MODAL IDENTIFICATION

MODAL IDENTIFICATION
• Structural analysis vs identification

Excitation ωn , φn , ξn Response
?
Excitation
? Response
MODAL IDENTIFICATION
• Classification of methods of identification
- Frequency domain and time domain methods
- Methods based on direct, modal and state space models
- 1-DOF and N-DOF methods
- Methods based on local or global estimates of FRFs
- Single input or multi input methods
• Some identification methods implemented (FEUP)
- Peak amplitude
-”Circle fit”
- Dobson
- Mau
- RFP
MODAL IDENTIFICATION
• Expressions of FRFs
- Force-displacement (Receptance)
N ( φi )k (φ j )k
Hij (ω) = ∑
k =1 ( ωk
2
− ω 2
) + i( 2ξk ωk ω)
- Force-velocity (Mobility)
N iω(φi )k (φ j )k
Yij (ω) = ∑
k =1 ( ωk
2
− ω 2
) + i( 2ξk ωk ω)
- Force-acceleration (Inertance)
N − ω2 (φi )k (φ j )k
A ij (ω) = ∑
k =1 ( ωk
2
− ω 2
) + i( 2ξk ωk ω)
MODAL IDENTIFICATION
• Expressions of FRFs (state space model)
- Force-displacements (Receptance)
N  (ψ i )k (ψ j )k (ψ i )k* (ψ j )k* 
Hij (ω) = ∑  + 
 (iω − α k ) (iω − α k ) 
*
k =1 

- Force-velocity (Mobility)
N  (ψ i )k (ψ j )k (ψ i )k* (ψ j )k* 
Yij (ω) = ∑ iω + 
 (iω − α k ) (iω − α k ) 
*
k =1

- Force-acceleration (Inertance)
N  (ψ i )k ( ψ j )k (ψ i )k (ψ j )k 
* *

A ij (ω) = −∑ ω 2
+ 
 (iω − α k ) (iω − α k ) 
*
k =1
MODAL IDENTIFICATION
• Bode representation of Receptance

Logarithmic scale
MODAL IDENTIFICATION
• Bode representation of Mobility

Logarithmic scale
MODAL IDENTIFICATION
• Bode representation of Inertance

em escala logarítmica
MODAL IDENTIFICATION
• Peak amplitude method

- The contribution of the non-resonant

modes is neglected in the vicinity
of each resonance

- Receptance (in the vicinity of

frequency ωk = 2πfk )

(φi )k (φ j )k
Hij (ω) =
(ωk2 − ω2 ) + i( 2ξk ωk ω)
MODAL IDENTIFICATION
• Application procedure
1. Obtain estimates of natural frequencies ωk based on the peaks of the FRFs
2. Estimate the values of modal damping coefficients based on the half power
ξk
bandwidth method, which is based on the evaluation of the frequencies that
make the square of the amplitude of the FRF equal to half the corresponding
maximum value, this being given by

 H 
2
≅ Hij ( ω = ωk )
2
=
[(φ ) (φ ) ]
i k j k
2

 ij k
máx ( 2ξ k ω ) 2 2
k

The half power bandwidth points are thus defined by the roots of the equation

(φi )k (φ j )k
2

=
[(φ ) (φ ) ]
i k j k
2

(ωk2 − ω2 ) + i( 2ξk ωk ω) ( 2ξ k ω )
2 2
k
MODAL IDENTIFICATION
• Application procedure
Those roots are given by

(
ω12,2 = ωk2 1 − 2ξk2 ± 2ξk 1 + ξk2 )
For low values of ξk (<10%)

ω2 − ω1
ξk ≈
2ωk

3. The estimated values of ωk and ξk , allow the obtainment of the modal

( ) ( )
constants A ij k = (φi )k φ j k for each of the measured FRFs, and subsequently
the evaluation of the modal components

(A ) (
2
ij k
2
)
= 2ξk ω  Hij 
 2

 k máx
k

(φ1 )k = (A11 )k (φ2 )k = (A 12 )k / (φ1 )k L (φn )k = (A1n )k / (φ1 )k

MODAL IDENTIFICATION
• Peak amplitude method

Identification of natural frequencies and modal damping factors

MODAL IDENTIFICATION
• Progressive elimination of fitted modes
MODAL IDENTIFICATION
• Necessity of application of N-DOF methods
(fitting of the whole FRF with simultaneous extraction of the modal parameters
associated to all modes of vibration)
- In structures with
- closely spaced natural frequencies
- high or very low damping
- FRFs with poor resolution in the vicinity of resonances
• Generic procedure
- Minimization of a quadratic error defined by the square of the difference
between the theoretical and the measured FRFs, which leads to the
resolution of a non-linear system of equations
- Example: RFP (“Rational Fraction Polynomial Method”), based on the
Method of Decomposition in Orthogonal Forsythe Polinomials
MODAL IDENTIFICATION
• Application to the identification of reinforced concrete slab
MODAL IDENTIFICATION
• Instrumentation used
- Portable PC with 8-channels
A/D conversion card
- 1 impulse hammer and
7 piezoelectric accelerometers
(placed along medians and
diagonals)
• Sampling
- Sampling frequency of 400 Hz,
after checking that no relevant
spectral content was present for
higher frequencies, which could
induce aliasing errors
MODAL IDENTIFICATION
• Equipment used
MODAL IDENTIFICATION
• Excitation and measurement
- Application of 5 to 10 impulses in each instrumented point
- Record of series of 1024 points
- Simultaneous measurement of excitation and response in 7 points
- Obtainment of 170 records (1 per impulse)
- Measurement of about 1200 responses

Input spectral content

MODAL IDENTIFICATION
• Analysis and signal processing
- Analysis in time domain
- scale conversion
- trend removal (constant offset)
- Analysis in frequency domain
- obtainment of simple estimates of input and output power spectral
density functions
- obtainment of simple estimates of cross spectra
- obtainment of smoothed estimates of auto and cross spectra,
considering, considering a segment smoothing with 5 to 10
simple estimates
- obtainment of estimates of FRFs and corresponding coherence functions
using estimator H1 and the smoothed spectral estimates
IDENTIFICAÇÃO DE PARÂMETROS MODAIS
• Estimativa de FRFs e de funções de coerência
MODAL IDENTIFICATION
• Estimation of FRFs and coherence functions
MODAL IDENTIFICATION
• Measured FRFs vs synthesized FRFs
MODAL IDENTIFICATION
• Measured FRFs vs synthesized FRFs
MODAL IDENTIFICATION
• Identified natural frequencies

Natural Standard Damping coefficient Standard Type of mode

freq. (Hz) deviation (%) deviation
16,96 0,03 3,12 0,24 SS
22,37 0,08 0,60 0,03 SS
24,74 0,04 1,01 0,17 SAS
36,08 0,11 2,40 0,56 SS
40,95 0,26 1,62 0,35
48,05 0,10 1,26 0,17 SAS
64,81 0,61 1,21 0,41
74,00 0,17 0,81 0,05
82,39 1,10 1,48 0,61
90,22 0,04 0,75 0,08 SS

SS – symmetric modes with regard to both orthogonal medians

SAS – symmetric modes with regard to one median and anti-symmetric
with regard to the other
MODAL IDENTIFICATION
• Numerical modelling
- Discretization in shell finite elements
- Calculated natural frequencies

Natural Modes Modes Modes

frequency SS SAS ASAS
1st 17,97 26,45 53,92
2nd 21,41 39,93 56,18
3rd 46,68 49,98 71,92
4th 62,02 65,23 95,62
5th 89,16 76,02 124,51
6th 111,19 110,23 159,36
MODAL IDENTIFICATION
• Numerical modelling: Calculated mode shapes (SS)
MODAL IDENTIFICATION
• Numerical modelling: Calculated mode shapes (SAS)
MODAL IDENTIFICATION
• Identified vs calculated mode shapes
MODAL IDENTIFICATION
• Correlation between measured and calculated modal parameters
MODAL IDENTIFICATION
• Ambient vibration tests
- Difficulty of application of dynamic excitation of large structures

- Use of ambient excitation: wind, traffic loads, etc.,

assumed as wide band exciation
- Measurement of the structural response
- in a reference point
- in other moving points
- Identification of natural frequencies based on the peaks of average
spectral estimates of the ambient response
- Identification of mode shapes based on estimates of ambient response
transfer functions relating the response in each point with the response
in the reference point
MODAL IDENTIFICATION
• Identification of natural frequencies
- Obtainment of average normalized power spectral densities involving
all the measurement points
ns
1
ANPSD( fk ) =
ns
∑ NPSD (f )
i =1
i k

n
PSD i ( fk )
NPSD i ( fk ) = A i = ∑ PSD i ( fk )
Ai k =0

Queensborough Bridge (Felber)

(measurement sections)
MODAL IDENTIFICATION
• Identification of natural frequencies
- Distinction between vertical bending and torsion frequencies

ANPSD (half-sum upstream-downstream signals)

ANPSD (original signals)

ANPSD (half-diff. upstream-downstream signals)

MODAL IDENTIFICATION
• Identification of modes of
vibration
- Evaluation of the absolute value
of the modal components
relating the amplitude of the
transfer functions for each
natural frequency
- Determination of the
corresponding signal looking
at the phase evolution