 0 1 ( 1006
6 ,..., 2 , 0 . 0 , 3 . 0
Pr
1 1
o o o
o o o
o o o
i
i
i
j d k d
oportional Non
j
Heavily complex modes
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MDOF Systems with General
Structural Damping
[ ] [ ] [ ] ( ) [ ]
[ ] [ ] [ ] [ ] ( )[ ] [ ] [ ] [ ]
[ ] [ ] ( ) [ ] [ ] [ ]
[ ] [ ] [ ] [ ] ( )[ ]
[ ] [ ] [ ] [ ] ( ) [ ]

+
=
+ =
+ =
= +
= +
= +
N
r
r r
kr jr
jk
T
r r
r r
T
T
r r
T T
i
I i
I i
I i
M D i K
M D i K
1
2 2 2
1
2 2 2
1
2 2 2
1
1
2 2 2
1
2
1
2
) 1 (
) (
) 1 ( ) (
) 1 ( ) (
) ( ) 1 (
) (
) (








Complex Residues
Complex Poles
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector
In many situations
the system is
excited at several
points.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector (continued)
The response is governed by:
The solution:
All forces have the same frequency but
may vary in magnitude and phase.
[ ] [ ] ( ){ } { }
t i t i
e F e X M iD K

= +
2
{ }
{ } { }{ }

=
+
=
N
r
r r
r
T
r
i
F
X
1
2 2 2
) 1 (

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector (continued)
The response vector is referred to:
Forced Vibration Mode
or Operating Deflection Shape (ODS)
When the excitation frequency is close
to the natural frequency:
ODS reflects the shape of nearby mode
But not identical due to contributions of
other modes.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector (continued)
Damped system normal mode:
By carefully tuning the force vector the
response can be controlled by a single
mode.
The is attained if
Depending upon damping condition the
force vector entries may well be complex
(they have different phases)
{ } { }
rs s
T
r
F =
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
Special Case of interest:
Harmonic excitation of mono-phased forces
Same frequency
Same phase
Magnitudes may vary
Is it possible to obtain mono-phased
response?
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
(continued)
The real force response amplitudes:
Real and imaginary parts:
The 2
nd
equation is an eigen-value problem;
its solutions leads to real
{ } { }
{ } { }
) (

) (

) (

=
=
t i
t i
e X t x
e F t f
[ ] [ ] ( ){ } { }
t i t i
e F e X M iD K

2
= +
[ ] [ ] ( ) [ ] ( ){ } { }
[ ] [ ] ( ) [ ] ( ){ } { } 0

cos sin

sin cos
2
2
= +
= +
X D M K
F X D M K


{ } F

N solutions
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
(continued)
At a frequency that the phase lag
between all forces and all responses is
90 degree then
Results
Undamped normal modes
Natural frequencies of undamped system
[ ] [ ] ( ) [ ] ( ){ } { } 0

cos sin
2
= + X D M K
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
(continued)
The base for multi-
shaker test procedures.
Modal Analysis of Large
Structures: Multiple
Exciter Systems By: M.
Phil. K. Zaveri
Modal Testing
(Lecture 4)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
General Force Vector
Undamped Normal Mode
MDOF System with General Viscous
Damping
Force Response Solution/ General
Viscous Damping
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector
In many situations
the system is
excited at several
points.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector
Otherwise you end up
damaging the structure!!!!
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector (continued)
The response is governed by:
All forces have the same frequency but
may vary in magnitude and phase.
The solution:
[ ] [ ] ( ){ } { }
t i t i
e F e X M iD K

= +
2
{ }
{ } { }{ }

=
+
=
N
r
r r
r
T
r
i
F
X
1
2 2 2
) 1 (

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector (continued)
The response vector is referred to:
Forced Vibration Mode
or Operating Deflection Shape (ODS)
When the excitation frequency is close
to the natural frequency:
ODS reflects the shape of nearby mode
But not identical due to contributions of
other modes.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
General Force Vector (continued)
Damped system normal mode:
By carefully tuning the force vector the
response can be controlled by a single
mode.
This is attained if
Depending upon damping condition the
force vector entries may well be complex
(they have different phases)
{ } { }
rs s
T
r
F =
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
Special Case of interest:
Harmonic excitation of mono-phased forces
Same frequency
Same phase
Magnitudes may vary
Is it possible to obtain mono-phased
response?
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
512 channel
37 Shakers
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
(continued)
The real force response amplitudes:
Real and imaginary parts:
The 2
nd
equation is an eigen-value problem;
its solutions leads to real
{ } { }
{ } { }
) (

) (

) (

=
=
t i
t i
e X t x
e F t f
[ ] [ ] ( ){ } { }
t i t i
e F e X M iD K

) ( 2
= +

[ ] [ ] ( ) [ ] ( ){ } { }
[ ] [ ] ( ) [ ] ( ){ } { } 0

cos sin

sin cos
2
2
= +
= +
X D M K
F X D M K


{ } F

N solutions
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
(continued)
At a frequency that the phase lag
between all forces and all responses is
90 degree then
Results
Undamped normal modes
Natural frequencies of undamped system
[ ] [ ] ( ) [ ] ( ){ } { }
[ ] [ ] ( ){ } { } 0

cos sin
2
2
=
= +
X M K
X D M K

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Undamped Normal Mode
(continued)
The base for multi-
shaker test procedures.
Modal Analysis of Large
Structures: Multiple
Exciter Systems By:
M. Phil. K. Zaveri
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
MDOF System with General
Viscous Damping
[ ]{ } [ ]{ } [ ]{ } { }
{ } { } { } { }
{ } [ ] [ ] [ ] ( ) { } F C i M K X
e X t x e F t f
f x K x C x M M O E
t i t i
1
2
) ( ) (
. . .

+ =
= =
= + +


& & &
Next the orthogonality properties of the
system in 2N space is used for force response
solution.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Force Response Solution
{ } { } { }
{ } { }
). , , , (
0
0
,
0
0
0
0
0
0
0
0
0
.
0 0
0
0
2 2 1 N
T T
r r
s s s diag U
M
K
U I U
M
M C
U
u
M
K
M
M C
s solution Eigen
u
M
K
u
M
M C
Vib Free
f
x
x
M
K
x
x
M
M C
EOM
L
&
& & &
&
=

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

Force Response Solution
*
1
2
1
0 0 0
r
r
H
r
N
r
r
r
T
r
N
r
r
r
T
r
s i
u
F
u
s i
u
F
u
s i
u
F
u
X i
X

= =


The above simplification is due to the fact
that eigen-values and eigen-vectors occur in
complex conjugate pairs.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Force Response Solution
Single point excitation:

=

+

r
kr jr
N
r
r
kr jr
jk
s i
u u
s i
u u


1
) (
Modal Testing
(Lecture 5)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Modal Analysis of Rotating
Structures
Non-symmetry in system
matrices
Modes of undamped rotating
system
Symmetric Stator
Non-Symmetric Stator
FRFs of rotating system
Out-of-balance excitation
Synchronous excitation
Non-Synchronous excitation
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Non-symmetry in System
Matrices
The rotating structures are subject to
additional forces:
Gyroscopic forces
Rotor-stator rub forces
Electrodynamic forces
Unsteady aerodynamic forces
Time varying fluid forces
These forces can destroy the symmetry of the
system matrices.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Non-rotating system
properties
A rigid disc mounted on
the free end of a rigid
shaft of length L,
The other end of is
effectively pin-jointed.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Modes of Undamped Rotating
System
.
0
0
0
0
0 /
/ 0
/ 0
0 /
0
0

y
x
L k
L k
y
x
L J
L J
y
x
L I
L I
y
x
z
z
&
&
& &
& &
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Symmetric stator
( ) ( )
( ) ( )
. 0 2
,
0
0
/ /
/ /
,
,
,
2
0
2
2
2
0 0
2
4
2
0
2 2
2 2
0
2
=

=
=
= =
I
kL
I
J
I
kL
Y
X
L I k L J i
L J i L I k
Ye y
Xe x
k k k
z
z
z
t i
t i
y x

Support is symmetric
Simple harmonic motion
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Natural Frequencies

= =

+ =

+
0 0
2
2
0
2 2
2
0
2 2
2
0
2
2 , 1
2
0
2
2
2
0 0
2
4
,
4 2
. 0 2
I
J
I
kL
I
kL
I
J
I
kL
z

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Mode Shapes
( ) ( )
( ) ( )
( ) ( )
( ) ( )
.
0
0
1
/ /
/ /
,
0
0 1
/ /
/ /
2
0
2
2
2
2
2
2
2
0
2
2
2
0
2
1
2
1
2
1
2
0
2
1

i
L I k L J i
L J i L I k
i
L I k L J i
L J i L I k
z
z
z
z




Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Non-symmetric Stator
y x
k k
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF of the Rotating Structure
,
0
0
/
/
/ 0
0 /
2
2
2
0
2
0

y
x
z
z
f
f
y
x
k
k
y
x
c L J
L J c
y
x
L I
L I
&
&
& &
& &
[ ]
( ) ( )
( ) ( )

=
=

+
+
=

) ( ) (
) ( ) (
/ /
/ /
) (
1
2
0
2 2
2 2
0
2





yx xy
yy xx
z
z
ic L I k L J i
L J i ic L I k
Loss of Reciprocity
External Damping
Coupling Effect
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF of the Rotating Structure
with External Damping
Complex Mode
Shapes
due to significant
imaginary part
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Out-of-balance excitation
Response analysis for the particular
case of excitation provided by out-of-
balance forces is investigated:
When the force results from an out-of-
balance mass on the rotor, it is of a
synchronous nature
When the force results from an out-of-
balance mass on a co/counter rotating
shaft, it is of a non-synchronous nature
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Synchronous OOB Excitation
{ }
( ) ) 1 (
:
1
) sin(
) cos(
2 2
0 0
2
2

=

I
L
A
e
iA
A
F e
Y
X
Stator Symmetric
e
i
F
t
t
mr F
t i
OOB
t i
t i
OOB
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Synchronous OOB Excitation
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Non-Synchronous OOB
Excitation
Force is generated by another rotor at
different speed
( ) ) (
2 2
0 0
2

I
L
A
e
iA
A
F e
Y
X
Excitation
t i
OOB
t i
The essential results are the same as for
synchronous case.
Modal Testing
(Lecture 6)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
Analysis using rotating frame
Damping in rotating and stationary
frames
Dynamic analysis of general rotor-stator
systems
Linear Time Invariant Rotor-Stator
Systems
LTI Rotor-Stator Viscous Damp System
LTI Systems Eigen-Properties
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Analysis using rotating frame

r
r
y
x
t t
t t
y
x
) cos( ) sin(
) sin( ) cos(

y
x
t t
t t
y
x
r
r
) cos( ) sin(
) sin( ) cos(
Y
X
Yr
Xr
t
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Analysis using rotating frame
[ ]
[ ] [ ]
[ ] [ ] [ ]

x
x
T
y
x
T
y
x
T
y
x
t t
t t
y
x
t t
t t
y
x
t t
t t
y
x
y
x
T
y
x
T
y
x
t t
t t
y
x
t t
t t
y
x
y
x
T
y
x
t t
t t
y
x
r
r
r
r
r
r
1
2
2 1
2
2 1
1
2
) cos( ) sin(
) sin( ) cos(
) sin( ) cos(
) cos( ) sin(
2
) cos( ) sin(
) sin( ) cos(
,
) sin( ) cos(
) cos( ) sin(
) cos( ) sin(
) sin( ) cos(
,
) cos( ) sin(
) sin( ) cos(
&
&
& &
& &
&
&
& &
& &
& &
& &
&
&
&
&
&
&
Transformation Matrices
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Analysis using rotating frame
z z z z z z
+ + = + + = 2 / ) 2 / ( 2 / ) 2 / (
2 2
0 2
2 2
0 1

.
0
0
/ / ) (
) ( / /
0 / / 2
/ / 2 0
/ 0
0 /
2 2 2 2 2
0
2
2 2 2 2 2
0
2
2 2
0
2 2
0
2
0
2
0

+ + +
+ + +
+

+
+

r
r
y x z z x y
x y y x z z
r
r
z z
z z
r
r
y
x
s k c k L J L I k k cs
k k cs s k c k L J L I
y
x
L J L I
L J L I
y
x
L I
L I
&
&
& &
& &
Equation of Motion in Stationary Coordinates
Equation of Motion in Rotating Coordinates
2 / ) 2 / ( 2 / ) 2 / (
,
0
0
0
0
0 /
/ 0
/ 0
0 /
2 2
0 2
2 2
0 1
2
2
2
0
2
0
z z z z
y
x
z
z
y
x
k
k
y
x
L J
L J
y
x
L I
L I
+ + = + =

&
&
& &
& &
Note: Eigenvectors remain unchanged
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Analysis using rotating frame

+ +
+ +
=

t t
t t
F
t
F
t t
t t
F
F
F
F
t t
t t
F
F
yr
xr
y
x
yr
xr
) sin( ) sin(
) cos( ) cos(
2
) cos(
0 ) cos( ) sin(
) sin( ) cos(
.
) cos( ) sin(
) sin( ) cos(
0
0

For Example:
Response harmonies not
present in the excitation
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Internal Damping in rotating
and stationary frames
.
0
0
/ / 0
0 / /
/ / 2
/ / 2
/ 0
0 /
2 2 2
0
2
2 2 2
0
2
2 2
0
2 2
0
2
0
2
0

+ +
+ +
+

+
+

r
r
z z
z z
r
r
I z z
z z I
r
r
y
x
k L J L I
k L J L I
y
x
c L J L I
L J L I c
y
x
L I
L I
&
&
& &
& &
,
0
0
/
/
/ 0
0 /
2
2
2
0
2
0

y
x
k c
c k
y
x
c L J
L J c
y
x
L I
L I
y I z
I z x
I z
z I
&
&
& &
& &
Equation of Motion in Rotating Coordinates
Equation of Motion in Stationary Coordinates
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Internal/External Damping in
2DOF System
,
0
0
/
/
/ 0
0 /
2
2
2
0
2
0

+
+
+

y
x
k c
c k
y
x
c c L J
L J c c
y
x
L I
L I
y I z
I z x
I E z
z I E
&
&
& &
& &
At super critical speeds the real parts of
eigen-values may become positive,
i.e. unstable system
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Dynamic Analysis of General
Rotor-Stator Systems
The rotating machines and their modal
testing is much more complex
Non-symmetric bearing support
Fixed/Rotating observation frame
Non-axisymmetric rotors
Internal/External damping
These lead to:
Time-varying modal properties
Response harmonies not present in the excitation
Instabilites (negative modal damping)
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Dynamic Analysis of General
Rotor-Stator Systems
Equation of motion of rotating systems
are prone:
to lose the symmetry
to generate complex eigen-values/vectors
from velocity/displacement related non-
symmetry
to include time varying coefficients as
appose to conventional Linear Time
Invariant (LTI) systems
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Dynamic Analysis of General
Rotor-Stator Systems
Rotating Coord. Stationary Coord. System Type
LTI LTI R-symm;S-symm
L(t) LTI R-symm;S-nonsymm
LTI L(t) R-nonsymm;S-symm
L(t) L(t) R-nonsymm;S-nonsymm
LTI: Linear Time Invariant
L(t): Linear Time Dependent
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Linear Time Invariant Rotor-
Stator Systems
[ ]{ } [ ] [ ] ( ){ }
[ ] [ ] [ ] ( ){ } { }
[ ] [ ] [ ] [ ]
[ ] [ ] . ) ( , ) (
. , , ,
) ( ) (
) (
symm Skew E G
Symm D K C M
t f x E D i K
x G C x M


= + +
+ + +
& & &
Solution of equations will follow different
routs depending upon the specific features.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
LTI Rotor-Stator Systems
(Viscous Damping Only)
[ ]{ } [ ]{ } { }
[ ]
[ ]
{ }

+
=

+
=
= +
x
x
u
M
E K
B
M
M G C
A
u B u A
&
&
0
0 ) (
0
) (
, 0
The system matrices
are non-symmetric
Complex eigenvals
Two eigenvect sets:
RH; mode shapes
LH; normal excitation
shapes
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
LTI Rotor-Stator Systems
(Viscous Damping Only)
Symmetric Rotor/ Non-symmetric Support
Backwards Whirl
Forwards Whirl
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF of LTI Rotor-Stator
Systems
[ ] [ ] ( ) [ ] [ ]
H
LH r RH
V i V
1
) (

=
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
LTI Systems Eigen-Properties
Skew-symmetry in damping Matrix
[ ] [ ]
[ ]

=
1 5 . 0
5 . 0 1
) 1 (
0 5 . 0
5 . 0 0
,
3 1
1 3
,
1
1
C C C
K M
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
LTI Systems Eigen-Properties
-1.00
1
-0.75+1.85i
0.0
-1.05+0.08i
1
-0.68+1.88i
0.1
-1.08+0.28i
1
-0.52+1.94i
0.3
-1.03+0.49i
1
-0.37+1.99i
0.5
-0.90+0.63i
1
-0.23+2.04i
0.7
-0.76+0.71i
1
-0.07+2.08i
0.9
-0.69+0.73i
1 2.11i 1.0
C
1
X
2
X
2

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

LTI Systems Eigen-Properties
Skew-symmetry in stiffness Matrix
[ ] [ ]
[ ]

=
=

=
3 1
1 3
) 1 (
0 1
1 0
, 0 ,
1
1
K K K
C M
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
LTI Systems Eigen-Properties
-1.00
1
2.00i
0.0
-1.12
1
1.90i
0.1
-1.58
1
1.65i
0.3
Infinity
1
1.23i
0.5
1.58i
1
0.32+1.00i
0.7
1.12i
1
0.57+0.79i
0.9
i
1
0.70+0.70i
1.0
K
1
X
2
X
2

Modal Testing
(Lecture 7)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Complex Measured Modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Complex Measured Modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Display of Mode Complexity
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Analytical Real Modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
H Ahmadian, GML Gladwell - Proceedings of
the 13th International Modal Analysis (1995):
The optimum real mode is the one with maximum
correlation with the complex measured one:
Extracting real modes from
complex measured modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Normalizing the complex measured
mode shape:
The problem is rewritten as:
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Skew-symmetric
Symmetric
Rank 2 matrices
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Since V is skew symmetric,
Therefore the problem is equivalent to:
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Extracting real modes
Dr H Ahmadian , Modal Testing Lab , IUST Overview of Modal Testing
Follow-ups:
E. Foltete, J . Piranda, Transforming Complex
Eigenmodes into Real Ones Based on an
Appropriation Technique, J ournal of Vibration
and Acoustics, J ANUARY 2001, Vol. 123
S.D. GARVEY, J .E.T. PENNY, THE
RELATIONSHIP BETWEEN THE REAL AND
IMAGINARY PARTS OF COMPLEX MODES,
J ournal of Sound and Vibration
1998,212(1),75-83
Modal Testing
(Lecture 8)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
Non-sinusoidal Vibration and FRF
Properties:
Periodic Vibration
Transient Vibration
Random Vibration
Violation of Dirichlets conditions
Autocorrelation and PSD functions
H1 and H2
Incomplete Response Models
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Non-sinusoidal Vibration and
FRF Properties
With the FRF data, response of a MDOF
system to a set of harmonic loads:
{ } [ ]{ }
t i t i
e F e X

) ( =
Different amplitudes and phases
The same frequency
We shall now turn our attention to a range of
other excitation/response situvations.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Periodic Vibration
Excitation is not simply sinusoidal but retain
periodicity.
The easiest way of computing the response
is by means of Fourier Series,
t i
n
nk n jk j
n
t i
n
nk k
n
n
e F t x
T
e F t f

=
=
= =
1
1
) ( ) (
2
) (
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Periodic Vibration
To derive FRF from periodic vibration
signals:
Determine the Fourier Series components
of the input force and the relevant
response
Both series contain components at the
same set of discrete frequencies
The FRF can be defined at the same set of
frequency points by computing the ratio of
response to input components.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Transient Vibration
Analysis via Fourier Transform

+

+

=
=
=

d e F H t x
F H X
dt e t f F
t i
t i
) ( ) ( ) (
) ( ) ( ) (
) (
2
1
) (
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Transient Vibration
Response via time domain (superposition)
) ( ) (
2
1
) (
2
1
) ( ) 0 ( ) (
) ( ) ( ) (
t h d e H t x Then
F t f Let
d f t h t x
t i
= =
= =
=

+

+

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

Transient Vibration
To derive FRF from transient vibration
signals:
Calculation of the Fourier Transforms of
both excitation and response signals
Computing the ratio of both signals at the
same frequency
In practice it is common to compute a
DFT of the signals.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
Neither excitation nor response signal
can be subject to a valid Fourier
Transform:
Violation of Dirichlet Conditions
Finite number of isolated min and max
Finite number of points of finite discontinuity
Here we assume the random signals to
be ergodic
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration

+

=
+ =

d e R S
dt t f t f R
t f
i
ff ff
ff
) (
2
1
) (
) ( ) ( ) (
) (
Time Signal
Autocorrelation Function
Power Spectral Density
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
Time Signal
Autocorrelation
Power Spectral Density
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
Sinusoidal Signal
Autocorrelation
Power Spectral Density
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
Random Signal
Autocorrelation
Power Spectral Density
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
Autocorrelation
Noisy Signal
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
The autocorrelation function is real and even:

+ =
= =
+ =

+

+

t u
R du u f u f
dt t f t f R
ff
ff
) ( ) ( ) (
) ( ) ( ) (
The Auto/Power Spectral Density function is
real and even.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
Cross Correlation / Spectral Densities
Cross Correlation functions are real but
not always even.
Cross Spectral Densities are complex
functions.

+

+

= + =

d e R S dt t f t x R
i
xf xf xf
) (
2
1
) ( ) ( ) ( ) (
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
) ( ) ( ) ( ) ( ) ( ) (
) ( ) ( ) ( ) ( ) ( ) (
) ( ) ( ) ( ) ( ) ( ) (
*
*
*



X X S dt t x t x R
F X S dt t f t x R
F F S dt t f t f R
xx xx
xf xf
ff ff
= + =
= + =
= + =

+

+

+

Time Domain Frequency Domain
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Random Vibration
To derive FRF from random vibration signals:
) (
) (
) ( ) (
) ( ) (
) (
) (
) (
) ( ) (
) ( ) (
) (
) (
) (
) (
*
*
2
*
*
1

ff
fx
xf
xx
S
S
F F
X F
H
S
S
F X
X X
H
F
X
H
= =
= =
=
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Complete/ Incomplete Models
It is not possible to measure the
response at all DOF or all modes of
structure (N by N)
Different incomplete models:
Reduced size (from N to n) by deleting
some DOFs
Number of modes are a reduced as well
(from N to m, usually m<n)
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Incomplete Response Models
[ ]
[ ]

+
=

<
=

m n
m m
r
N m
r
r r r
jk r
jk
i
A
2
1
2 2 2
) (

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Incomplete Response Models
Modal Testing
(Lecture 9)
Dr. Hamid Ahmadian
School of Mechanical Engineering
Iran University of Science and Technology
ahmadian@iust.ac.ir
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Theoretical Basis
Sensitivity of Models
Modal Sensitivity
SDOF eigen sensitivity
MDOF system natural frequency sensitivity
MDOF system mode shape sensitivity
FRF Sensitivity
SDOF FRF sensitivity
MDOF FRF sensitivity
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Sensitivity of Models
The sensitivity analysis are required:
to help locate errors in models in updating
to guide design optimization procedures
they are used in the course of curve fitting
A short summery on deducing
sensitivities from experimental and
analytical models is given.
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Modal Sensitivities (SDOF)
.
2
1
2
1
,
2
1
2
1
0 0
0
3
0
0
k
mk
k
m m
k
m
m
k

= =

= =

=
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Modal Sensitivities (MDOF)
[ ] [ ] ( ){ } { }
[ ] [ ] ( ){ } { }
[ ] [ ] ( )
{ } [ ]
[ ]
[ ]
{ } { }, 0
, 0
, 0
2
2
2
2
2
=

=
r r
r r
r
r r
r r
p
M
M
p p
K
p
M K
M K
p
M K

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Eigenvalue Sensitivity (MDOF)
{ }
{ } [ ] [ ] ( )
{ }
{ }
[ ]
[ ]
[ ]
{ } { }
{ }
[ ] [ ]
{ }
{ } [ ]{ }
r
T
r
r r
T
r
r
r r
r
T
r
r
r
T
r
T
r
M
p
M
p
K
p
results
p
M
M
p p
K
p
M K
by Multiply

2
2
2
2
2
, 0
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Eigenvector Sensitivity
(MDOF)
[ ] [ ] ( )
{ } [ ]
[ ]
[ ]
{ } { }
{ }
{ }
[ ] [ ] ( ) { }
[ ]
[ ]
[ ]
{ } { } 0
, 0
:
2
2
1
2
1
2
2
2
=

+
=

=
r r
r
N
r j
j
j rj r
N
r j
j
j j
r
r r
r r
r
p
M
M
p p
K
M K
p
taking and
p
M
M
p p
K
p
M K
from Starting

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

Eigenvector Sensitivity
(MDOF)
[ ] [ ] ( ) { }
[ ]
[ ]
[ ]
{ } { }
{ } [ ] [ ] ( ) { } { }
[ ]
[ ]
[ ]
{ } { }
( ) { }
[ ] [ ]
{ } { } 0
0
0
2 2 2
2
2
1
2
2
2
1
2
=

+
=

+
=

=
r r
T
s rs r s
r r
r
T
s
N
r j
j
j rj r
T
s
r r
r
N
r j
j
j rj r
p
M
p
K
p
M
M
p p
K
M K
p
M
M
p p
K
M K

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Eigenvector Sensitivity
(MDOF)
( ) { }
[ ] [ ]
{ }
{ }
[ ] [ ]
{ }
( )
{ }
{ }
[ ] [ ]
{ }
( )
{ }

+
N
r s
s
s
s r
r r
T
s
r
s r
r r
T
s
rs
r r
T
s rs r s
p
M
p
K
p
p
M
p
K
p
M
p
K
1
2 2
2
2 2
2
2 2 2

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
Updating, Redesign,
Reanalysis
{ }
{ }
{ } { } { }
{ } { } { }

M
O M M M
K
K
K M M M
K
K
M
M
3
2
1
3
2
2
2
1
2
3
1
2
1
1
1
3
2
2
2
2
2
1
2
2
3
2
1
2
2
1
1
2
1
2
1
2
2
2
1
p
p
p
p p p
p p p
p p p
p p p

Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis

Updating, Redesign,
Reanalysis
The change in parameters must be very
small for accurate analysis
When the change in parameters is not
small:
Higher order sensitivity analysis
Iterative linear sensitivity analysis
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF Sensitivities (SDOF)
( )
( )
( )
2
2
2
2
2
2
2
2
) (
) (
1 ) (
1
) (
m c i k
m
m c i k
i
c
m c i k
k
m c i k








+
=

+

=

+

=

+
=
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF Sensitivities (MDOF)
( ) [ ] [ ] [ ] [ ]
[ ] [ ] ( ) [ ] [ ] [ ] ( ) [ ][ ]
[ ] ( ) [ ] [ ] ( ) [ ]
( ) [ ] ( ) [ ] ( ) [ ] ( ) [ ] ( ) [ ] ( ) ( ) [ ]
( ) [ ] ( ) [ ] ( ) [ ] ( ) [ ] ( ) [ ]
A x A x
A A x x A x
x A
Z
Z Z Z Z Z Z then
Z B A Z A take
A B B A A B A
M C i K Z




=
=
+
+ = +
+ =


1 1 1 1 1
1 1 1 1
2
,
,
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF Sensitivities (MDOF)
( ) [ ] ( ) [ ] ( ) [ ] ( ) [ ] ( ) [ ]
( ) ( ) { } ( ) { } ( ) [ ] ( ) [ ]
A
T
j
x
T
j
A x
A x A x
Z
Z


=
= ,
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF Sensitivities (MDOF)
Dr H Ahmadian , Modal Testing Lab , IUST Theoretical Basis
FRF Sensitivities (MDOF)
( ) [ ] ( ) [ ] ( )
( ) [ ]
( ) [ ]
( ) [ ]
( ) [ ]
( ) [ ]
( ) [ ]
( ) [ ]
( ) [ ]
( ) [ ]
[ ] [ ] [ ]
( ) [ ]

p
M
p
C
i
p
K
p
p
Z
p
Z
p
Z
Z
p
Z
p
2
1 1
1